CN103809584B - A kind of one-to-many automatically detects AUV device and realizes method - Google Patents
A kind of one-to-many automatically detects AUV device and realizes method Download PDFInfo
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- CN103809584B CN103809584B CN201210460755.0A CN201210460755A CN103809584B CN 103809584 B CN103809584 B CN 103809584B CN 201210460755 A CN201210460755 A CN 201210460755A CN 103809584 B CN103809584 B CN 103809584B
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Abstract
Disclosure one one-to-many automatically detects the device of autonomous underwater robot (hereinafter referred to as AUV) and realizes method, and this device is applicable to detection and the preset parameter automatically of multiple stage AUV；This device includes notebook computer, computer function extension box, is provided with master control borad, 8 mouth switchs and radio set in extension box, and panel is provided with the umbilical cord detection interface connecting AUV thereafter, has differential GPS to provide gps data for detection AUV outside extension box；The inspection software of the inventive method adopts multi-thread concurrent inspection policies, owing to providing 1～5 umbilical cord detection interface in device, at most can detect 5 AUV simultaneously, owing to not interfereing with each other between detection process multithreading, save the detection time, it is provided that detection efficiency；The present invention is multiple functional, and autgmentability is strong, and man machine interface is friendly, it is possible to multiple stage AUV carries out detection automatically output detections report simultaneously, and volume is little, lightweight, be easy to carry.
Description
Technical field
The present invention relates to a kind of one-to-many automatically detect AUV device and realize method, this device is applicable to one or more (at most 5, this device, but its principle is applicable to multiple stage) AUV and automatically detects and preset parameter.
Background technology
Conventional art, the test command of all complete machine functions of autonomous underwater robot (AUV) is all carried out communication by combined test stand by the automatic Pilot unit of the Ethernet interface of umbilical cable Yu AUV.Assign detection instruction by umbilical cable and obtain feedback data.Detection data need artificial treatment and fill in examining report.Combined test stand volume is big, weight big, it is mobile to be not easy to and operation, and is only capable of one AUV of detection every time, is unfavorable for batch detection.
Summary of the invention
For the deficiencies in the prior art, the problem to be solved in the present invention is that operability is poor, testing process is comparatively laborious, easy maloperation；Detection equipment volume inconvenience huge, mobile；Can not the technical problem such as batch detection AUV, it is an object of the invention to provide that a kind of simple operation is reliable, volume is little, be easily moved, the one-to-many of batch detection can automatically detect AUV device and realize method.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of one-to-many detects AUV device automatically, mainly includes computer function extension box, notebook computer, umbilical cable；It is characterized in that: radio set, 8 mouth switchs and master control borad are also installed in computer function extension box, panel is provided with the umbilical cord detection interface connecting AUV, above-mentioned master control borad and 8 mouth switchs behind be connected with the transmission of underwater robot AUV data respectively through umbilical cord detection interface and umbilical cable；Radio set is connected with AUV wireless telecommunications by wave point, and umbilical cable is the cable of detection AUV, it is achieved detection and the preset parameter automatically to AUV.
Be made up of the external structure of detecting device extension box and notebook computer, its internal structure is divided into upper and lower two-layer, and upper strata is notebook computer, and lower floor is the extension box of detection AUV.
Extension box rear board is provided with antennal interface and GPS interface.
Master control borad is provided with 10 tunnel+30V output of pulse signals, 5 tunnel-30V output of pulse signals, 1 tunnel+12V signal output, 1 road RS485 serial ports, 1 road RS232 serial ports and the output of 5 road network winding threads.
Also set differential GPS as mobile satellite location equipment, provide gps data for detection AUV；Differential GPS is connected with master control borad by 1 tunnel+12V signal output and 1 road RS485 serial ports, and DGPS data is supplied to master control borad, and data are returned to notebook computer with RS232 serial ports by master control borad, send AUV to again through network.
Detecting device rear board is provided with 1～5 umbilical cord detection interface 27 and is connected to AUV port respectively through umbilical cable 7, namely at most can connect 5 AUV simultaneously to its detection by 5 umbilical cord detection interfaces.
Every umbilical cable is provided with a umbilical cord short cable of switching and is connected to the port of corresponding A UV, and the length of this umbilical cord short cable of switching is less than the length of umbilical cable.
What a kind of one-to-many detected AUV device automatically realizes method, it is characterised in that: comprise the steps:
(1) running inspection software, open data base, user profile includes user name and detection data store, detection data are the coding of AUV every the device name connected and correspondence；
(2) authentication, login user password；
(3) when being verified, notebook computer sends control instruction by RS232 serial ports to master control borad, starts 8 mouth switchs and sets up net connection with AUV；
(4) configuration network parameter, by inputting AUV coding, is made notebook computer realize connecting with corresponding AUV by network；According to mission requirements, 5 AUV can be simultaneously connected with, and carry out network data exchange with AUV；
(5) detection is judged whether, as for detecting, detection parameter is set and includes AUV coding, then equipment 1 to the equipment 11 of input coding corresponding A UV is detected, employing multithreading detects, namely divide two threads to detect every AUV equipment connected simultaneously, run separate between two threads；
(6) detection terminates, and testing result is sent into data base and preserves, and reported by notebook computer output detections.
The equipment of every AUV connection divides two threads to detect simultaneously, and between single thread, the equipment of AUV detects in order.
In step (5), the equipment 1 of AUV is propeller, and it includes following detecting step:
When meeting variable i equal to or less than 3, program rotates+500 revs/min by the propeller of network settings AUV；
The actual speed value that AUV propeller rotates is fed back to notebook computer by network, and actual value is compared by it with arranging value 500；
If actual value deducts the absolute value arranging value less than setting 50, database purchase testing result, it was shown that the equipment 1 of AUV is normal, then continuing performs equipment 2 to equipment 11 program step of detection AUV.
The invention have the advantages that and advantage:
1. strong operability, testing process are simple, it is possible to shield various maloperation.Apparatus of the present invention adopt Windows operating system, and man machine interface is friendly, the complete sequencing of operating process, and operator can complete Detection task by system prompt, have detected the automatic output detections report of rear apparatus system, significantly provide detection efficiency.
2. compact conformation, volume reinforcing little, portable, vibrationproof are reliable.Apparatus of the present invention notebook carrying case adopts ruggedized construction, and each group parts all take reinforcement measure.Radio set, 8 mouth switchs, master control borad are reliably fixed in computer function extension box.Device carries lithium battery, it is possible to flag-on-convenience vessel is used.
3. can detect multiple stage AUV simultaneously, be greatly improved detection efficiency.5 umbilical cord detection interfaces of offer in apparatus of the present invention, adopt multi-thread concurrent inspection policies, namely can detect 5 AUV simultaneously, not interfere with each other, save the detection time, it is provided that detection efficiency between detection process multithreading.
Accompanying drawing explanation
Fig. 1 is the overall perspective view of the present invention；
Fig. 2 is detecting device rearview of the present invention；
Fig. 3 is internal structure general assembly schematic diagram of the present invention；
Fig. 4 is the inventive method inspection software program flow diagram；
Fig. 5 is the program flow diagram detecting AUV equipment 1 in Fig. 4 program.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention program is described in further detail.
A kind of one-to-many detects AUV device automatically, mainly includes computer function extension box 1, notebook computer 3, umbilical cable 7；It is characterized in that: radio set 6,8 mouth switch 4 and master control borad 8 are also installed in computer function extension box 1, being provided with the umbilical cord detection interface 27 connecting AUV behind on panel, above-mentioned master control borad 8 and 8 mouth switch 4 detects interface 27 and umbilical cable 7 respectively through umbilical cord and is connected with the transmission of underwater robot AUV data；Radio set 6 is connected with AUV wireless telecommunications by wave point 26, and umbilical cable 7 is the cable of detection AUV, it is achieved detection and the preset parameter automatically to AUV.
Master control borad is provided with 10 tunnel+30V output of pulse signals, 5 tunnel-30V output of pulse signals, 1 tunnel+12V signal output, 1 road RS485 serial ports, 1 road RS232 serial ports and the output of 5 road network winding threads.
Below in conjunction with accompanying drawing, this device is further illustrated:
As shown in Figure 1, being made up of the external structure of detecting device extension box 1 and notebook computer 3, its internal structure is divided into upper and lower two-layer, and upper strata is notebook computer 3, and lower floor is the notebook computer Function Extension case of detection AUV.
As shown in Figure 2, computer function extension box 1 rear board is provided with the umbilical cord detection interface 27 connecting AUV；It is further provided with antennal interface 25 and GPS interface 28.
Device rear board is provided with 1～5 umbilical cord detection interface 27, and connects corresponding A UV port respectively through umbilical cable 7, namely can connect 5 AUV by 5 umbilical cord detection interfaces 27 and it be detected simultaneously.
Every umbilical cable 7 is provided with a umbilical cord short cable 14 of switching and is connected to the port of corresponding A UV, and the length of this umbilical cord short cable 14 of switching is less than the length of umbilical cable 7.
As shown in Figure 3, computer function extension box 1 is provided with 8 mouth switchs 4, radio set 6 and master control borad 8.Master control borad 8 mainly controls the startup of AUV or the startup of closedown, 8 mouth switchs 4 and differential GPS or closedown.The input of this master control borad connects cable 10 and includes master control borad Serial Port Line 17, master control borad supply lines 18, differential GPS case interior lines 19 and power supply for exchange line 20.Notebook computer 3 is connected to master control borad 8 by serial ports 24, master control borad Serial Port Line 17, provides+12V power supply by master control borad supply lines 18 for master control borad 8.Notebook computer 3 is connected to radio set 6 by serial ports 21, radio set Serial Port Line 15, provides+12V power supply by radio set supply lines 16 for radio set 6.Radio set 6 is connected to the GPS interface 28 of computer function extension box 1 rear board by radio set patchcord 12, communicates wirelessly with AUV.
This device can be provided with differential GPS and provide gps data for detection AUV；Differential GPS is mobile satellite location equipment, the geographic location information of robot AUV is provided for detecting device, this equipment is connected to the GPS interface 28 of computer function extension box 1 rear board by differential GPS communication cable 9, it is connected with master control borad 8 again through 1 tunnel+12V signal output and 1 road RS485 serial ports, and DGPS data is supplied to master control borad, gps data is returned to notebook computer through RS232 serial ports by this master control borad, sends AUV to again through network.
8 mouth switchs 4 are controlled to provide+12V power supply by master control borad 8 by power supply for exchange line 20, it is connected with the network mouth 23 of notebook computer 3 by this switch Ethernet connecting line 2, the umbilical cord detection interface 27 of computer function extension box rear board it is connected to by network output cable 13, can be connected the umbilical cable 7 of correspondence respectively by this interface, each umbilical cable separately connects a umbilical cord short cable 14 of switching and is connected to AUV port.
Owing to umbilical cable 7 has plug number of times restriction, namely watertight end (the connecting AUV end) plug of this umbilical cable scraps more than 30 times.Therefore to minimizing use cost, the watertight end of umbilical cable connects a umbilical cord short cable 14 of switching, plugs and changes the umbilical cord short cable of switching more than 30 times.
What a kind of one-to-many detected AUV device automatically realizes method, comprises the steps:
(1) running inspection software, open data base, user profile includes user name and detection data store, detection data are the coding of AUV every the device name connected and correspondence；
(2) authentication, login user password；
(3) when being verified, notebook computer 1 sends control instruction by RS232 serial ports to master control borad, starts 8 mouth switchs and sets up net connection with AUV；
(4) configuration network parameter, by inputting AUV coding, is made notebook computer realize connecting with corresponding AUV by network；According to mission requirements, 5 AUV can be simultaneously connected with, and carry out network data exchange with AUV；
(5) detection is judged whether, as detecting, arranged the coding of detection AUV, equipment 1 to the equipment 11 of the AUV of coding correspondence is detected, employing multithreading detects, and namely divides two threads to detect every AUV equipment connected simultaneously, and runs separate between two threads；
(6) detection terminates, and testing result is sent into data base and preserves, and reported by notebook computer output detections.
In step (5), the equipment 1 of AUV is propeller, and it includes following detecting step:
When meeting variable i equal to or less than 3, program rotates+500 revs/min by the propeller of network settings AUV；
The actual speed value that AUV propeller rotates is fed back to notebook computer by network, and actual value is compared by it with arranging value 500；
If actual value deducts the absolute value arranging value less than setting 50, database purchase testing result, it was shown that the equipment 1 of AUV is normal, then continuing performs equipment 2～equipment 11 program step of detection AUV.
This device carries out serial port data interactive by the serial ports 21 of notebook computer, radio set Serial Port Line 15 with radio set 4 equipped with inspection software, and it is mutual that radio set carries out radio data by wave point 26 and the AUV of radio set patchcord 12, computer function extension box 1 rear board；
Differential GPS 5 is connected to the GPS mouth 28 of computer function extension box 1 rear board by differential GPS communication cable 9 and differential GPS case interior lines 19 provide gps data to master control borad 8, these data are transferred RS485 signal to RS232 signal by master control borad again, it is then passed to notebook computer 3, sends AUV to again through network.
The inspection software of this device sends the instruction starting differential GPS and 8 mouth switchs 4 by the serial ports 24 of notebook computer to master control borad 8, and master control borad provides+12V power supply to differential GPS 5 and 8 mouth switch 4 respectively by differential GPS case interior lines 19 and power supply for exchange line 20.
Underwater robot AUV can be carried out parameter configuration according to mission requirements, start AUV(1 platform to 5 by the main interface of inspection software).Inspection software starts AUV instruction by the serial ports 24 of notebook computer to master control borad 8 transmission, and master control borad connects cable 11, umbilical cable 7 and the umbilical cord short cable 14 of switching by master control borad output and exports+30V pulse signal to AUV start end.After AUV starts, inspection software is connected with 8 mouth switchs 4 by the networking mouth 23 of notebook computer, and right family sets up network communication by network output cable 13, umbilical cable 7, the short cable 14 of umbilical cord switching with AUV.
When needs AUV restarts, inspection software is sent to master control borad 8 by the serial ports 24 of notebook computer restarts AUV instruction, and master control borad connects cable 11 by master control borad output, umbilical cable 7, umbilical cord are transferred, and short cable 14 exports-30V pulse signal to AUV start end.When needs AUV closes, inspection software sends closedown AUV instruction by the serial ports 24 of notebook computer to master control borad 8, and master control borad exports+30V pulse signal to AUV shutdown side.
Referring to accompanying drawing 4, Fig. 5, for the inventive method software retrieval program flow diagram.In conjunction with accompanying drawing, the method step is described in detail:
Device for opening laptop electric power, starts the operating system, and opens data base, and user profile and detection data are stored；
Login user password, when being verified, notebook computer 1 sends control instruction by RS232 serial ports to master control borad 8, starts 8 mouth switchs and sets up network communication connection with AUV and carry out network communication；
8 mouth switchs start after successfully, configure network parameter, by arranging AUV coding, network make notebook computer and AUV achieve a butt joint；According to mission requirements, 5 AUV can be simultaneously connected with, and carry out network data exchange with AUV；
Judge whether detection, as for retrieving, first configuration detection parameter, namely coding and the device coding thereof of AUV is retrieved in input, detection adopts multithreading, namely 11 points of two threads of equipment 1 to the equipment of every AUV detect simultaneously, and its thread 1 can set detected equipment as 9, such as propeller, anticollision sonar, Doppler log, depth gauge, radio, stroboscopic lamp, hydroplane, vertical rudder and jettison system；Thread 2 can set detected equipment as 2, and such as calibration beacon and used group unit, the detection equipment between single thread detects in order；Run separate between two threads, as arranged 5 AUV of connection, have thread 1～10；
Two threads of every AUV detect simultaneously, and the detection equipment between single thread detects in order.
The all of execution action of AUV and testing result are transmitted each through the notebook computer of network Yu detecting device.When detecting the equipment 1 of AUV, the propeller of AUV is detected, when meeting variable i equal to or less than 3, detection program rotates+500 revs/min by the propeller of network settings AUV, the actual value that propeller rotates is fed back to the notebook computer process of detecting device by AUV by network, measured value is compared with arranging value 500, if actual value deducts the absolute value arranging value less than setting 50, database purchase testing result, the propeller of AUV is normal, and the equipment 2 of the detection AUV that then continues carries out next step program；Otherwise when absolute value is more than setting 50, when variable i is more than 3 again, database purchase testing result, then AUV propeller has fault, and other detection is by that analogy.
Detection terminates, and screen can show often step detection content and testing result.Detecting device can detect at most 5 AUV, and inspection software adopts multi-thread concurrent inspection policies, does not interfere with each other, save the detection time, it is provided that detection efficiency between detection process multithreading.By data output after detection, automatically form examining report.
Claims (10)
1. one-to-many detects an AUV device automatically, mainly includes computer function extension box (1), notebook computer (3), umbilical cable (7)；It is characterized in that: radio set (6), 8 mouth switchs (4) and master control borad (8) are also installed in computer function extension box (1), panel is provided with umbilical cord detection interface (27) behind that connect AUV, above-mentioned master control borad (8) is connected with the transmission of underwater robot AUV data by umbilical cable (7), and 8 mouth switchs (4) detect interface (27) by umbilical cord and are connected with the transmission of underwater robot AUV data；Radio set (6) is connected with AUV wireless telecommunications by wave point (26), and umbilical cable (7) is the cable of detection AUV, it is achieved detection and the preset parameter automatically to AUV.
2. a kind of one-to-many described in claim 1 detects AUV device automatically, it is characterized in that: be made up of the external structure of detecting device extension box (1) and notebook computer (3), its internal structure is divided into upper and lower two-layer, upper strata is notebook computer (3), and lower floor is the extension box (1) of detection AUV.
3. a kind of one-to-many described in claim 1 or 2 detects AUV device automatically, it is characterised in that: extension box (1) rear board is provided with antennal interface (25) and GPS interface (28).
4. a kind of one-to-many described in claim 1 detects AUV device automatically, it is characterised in that: master control borad is provided with 10 tunnel+30V output of pulse signals, 5 road 30V output of pulse signals, 1 tunnel+12V signal output, 1 road RS485 serial ports, 1 road RS232 serial ports and the output of 5 road network winding threads.
5. a kind of one-to-many described in claim 1 detects AUV device automatically, it is characterised in that: also setting up differential GPS is mobile satellite location equipment, provides gps data for detection AUV；Differential GPS is connected with master control borad by 1 tunnel+12V signal output and 1 road RS485 serial ports, and DGPS data is supplied to master control borad, and data are returned to notebook computer with RS232 serial ports by master control borad, send AUV to again through network.
6. a kind of one-to-many described in claim 1 detects AUV device automatically, it is characterized in that: detecting device rear board is provided with 1～5 umbilical cord detection interface (27) and is connected to AUV port respectively through umbilical cable (7), namely at most can connect 5 AUV simultaneously to its detection by 5 umbilical cord detection interfaces.
7. the one-to-many described in claim 1 or 6 detects AUV device automatically, it is characterized in that: every umbilical cable (7) is provided with a umbilical cord short cable of switching (14) and is connected to the port of corresponding A UV, and the length of this umbilical cord short cable of switching (14) is less than the length of umbilical cable (7).
8. what a kind of one-to-many described in a claim 1 detected AUV device automatically realizes method, it is characterised in that: comprise the steps:
(1) running inspection software, open data base, user profile includes user name and detection data store, detection data are the coding of AUV every the device name connected and correspondence；
(2) authentication, login user password；
(3) when being verified, notebook computer (3) sends control instruction by RS232 serial ports to master control borad (8), starts 8 mouth switchs and sets up net connection with AUV；
(4) configuration network parameter, by inputting AUV coding, is made notebook computer (3) realize connecting with corresponding AUV by network；According to mission requirements, 5 AUV can be simultaneously connected with, and carry out network data exchange with AUV；
(5) detection is judged whether, as for detecting, first configuration detection parameter includes input detection AUV coding, then equipment 1 to the equipment 11 of input coding corresponding A UV is detected, employing multithreading detects, namely divide two threads to detect every AUV equipment connected simultaneously, run separate between two threads；
(6) detection terminates, and testing result is sent into data base and preserves, and reported by notebook computer output detections.
9. what the one-to-many described in claim 8 detected AUV device automatically realizes method, it is characterised in that: the equipment that every AUV connects divides two threads to detect simultaneously, and between single thread, the equipment of AUV detects in order.
10. what a kind of one-to-many described in claim 8 detected AUV device automatically realizes method, it is characterised in that: in step (5), the equipment 1 of AUV is propeller, and it includes following detecting step:
When meeting variable i equal to or less than 3, program rotates+500 revs/min by the propeller of network settings AUV；
The actual speed value that AUV propeller rotates is fed back to notebook computer by network, and actual value is compared by it with arranging value 500；
If actual value deducts the absolute value arranging value less than setting 50, database purchase testing result, it was shown that the equipment 1 of AUV is normal, then continuing performs equipment 2 to equipment 11 program step of detection AUV.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210460755.0A CN103809584B (en) | 2012-11-15 | 2012-11-15 | A kind of one-to-many automatically detects AUV device and realizes method |
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| CN201210460755.0A CN103809584B (en) | 2012-11-15 | 2012-11-15 | A kind of one-to-many automatically detects AUV device and realizes method |
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| CN107719700B (en) * | 2017-09-29 | 2019-10-18 | 深圳市大疆创新科技有限公司 | Unmanned vehicle test method and device |
| CN108828281B (en) * | 2018-05-31 | 2021-02-09 | 航天东方红卫星有限公司 | General ground of moonlet supplies distribution test cable system |
| CN110995499B (en) * | 2019-12-16 | 2022-07-01 | 哈尔滨工程大学 | Communication method of AUV module |
| CN112034735B (en) * | 2020-08-31 | 2021-10-19 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2660592Y (en) * | 2003-11-26 | 2004-12-01 | 中国科学院沈阳自动化研究所 | Distribution underwater robot controller |
| CN1319701C (en) * | 2004-02-18 | 2007-06-06 | 中国科学院沈阳自动化研究所 | Under water-robot control device using distributed node network |
| US20080300742A1 (en) * | 2007-05-30 | 2008-12-04 | Oceaneering International, Inc. | Hybrid remotely/autonomously operated underwater vehicle |
| CN201749732U (en) * | 2010-08-04 | 2011-02-16 | 中天科技海缆有限公司 | Photoelectric composite umbilical cable of underwater robot |
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