CN104571130A - Load modularized carrying method for underwater autonomous underwater vehicle (AUV) - Google Patents
Load modularized carrying method for underwater autonomous underwater vehicle (AUV) Download PDFInfo
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- CN104571130A CN104571130A CN201510016604.XA CN201510016604A CN104571130A CN 104571130 A CN104571130 A CN 104571130A CN 201510016604 A CN201510016604 A CN 201510016604A CN 104571130 A CN104571130 A CN 104571130A
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Abstract
The invention belongs to the technical field of underwater weapons and ocean engineering, and particularly relates to a load modularized carrying method for an underwater autonomous underwater vehicle (AUV). According to the method, system energy, a carrying device, an energy supplying system and an information processing system are included; the carrying device comprises an AUV platform device and an effective load device; the energy supplying system and the information processing system act on the AUV platform device and the effective load device respectively; the system energy is connected with the AUV platform device and the effective load device through the energy supplying system to conduct energy conversion and distribution; the information processing system is used for acquiring and processing information of all devices and controlling all the devices. By the adoption of the load modularized carrying method, the load device and the AUV platform device separate energy supply from information processing, the load device, a load energy module and a processing unit facing a user form a load module, and an AUV platform can be compatible to different load devices and has universality.
Description
Technical field
The invention belongs to underawater ordnance and field of ocean engineering, specifically, relate to the payload module method for loading of a kind of AUV of autonomous underwater vehicle under water, be applicable to solve design and the engineer applied problem of autonomous underwater vehicle AUV payload moduleization lift-launch under water.
Background technology
China has entered on a large scale, multimode develops ocean, and advance the new period that marine economy development pattern changes, science and technology Xinghai County has entered the new historical stage, and marine environment sees the important research content that detection is science and technology Xinghai County of China and consolidates in coast defence process.
Autonomous underwater vehicle AUV is the Important Platform that a kind of marine environment sees detection under water, different marine instrument and equipments can be carried and complete the different task such as marine environment investigation, resource exploration, investigate compared with observation operating type with traditional ocean research, have measure cost low, scalability is strong, measurement range is large, affect the features such as little, detection data fidelity is effective by sea situation, is the multi-disciplinary integrated application achievements such as the energy, propelling, communication, navigation, control, fluid, machinery.
Autonomous underwater vehicle AUV is as a kind of hydrospace detection platform under water, needs to carry multi-form load, and complete the different tasks such as marine environment investigation, resource exploration, target simulation, autonomous underwater vehicle AUV needs to possess universalization under water.Design traditionally, the energy supply of loading device, information processing and AUV platform device adopt same equipment to focus on, and when load changes, platform device needs associated modification simultaneously, and AUV does not possess universalization function.
Summary of the invention
For the problem of autonomous underwater vehicle AUV platform universalization under water, invent a kind of method realizing payload moduleization and carry, realize AUV platform general, multi-form loading device can be carried, design and the Project Realization of AUV payload moduleization lift-launch can be directly applied to.
The payload module method for loading of a kind of AUV of autonomous underwater vehicle under water of the present invention, comprise system energy, carrying equipment, energy supply system, information handling system, described carrying equipment comprises AUV platform device and useful load equipment, and energy supply system, information handling system act on AUV platform device and useful load equipment respectively; System energy connects AUV platform device respectively by energy supply system and useful load equipment carries out energy transformation and distribution; Information handling system comprises central control unit, and central control unit connects AUV platform device 4 and useful load equipment 5, is responsible for the information process to various equipment, and controls each equipment.
Further, described AUV platform device comprises: propulsion electric machine, depthometer, inertial navigation, Doppler log and central control unit.
Further, described useful load equipment comprises CTD, low-frequency sound source, also can comprise other useful load equipment.
Again further, described energy supply system comprises platform energy transformation module, the connected system energy, for autonomous underwater vehicle AUV platform carries out energy transformation under water, to meet the different electric pressure demand of AUV platform; With, platform energy distribution module, with platform energy transformation model calling, for AUV platform device carries out energy distribution, and to AUV platform device and user oriented energy distribution system overall upper/unload electricity to control;
Further, user oriented energy distribution system, comprising: load energy transformation module, connecting platform energy distribution module, is the electric pressure that useful load device transform is different; With load energy distribution module, connect load energy transformation module, for different useful load equipment carries out energy distribution, and to loading device upper/unload electricity to control.
Again further, described central control unit comprises: platform central control module, is responsible for the information process to each AUV platform device, and controls each AUV platform device; With, user's processing unit, has been responsible for the operation of the information acquisition of each equipment of useful load equipment, storage, process, control.Described user's processing unit is communicated by given protocol with between platform central control module, realizes information interaction.
The principle of this kind payload module method for loading of autonomous underwater vehicle AUV is under water mainly: AUV equipment is divided into AUV platform device and useful load equipment two large divisions, and carries out energy supply and information processing respectively to AUV platform device and useful load equipment.Based on this process, remove the coupled relation of useful load equipment and the energy supply of autonomous underwater vehicle AUV platform and information processing under water, when there is conversion or change in useful load equipment, only relevant to user oriented energy supply or information processing, do not relate to normal work and the operation of AUV platform device, namely the loading device that AUV platform can be compatible different, possesses versatility, and the modularization that can realize different useful load equipment is carried.
The payload module method for loading of this kind autonomous underwater vehicle AUV is under water that the carrying equipment of autonomous underwater vehicle AUV is under water divided into AUV platform device and useful load equipment two large divisions, a kind of mode that its energy supply and information processing process respectively.Particularly, in energy supply, platform energy transformation module and platform energy distribution module complete the energy supply to AUV platform devices such as propulsion electric machine, depthometer, inertial navigation, Doppler log, central control units, and the energy supply of the loading device such as CTD, low-frequency sound source is by load energy transformation module and load energy transformation module in charge; In information processing, the acquisition and processing of the AUV platform device information such as propulsion electric machine, depthometer, inertial navigation, Doppler log is responsible for by central control unit, and the acquisition process of the loading device such as CTD, low-frequency sound source information, the storage of detection information have been responsible for by user oriented processing unit, central control unit and user oriented processing unit have realized information interaction by serial communication simultaneously.By said method, loading device and the energy supply of AUV platform device separate with information processing, and loading device, load energy module and user oriented processing unit form payload module, and the loading device that AUV platform can be compatible different, possesses versatility.
The modularization that the present invention can be used for solving autonomous underwater vehicle AUV useful load under water carries problem, and in actual applications, AUV possesses versatility, for different useful load, only needs the user oriented module of corresponding replacing.
Accompanying drawing explanation
Figure mono-is the block diagram of autonomous underwater vehicle AUV energy centralizedly supply mode under water.
Figure bis-is that autonomous underwater vehicle AUV payload moduleization carries energy supply block diagram under water.
Figure tri-is that autonomous underwater vehicle AUV information concentrates the block diagram of processing mode under water.
Figure tetra-is that autonomous underwater vehicle AUV payload moduleization carries information processing block diagram under water.
Embodiment
In order to more clearly understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments, the present invention is further described in detail.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.
The payload module method for loading of the AUV of autonomous underwater vehicle under water that some embodiments of the invention provide is described with reference to the accompanying drawings.
Embodiment 1
As shown in Figure 1, the payload module method for loading of a kind of AUV of autonomous underwater vehicle under water, comprise system energy, carrying equipment, energy supply system, information handling system, carrying equipment comprises AUV platform device 4 and useful load equipment 5, and energy supply system, information handling system act on AUV platform device 4 and useful load equipment 5 respectively; System energy connects AUV platform device 4 respectively by energy supply system and useful load equipment 5 carries out energy transformation and distribution; Information handling system comprises central control unit, and central control unit connects AUV platform device 4 and useful load equipment 5, is responsible for the information process to various equipment, and controls each equipment.
Wherein: AUV platform device 4 comprises: propulsion electric machine, depthometer, inertial navigation, Doppler log and central control unit.Useful load equipment 5 comprises CTD, low-frequency sound source.
As shown in Figure 2, energy supply system comprises: platform energy transformation module 6, platform energy distribution module 7, and user oriented energy distribution system, the platform energy transformation module 6 connected system energy 1, for autonomous underwater vehicle AUV platform carries out energy transformation under water, to meet the different electric pressure demand of AUV platform; Platform energy distribution module 7 is connected with platform energy transformation module 6, for AUV platform device carries out energy distribution, and to AUV platform device and user oriented energy distribution system overall upper/unload electricity to control; User oriented energy distribution system comprises: load energy transformation module 8 and load energy distribution module 9, and load energy transformation module 8 connecting platform energy distribution module 7, for useful load equipment 5 converts different electric pressures; Load energy distribution module 9, connects load energy transformation module 8, for different useful load equipment carries out energy distribution, and to loading device upper/unload electricity to control.
As shown in Figure 3, Figure 4, central control unit comprises platform central control module 11 and user's processing unit 12, and platform central control module 11 is responsible for the information process to each AUV platform device 5, and controls each AUV platform device; User's processing unit 12 has been responsible for the operation of the information acquisition of each equipment of useful load equipment 5, storage, process, control.Information interaction is realized by serial communication between user's processing unit 12 and platform central control module 11.
Embodiment 2
As shown in Figure 1, the payload module method for loading of a kind of AUV of autonomous underwater vehicle under water, comprise system energy, carrying equipment, energy supply system, information handling system, carrying equipment comprises AUV platform device 4 and useful load equipment 5, and energy supply system, information handling system act on AUV platform device 4 and useful load equipment 5 respectively; System energy connects AUV platform device 4 respectively by energy supply system and useful load equipment 5 carries out energy transformation and distribution; Information handling system comprises central control unit, and central control unit connects AUV platform device 4 and useful load equipment 5, is responsible for the information process to various equipment, and controls each equipment.Wherein: AUV platform device 4 comprises: propulsion electric machine, depthometer, inertial navigation, Doppler log and central control unit.Useful load equipment 5 comprises CTD, low-frequency sound source.
Wherein: energy supply system comprises: platform energy transformation module 6, platform energy distribution module 7, and user oriented energy distribution system, the platform energy transformation module 6 connected system energy 1, for autonomous underwater vehicle AUV platform carries out energy transformation under water, to meet the different electric pressure demand of AUV platform; Platform energy distribution module 7 is connected with platform energy transformation module 6, for AUV platform device carries out energy distribution, and to AUV platform device and user oriented energy distribution system overall upper/unload electricity to control; Central control unit comprises platform central control module 11 and user's processing unit 12, and platform central control module 11 is responsible for the information process to each AUV platform device 5, and controls each AUV platform device; User's processing unit 12 has been responsible for the operation of the information acquisition of each equipment of useful load equipment 5, storage, process, control.Information interaction is realized by serial communication between user's processing unit 12 and platform central control module 11.
Based on this process, remove the coupled relation of useful load equipment and the energy supply of autonomous underwater vehicle AUV platform and information processing under water, when there is conversion or change in useful load equipment, only relevant to user oriented energy supply or information processing, do not relate to normal work and the operation of AUV platform device, namely the loading device that AUV platform can be compatible different, possesses versatility, and the modularization that can realize different useful load equipment is carried.
Claims (7)
1. a payload module method for loading of autonomous underwater vehicle AUV under water, comprises system energy, carrying equipment, energy supply system, information handling system, it is characterized in that:
Described carrying equipment comprises AUV platform device and useful load equipment, and described energy supply system, information handling system act on AUV platform device and useful load equipment respectively; Described system energy connects AUV platform device respectively by energy supply system and useful load equipment carries out energy transformation and distribution; Described information handling system comprises central control unit, and described central control unit connects AUV platform device and useful load equipment, is responsible for the information process to various equipment, and controls each equipment.
2. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to claim 1, is characterized in that: described AUV platform device comprises: propulsion electric machine, depthometer, inertial navigation, Doppler log and central control unit.
3. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to claim 1, is characterized in that: described useful load equipment comprises CTD and low-frequency sound source.
4. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to any one of claim 1-3, is characterized in that: described energy supply system comprises:
Platform energy transformation module, the connected system energy, for autonomous underwater vehicle AUV platform carries out energy transformation under water, to meet the different electric pressure demand of AUV platform;
Platform energy distribution module, with platform energy transformation model calling, for AUV platform device carries out energy distribution, and to AUV platform device and user oriented energy distribution system overall upper/unload electricity to control.
5. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to claim 4, is characterized in that: described user oriented energy distribution system connecting platform energy distribution module, comprising:
Load energy transformation module, is connected with platform energy distribution module, is the electric pressure that useful load device transform is different;
Load energy distribution module, with load energy transformation model calling, for different useful load equipment carries out energy distribution, and to loading device upper/unload electricity to control.
6. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to claim 1-3 or 5 any one, is characterized in that: described central control unit comprises:
Platform central control module, is responsible for the information process to each AUV platform device, and controls each AUV platform device; With,
User's processing unit, has been responsible for the operation of the information acquisition of each equipment of useful load equipment, storage, process, control.
Described user's processing unit is communicated by given protocol with between platform central control module, realizes information interaction.
7. the payload module method for loading of the AUV of autonomous underwater vehicle under water according to claim 4, is characterized in that: described central control unit comprises:
Platform central control module, is responsible for the information process to each AUV platform device, and controls each AUV platform device; With,
User's processing unit, has been responsible for the operation of the information acquisition of each equipment of useful load equipment, storage, process, control;
Information interaction is realized by serial communication between described user's processing unit and platform central control module.
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| CN105173126A (en) * | 2015-08-04 | 2015-12-23 | 西北工业大学 | Effective load module ground replacement test device |
| CN105628019A (en) * | 2015-12-25 | 2016-06-01 | 河北工业大学 | Modular micro AUV communication-navigation module |
| CN109693771A (en) * | 2017-10-23 | 2019-04-30 | 中国科学院沈阳自动化研究所 | A kind of UUV heavy load carrying and release device |
| CN113428326A (en) * | 2021-07-06 | 2021-09-24 | 中国人民解放军国防科技大学 | Standard load cabin underwater replacing device for modular underwater intelligent equipment platform |
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Application publication date: 20150429 |