CN105700412A - Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible - Google Patents
Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible Download PDFInfo
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- CN105700412A CN105700412A CN201410692757.1A CN201410692757A CN105700412A CN 105700412 A CN105700412 A CN 105700412A CN 201410692757 A CN201410692757 A CN 201410692757A CN 105700412 A CN105700412 A CN 105700412A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The invention relates to a supervision on-duty control system and a supervision on-duty control method for time-sharing operation of an underwater robot/submersible. A supervision on-duty control circuit module is connected through a CAN bus with an autopilot, a buoyancy adjusting control device, a water surface communication positioning unit and a satellite positioning device, and controls the work of the autopilot, the buoyancy adjusting control device, the water surface communication positioning unit and the satellite positioning device. A depth meter and an altitude meter are connected through serial communication ports with the supervision on-duty control circuit module, and respectively sample and send depth information and altitude information to the supervision on-duty control circuit module for monitoring. A leakage detection sensor is connected directly to the input port of the supervision on-duty control circuit module to monitor the leakage state in real time. Through the system and the method, long-time underwater detection task of an underwater robot/submersible can be completed to the greatest extend under the condition that the underwater robot/submersible carries limited energy.
Description
Technical field
The present invention relates to a kind of underwater robot/submersible time-sharing and supervise control strategy on duty, specifically a kind of for underwater robot/submersible time-sharing supervision control system and method on duty。
Background technology
Along with people are day by day frequent and urgent to the exploration of ocean, underwater robot/submersible obtains substantial amounts of application as a kind of important instrument。Underwater robot/submersible operation detection operations under water cycle, number of times are proposed requirements at the higher level simultaneously。
Big underwater multi-robot/submersible is by its structural volume and carry energy quantitative limitation, it is impossible to meet on a large scale, long job requirement。Additionally underwater robot/submersible operation detection operations under water cycle carries out according to certain rule, and this is accomplished by underwater robot/submersible and carries out operation according to required detection cycle request；Existing underwater robot/submersible scarcely has time-sharing and the specialized system of supervision control, and this just plans to the Utilizing Energy Sources in Reason of underwater robot/submersible and job task and brings inconvenience。
Summary of the invention
For energy demand and the job task demand of the above underwater robot/submersible, design and develop corresponding supervision control system on duty, both can realize time sharing segment work, and the energy can have been made full use of again, effectively subtract reduction energy loss。The present invention provides a kind of and sensor device carries out United Dispatching and coordinated management, reduces energy resource consumption simultaneously and efficiently utilizes entrained finite energy resource, constituting the supervision control system and method on duty of underwater robot/submersible time-sharing work。
The present invention is the technical scheme is that a kind of control system on duty of the supervision for underwater robot/submersible time-sharing for achieving the above object, supervise control circuit module on duty to be connected with automatic pilot, buoyancy adjustment control device, water surface communication positioning unit and satellite positioning device by CAN, control automatic pilot, buoyancy adjustment control device, water surface communication positioning unit, satellite positioning device connection；
Depth gauge, altimeter by serial communication interface with supervise control circuit module on duty be connected, gather respectively deep elevation information be sent to supervise control circuit module on duty be monitored；
Water leakage detection sensor is directly connected to the input port supervising control circuit module on duty, monitors state of leaking in real time。
Described supervision control circuit module on duty includes:
Embedded microprocessor is connected to automatic pilot by CAN communication control circuit, buoyancy adjustment controls device, water surface communication positioning unit, it is achieved with the data interaction that automatic pilot, buoyancy adjustment control device, water surface communication positioning unit；
Embedded microprocessor is connected to water surface communication positioning unit, satellite positioning device by power drive control circuit, buoyancy adjustment controls device, depth gauge, altimeter realize power supply control；
Embedded microprocessor is connected to satellite positioning device, depth gauge and altimeter by serial communication control circuit, it is achieved data communication；
State-detection and signal input testing circuit connect embedded microprocessor, and the duty and underwater robot/submersible carrier inside for monitoring water surface communication positioning unit and automatic pilot is leaked state；
Automatic pilot is sequentially connected with power switching circuit, power converting circuit, and power converting circuit is connected with power drive control circuit and embedded microprocessor again respectively, it is achieved power switching controls mutually。
Described water surface communication positioning unit connects satellite positioning device, for realizing underwater robot communication before entering water and after water outlet, location, detection, mission mission planning, make the ability automatically processing emergency that underwater robot has under water, it is ensured that underwater robot is safe and reliable in the course of the work simultaneously。
A kind of supervision control method on duty for underwater robot/submersible time-sharing, supervises control circuit module on duty and receives the command information that automatic pilot sends, and resolve CAN data, and to carry out information mutual with automatic pilot；Supervise control circuit module on duty and confirm duty according to the command information of automatic pilot, enter corresponding mode of operation。
Described mode of operation includes hardware check mode of operation, mission mode of operation on duty and supervision pattern。
If automatic pilot is in hardware check mode of operation, then supervise the systems inspection instruction that control circuit module on duty sends according to automatic pilot, the equipment of supervision attended circuit module various functions and connection is checked, and object information is fed back to automatic pilot。
If automatic pilot is in mission mode of operation on duty, then supervises control circuit module on duty and the status information collected is sent to automatic pilot, it is judged that whether automatic pilot is normal；
If automatic pilot is normal, then judges that whether water surface communication positioning unit duty is normal, otherwise enter contingency mode；
Judge water surface communication positioning unit duty, and object information is fed back to automatic pilot。
Described status information includes depth information, elevation information and submersible each cabin section and leaks status information。
If underwater robot/submersible is in supervision pattern, then automatic pilot informs that supervision attended circuit module enters supervision state, underwater robot/submersible real time information is sent to supervision control circuit module on duty simultaneously, supervision attended circuit module feeds back to automatic pilot after receiving information and completes a carrying out shake communication, it is judged that whether supervision attended circuit module enters supervision state；
If supervision attended circuit module enters supervision state, then automatic pilot sends shutdown confirmation, supervision attended circuit module closes automatic pilot after receiving confirmation shutdown command, enter supervision state, otherwise returning and supervise control circuit module on duty and resolve CAN data, to carry out information mutual with automatic pilot；
During supervision state, whether supervision attended circuit module carries out timing and to the current degree of depth of underwater robot/submersible, be highly monitored, monitor in the section of each cabin in real time and leak；
If be detected that leak in the section of cabin or timing terminates, terminate supervision state, start automatic pilot, startup relevant information is sent to automatic pilot by supervision attended circuit module, started by automatic pilot and built-in wake guiding task up, and next step mission task is judged according to the information supervising the offer of attended circuit module, automatic pilot informs that supervision attended circuit module enters mode of operation on duty simultaneously, if automatic pilot starts unsuccessfully, then directly initiate water surface communication positioning unit and enter emergency；
If be detected that leak in the section of cabin and timing terminates, then judge underwater robot/submersible whether ultra-deep or bottom out；
If ultra-deep or bottom out, supervision attended circuit module sends buoyancy adjustment instruction, starts buoyancy adjustment and controls device, adjusts buoyancy and avoids ultra-deep or bottom out, otherwise keeps supervision state until timing terminates。
Described startup relevant information includes present system time, whether carried out the mark of online planning, current flight path indexing, current completed observation frequency, next time wakeup time, currently to monitor the degree of depth and elevation information and start reason。
The invention have the advantages that and advantage:
1. comprehensively use the sensor device that underwater robot/submersible carries, scheduling and management, it is ensured that each stage necessary equipment that underwater robot/submersible mission performs can work；
2. supervision attended circuit module uses built-in control program, can work alone completely again, the sensor device that monitoring automatic pilot and management and running underwater robot/submersible carry, it is possible to embed and be installed in various types of underwater robot/submersible；
3. solve underwater robot/submersible detection operation time-sharing work problem, the problem that during solving time sharing segment work or mission task, energy resource consumption is bigger simultaneously；
4. realize underwater robot/submersible and at utmost complete underwater robot/submersible term underwater operation detection mission when entrained finite energy resource。
Accompanying drawing explanation
Fig. 1 is population structure block diagram of the present invention；
Fig. 2 is that the present invention supervises attended circuit inside modules structure chart；
Fig. 3 is that the present invention controls program flow diagram。
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail。
Supervise control circuit module 1 on duty to be connected with automatic pilot, buoyancy adjustment control module, water surface communication positioning unit and satellite positioning device by CAN, depth gauge, altimeter are connected with supervising control circuit module on duty by serial ports, leakage sensor is directly connected to supervision control circuit module input mouth on duty, and other sensors or equipment that underwater robot/submersible is installed are connected to automatic pilot。
Supervise control circuit module on duty and resolve CAN data, and carry out information exchange with automatic pilot；
If underwater robot/submersible is in hardware check pattern, then supervise the channel check instruction that control circuit module on duty sends according to automatic pilot, the equipment of supervision attended circuit various functions and mounting is checked。
If underwater robot/submersible is in mission mode of operation on duty, then supervise control circuit module on duty and the depth information collected, elevation information and underwater robot/submersible each cabin section are leaked status information and diagnostic result is sent to automatic pilot, simultaneously monitor automatic pilot and the water surface shows whether a communication is normal with the work of emergent safety control module。
If underwater robot/submersible is in supervision pattern, then automatic pilot informs that supervision attended circuit module enters supervision state, simultaneously by present system time, whether carried out the mark of online planning, current flight path indexing, current completed observation frequency, next time wakeup time and currently to monitor the degree of depth and elevation information (or the concrete numerical value set in advance)。Supervision attended circuit module feeds back to automatic pilot after receiving information and completes a carrying out shake communication, and automatic pilot sends shutdown confirmation, and supervision attended circuit module closes automatic pilot after receiving confirmation shutdown command。
The automatic pilot down periods, whether supervision attended circuit module carries out timing and to the current degree of depth of underwater robot/submersible, be highly monitored, detect in the section of each cabin in real time and leak, start automatic pilot when timing terminates。If occurring ultra-deep during this, bottoming out, supervision attended circuit module sends buoyancy adjustment instruction, buoyancy regulating device adjust buoyancy and avoid ultra-deep or bottom out；Leaking or timing terminates if detecting in the section of cabin, timing will be terminated and start automatic pilot, after starting automatic pilot, supervision attended circuit module will start relevant information (as started reason, currently supervising status information) and be sent to automatic pilot, started built-in guiding task of waking up by automatic pilot, and the information provided according to supervision attended circuit module judges next step mission task。Automatic pilot informs that supervision attended circuit module enters mode of operation on duty simultaneously。
Claims (10)
1. the supervision control system on duty for underwater robot/submersible time-sharing, it is characterized in that: supervise control circuit module on duty and be connected with automatic pilot, buoyancy adjustment control device, water surface communication positioning unit and satellite positioning device by CAN, control automatic pilot, buoyancy adjustment control device, water surface communication positioning unit and satellite positioning device；
Depth gauge, altimeter by serial communication interface with supervise control circuit module on duty be connected, gather respectively deep elevation information be sent to supervise control circuit module on duty be monitored；
Water leakage detection sensor is directly connected to the input port supervising control circuit module on duty, monitors state of leaking in real time。
2. the control system on duty of the supervision for underwater robot/submersible time-sharing according to claim 1, it is characterised in that described supervision control circuit module on duty includes:
Embedded microprocessor is connected to automatic pilot by CAN communication control circuit, buoyancy adjustment controls device, water surface communication positioning unit, it is achieved with the data interaction that automatic pilot, buoyancy adjustment control device, water surface communication positioning unit；
Embedded microprocessor is connected to water surface communication positioning unit, satellite positioning device by power drive control circuit, buoyancy adjustment controls device, depth gauge, altimeter realize power supply control；
Embedded microprocessor is connected to satellite positioning device, depth gauge and altimeter by serial communication control circuit, it is achieved data communication；
State-detection and signal input testing circuit connect embedded microprocessor, and the duty and underwater robot/submersible carrier inside for monitoring water surface communication positioning unit and automatic pilot is leaked state；
Automatic pilot is sequentially connected with power switching circuit, power converting circuit, and power converting circuit is connected with power drive control circuit and embedded microprocessor again respectively, it is achieved power switching controls mutually。
3. the control system on duty of the supervision for underwater robot/submersible time-sharing according to claim 1 and 2, it is characterized in that, described water surface communication positioning unit connects satellite positioning device, for realizing the communication before entering water and after water outlet of the underwater robot/submersible, location, detection, mission mission planning, make the ability automatically processing emergency that underwater robot/submersible has under water simultaneously。
4. the supervision control method on duty for underwater robot/submersible time-sharing, it is characterised in that: supervising control circuit module on duty and receive the command information that automatic pilot sends, and resolve CAN data, to carry out information mutual with automatic pilot；Supervise control circuit module on duty and confirm duty according to the command information of automatic pilot, enter corresponding mode of operation。
5. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 4, it is characterised in that: described mode of operation includes hardware check mode of operation, mission mode of operation on duty and supervision pattern。
6. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 4 or 5, it is characterized in that: if automatic pilot is in hardware check mode of operation, then supervise the systems inspection instruction that control circuit module on duty sends according to automatic pilot, the equipment of supervision attended circuit module various functions and connection is checked, and object information is fed back to automatic pilot。
7. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 4 or 5, it is characterised in that:
If automatic pilot is in mission mode of operation on duty, then supervises control circuit module on duty and the status information collected is sent to automatic pilot, it is judged that whether automatic pilot is normal；
If automatic pilot is normal, then judges that whether water surface communication positioning unit duty is normal, otherwise enter contingency mode；
Judge water surface communication positioning unit duty, and object information is fed back to automatic pilot。
8. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 7, it is characterised in that: described status information includes depth information, elevation information and submersible each cabin section and leaks status information。
9. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 4 or 5, it is characterised in that:
If underwater robot/submersible is in supervision pattern, then automatic pilot informs that supervision attended circuit module enters supervision state, underwater robot/submersible real time information is sent to supervision control circuit module on duty simultaneously, supervision attended circuit module feeds back to automatic pilot after receiving information and completes a carrying out shake communication, it is judged that whether supervision attended circuit module enters supervision state；
If supervision attended circuit module enters supervision state, then automatic pilot sends shutdown confirmation, supervision attended circuit module closes automatic pilot after receiving confirmation shutdown command, enter supervision state, otherwise returning and supervise control circuit module on duty and resolve CAN data, to carry out information mutual with automatic pilot；
During supervision state, whether supervision attended circuit module carries out timing and to the current degree of depth of underwater robot/submersible, be highly monitored, monitor in the section of each cabin in real time and leak；
If be detected that leak in the section of cabin or timing terminates, terminate supervision state, start automatic pilot, startup relevant information is sent to automatic pilot by supervision attended circuit module, started by automatic pilot and built-in wake guiding task up, and next step mission task is judged according to the information supervising the offer of attended circuit module, automatic pilot informs that supervision attended circuit module enters mode of operation on duty simultaneously, if automatic pilot starts unsuccessfully, then directly initiate water surface communication positioning unit and enter emergency；
If be detected that leak in the section of cabin and timing terminates, then judge underwater robot/submersible whether ultra-deep or bottom out；
If ultra-deep or bottom out, supervision attended circuit module sends buoyancy adjustment instruction, starts buoyancy adjustment and controls device, adjusts buoyancy and avoids ultra-deep or bottom out, otherwise keeps supervision state until timing terminates。
10. the supervision control method on duty for underwater robot/submersible time-sharing according to claim 9, it is characterised in that: described startup relevant information includes present system time, whether carried out the mark of online planning, current flight path indexing, current completed observation frequency, next time wakeup time, currently to monitor the degree of depth and elevation information and start reason。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410692757.1A CN105700412B (en) | 2014-11-26 | 2014-11-26 | For underwater robot/submersible time-sharing supervision control system on duty and method |
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| CN201410692757.1A CN105700412B (en) | 2014-11-26 | 2014-11-26 | For underwater robot/submersible time-sharing supervision control system on duty and method |
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| CN105700412B CN105700412B (en) | 2019-04-09 |
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| CN108089588A (en) * | 2016-11-22 | 2018-05-29 | 中国科学院沈阳自动化研究所 | A kind of Observational depth segmented adaptive planing method of underwater robot |
| CN108132617A (en) * | 2016-11-30 | 2018-06-08 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
| CN108169753A (en) * | 2018-01-08 | 2018-06-15 | 哈尔滨工程大学 | A kind of underwater chain-wales acoustic fuse system of separate type and detection method |
| CN108445801A (en) * | 2018-03-15 | 2018-08-24 | 西北工业大学 | A kind of portable autonomous submarine navigation device multifunctional safe warning device and alarming logic control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108021529A (en) * | 2016-10-31 | 2018-05-11 | 中国科学院沈阳自动化研究所 | A kind of hardware configurable controller device for autonomous submersible |
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| CN108037766B (en) * | 2017-12-11 | 2021-04-09 | 河海大学 | Control system of floating-rolling benthonic submersible |
| CN108169753A (en) * | 2018-01-08 | 2018-06-15 | 哈尔滨工程大学 | A kind of underwater chain-wales acoustic fuse system of separate type and detection method |
| CN108445801A (en) * | 2018-03-15 | 2018-08-24 | 西北工业大学 | A kind of portable autonomous submarine navigation device multifunctional safe warning device and alarming logic control method |
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