CN105700412B - For underwater robot/submersible time-sharing supervision control system on duty and method - Google Patents
For underwater robot/submersible time-sharing supervision control system on duty and method Download PDFInfo
- Publication number
- CN105700412B CN105700412B CN201410692757.1A CN201410692757A CN105700412B CN 105700412 B CN105700412 B CN 105700412B CN 201410692757 A CN201410692757 A CN 201410692757A CN 105700412 B CN105700412 B CN 105700412B
- Authority
- CN
- China
- Prior art keywords
- duty
- supervision
- automatic pilot
- circuit module
- submersible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a kind of for underwater robot/submersible time-sharing supervision control system on duty and method, it supervises control circuit module on duty and is connect by CAN bus with automatic pilot, buoyancy adjustment control device, water surface communication positioning unit and satellite positioning device, control automatic pilot, buoyancy adjustment control device, water surface communication positioning unit, satellite positioning device work；Depth gauge, altimeter are connect by serial communication interface with control circuit module on duty is supervised, and the deep elevation information of acquisition is sent to supervision control circuit module on duty and is monitored respectively；Water leakage detection sensor is directly connected to the input port for supervising control circuit module on duty, real-time monitoring leak state.The present invention realizes that underwater robot/submersible utmostly completes underwater robot/submersible term underwater operation detection mission under conditions of entrained finite energy resource.
Description
Technical field
Control strategy on duty is supervised the present invention relates to a kind of underwater robot/submersible time-sharing, specifically one
Kind supervises control system and method on duty for underwater robot/submersible time-sharing.
Background technique
As exploration of the people to ocean is increasingly frequently and urgent, underwater robot/submersible is as a kind of important work
Tool has obtained a large amount of application.To underwater robot/submersible, operation detection operations period, number are proposed more under water simultaneously
High request.
Big underwater multi-robot/submersible is limited by its structural volume and carrying quantity of energy, is unable to satisfy a wide range of, long
The job requirement of time.In addition the operation detection operations period is carried out according to certain rule to underwater robot/submersible under water
, this just needs underwater robot/submersible to be required to carry out operation according to required detection cycle；Existing underwater robot/latent
Specialized system of the hydrophone greatly most without time-sharing and supervision control, this just gives underwater robot/submersible rational energy
Inconvenience is brought using with job task planning.
Summary of the invention
For the energy demand and job task demand of underwater robot/submersible described above, design and develop corresponding
Control system on duty is supervised, time sharing segment work not only may be implemented, but also the energy can be made full use of, effectively subtracting reduces energy damage
Consumption.The present invention provides a kind of pair of sensor device and carries out United Dispatching and coordinated management, while reducing energy consumption and efficiently benefit
With entrained finite energy resource, underwater robot/submersible time-sharing work supervision control system on duty and method are constituted.
Present invention technical solution used for the above purpose is: one kind is for underwater robot/submersible timesharing
The supervision of operation control system on duty supervises control circuit module on duty and passes through CAN bus and automatic pilot, buoyancy adjustment control
Device processed, the water surface communication positioning unit connects with satellite positioning device, control automatic pilot, buoyancy adjustment control device, water
Face communicates positioning unit, satellite positioning device connection；
Depth gauge, altimeter are connect by serial communication interface with control circuit module on duty is supervised, respectively the deep height of acquisition
Information is sent to supervision control circuit module on duty and is monitored；
Water leakage detection sensor is directly connected to the input port for supervising control circuit module on duty, real-time monitoring leak shape
State.
Supervision control circuit module on duty includes:
Embedded microprocessor is connected to automatic pilot, buoyancy adjustment control dress by CAN bus communication control circuit
It sets, water surface communication positioning unit, realizes the data with automatic pilot, buoyancy adjustment control device, water surface communication positioning unit
Interaction；
Embedded microprocessor is connected to the water surface by power drive control circuit and communicates positioning unit, satellite positioning dress
It sets, buoyancy adjustment control 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,
Realize data communication；
State-detection connects embedded microprocessor with signal input testing circuit, for monitoring water surface communication positioning unit
With working condition and underwater robot/submersible carrier inside leak state of automatic pilot；
Automatic pilot is sequentially connected with power switching circuit, power converting circuit, power converting circuit again respectively with power
Drive control circuit is connected with embedded microprocessor, realizes mutual power switching control.
The water surface communication positioning unit connects satellite positioning device, for realizing underwater robot before entering water and out
Communication, positioning, detection, mission mission planning after water, while making what underwater robot had under water to automatically process urgent thing
The ability of part, it is ensured that underwater robot is safe and reliable during the work time.
It is a kind of for underwater robot/submersible time-sharing supervision control method on duty, supervise control circuit on duty
Module receives the command information that automatic pilot is sent, and parses CAN bus data, carries out information exchange with automatic pilot；
It supervises control circuit module on duty and working condition is confirmed according to the command information of automatic pilot, into corresponding operating mode.
The operating mode includes hardware check operating mode, mission operating mode on duty and supervision mode.
If automatic pilot is in hardware check operating mode, control circuit module on duty is supervised according to automatic Pilot
The systems inspection instruction that instrument issues, checks the equipment of supervision attended circuit module various functions and connection, and will knot
Fruit information feeds back to automatic pilot.
If automatic pilot is in mission operating mode on duty, control circuit module on duty is supervised by collected shape
State information is sent to automatic pilot, judges whether automatic pilot is normal；
If automatic pilot is normal, judge whether water surface communication positioning unit working condition is normal, otherwise enters and answers
Anxious mode；
Judge that the water surface communicates positioning unit working condition, and result information is fed back into automatic pilot.
The status information includes depth information, elevation information and each bay section leak status information of submersible.
If underwater robot/submersible is in supervision mode, automatic pilot informs supervision attended circuit mould
Block enters supervision state, while underwater robot/submersible real time information is sent to supervision control circuit module on duty, supervision
Attended circuit module feeds back to an automatic pilot carrying out shake communication of completion after receiving information, judges that supervising attended circuit module is
It is no to enter supervision state；
If supervision attended circuit module enters supervision state, automatic pilot sends shutdown confirmation message, supervision value
Class's circuit module closes automatic pilot after receiving confirmation shutdown command, into supervision state, otherwise returns and supervises control on duty
Circuit module parses CAN bus data, carries out information exchange with automatic pilot；
During supervision state, supervision attended circuit module carries out timing and the depth current to underwater robot/submersible
Degree, be highly monitored, in each bay section of real-time monitoring whether leak；
Terminate supervision state if detecting that leak or timing terminate in bay section, start automatic pilot, supervises on duty
Circuit module is sent to automatic pilot for relevant information is started, and guides task by the built-in wake-up of automatic pilot starting, and
The mission task of next step is judged according to the information that supervision attended circuit module provides, automatic pilot informs that supervision is on duty simultaneously
Circuit module enter operating mode on duty, if automatic pilot starting failure, directly initiate the water surface communicate positioning unit into
Enter emergency；
If detecting leak in bay section and timing terminating, judge whether underwater robot/submersible ultra-deep or bottoms out；
Attended circuit module is supervised if ultra-deep or if bottoming out sends buoyancy adjustment instruction, starting buoyancy adjustment control dress
It sets, adjustment buoyancy avoids ultra-deep or bottoms out, and otherwise keeps supervision state until timing terminates.
The starting relevant information includes present system time, the mark whether planned online excessively, current flight road
Diameter index, next wakeup time, will currently monitor that depth and elevation information and starting are former at current completed observation frequency
Cause.
The invention has the following beneficial effects and advantage:
1. the comprehensive sensor device carried using underwater robot/submersible, scheduling and management, guarantee underwater
Each stage necessary equipment that people/submersible mission executes can work；
2. supervising attended circuit module uses built-in control program, and can work independently completely, automatic pilot is monitored
The sensor device carried with management and running underwater robot/submersible, can be embedded in and be installed to various types of underwaters
In people/submersible；
3. solving the problems, such as underwater robot/submersible detect operation time-sharing work, while solving time sharing segment work or making
The larger problem of energy consumption during life task；
4. realizing that underwater robot/submersible utmostly completes underwater under conditions of entrained finite energy resource
People/submersible term underwater operation detection mission.
Detailed description of the invention
Fig. 1 is overall structure block diagram of the present invention；
Fig. 2 is present invention supervision attended circuit inside modules structure chart；
Fig. 3 is present invention control program flow diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is logical by CAN bus and automatic pilot, buoyancy adjustment control module, the water surface to supervise control circuit module 1 on duty
News positioning unit is connected with satellite positioning device, and depth gauge, altimeter are connect by serial ports with control circuit module on duty is supervised,
Leakage sensor is directly connected to supervision control circuit module input port on duty, underwater robot/submersible installation other
Sensor or equipment are connected to automatic pilot.
Control circuit module parsing CAN bus data on duty are supervised, and carry out information exchange with automatic pilot；
If underwater robot/submersible is in hardware check mode, control circuit module on duty is supervised according to automatic
The channel check instruction that pilot issues, checks the equipment of supervision attended circuit various functions and mounting.
If underwater robot/submersible is in mission operating mode on duty, supervising control circuit module on duty will be adopted
Each bay section leak status information of depth information, elevation information and underwater robot/submersible and diagnostic result collected is sent to
Automatic pilot, while monitoring that automatic pilot and the water surface show whether position communication and emergency safety control module work are normal.
If underwater robot/submersible is in supervision mode, automatic pilot informs supervision attended circuit mould
Block enters supervision state, while by present system time, if the mark planned online excessively, current flight path indexing,
Current completed observation frequency, next wakeup time and will currently monitor depth and elevation information (or the tool being set in advance
Body numerical value).Supervision attended circuit module feeds back to an automatic pilot carrying out shake communication of completion, automatic pilot after receiving information
Shutdown confirmation message is sent, supervision attended circuit module closes automatic pilot after receiving confirmation shutdown command.
Automatic pilot down periods, the progress timing of supervision attended circuit module are simultaneously current to underwater robot/submersible
Depth, be highly monitored, in each bay section of real-time detection whether leak, start automatic pilot at the end of timing.If this phase
Between there is ultra-deep, bottom out, supervise attended circuit module and send buoyancy adjustment instruction, avoided by buoyancy regulating device adjustment buoyancy
Ultra-deep bottoms out；To terminate timing starting automatic pilot if detecting that leak or timing terminate in bay section, starting is driven automatically
After sailing instrument, starting relevant information (such as starting reason, currently supervising status information) is sent to automatic by supervision attended circuit module
Pilot guides task by the built-in wake-up of automatic pilot starting, and is sentenced according to the information that supervision attended circuit module provides
The mission task of disconnected next step.Automatic pilot informs that supervision attended circuit module enters operating mode on duty simultaneously.
Claims (6)
1. a kind of for underwater robot/submersible time-sharing supervision control system on duty, it is characterised in that: supervision is on duty
Control circuit module communicates positioning unit and satellite by CAN bus and automatic pilot, buoyancy adjustment control device, the water surface
Position device connection, control automatic pilot, buoyancy adjustment control device, water surface communication positioning unit and satellite positioning device；
Depth gauge, altimeter are connect by serial communication interface with control circuit module on duty is supervised, and acquire deep elevation information respectively
Supervision control circuit module on duty is sent to be monitored；
Water leakage detection sensor is directly connected to the input port for supervising control circuit module on duty, real-time monitoring leak state；
Water surface communication positioning unit connects satellite positioning device, for realizing underwater robot/submersible before entering water with
And communication, positioning, detection, mission mission planning after water outlet, while it is automatic to have underwater robot/submersible under water
Handle the ability of emergency；
Supervision control circuit module on duty includes:
Embedded microprocessor is connected to automatic pilot, buoyancy adjustment control device, water by CAN bus communication control circuit
Face communicates positioning unit, realizes the data interaction with automatic pilot, buoyancy adjustment control device, water surface communication positioning unit；
Embedded microprocessor is connected to water surface communication positioning unit by power drive control circuit, satellite positioning device, floats
Power control set for adjusting, depth gauge, altimeter realize power supply control；
Embedded microprocessor is connected to satellite positioning device, depth gauge and altimeter by serial communication control circuit, realizes
Data communication；
State-detection connects embedded microprocessor with signal input testing circuit, for monitoring water surface communication positioning unit and oneself
The working condition and underwater robot/submersible carrier inside leak state of dynamic pilot；
Automatic pilot is sequentially connected with power switching circuit, power converting circuit, power converting circuit again respectively with power drive
Control circuit is connected with embedded microprocessor, realizes mutual power switching control.
2. a kind of for underwater robot/submersible time-sharing supervision control method on duty, it is characterised in that: supervision is on duty
Control circuit module receives the command information that automatic pilot is sent, and parses CAN bus data, carries out letter with automatic pilot
Breath interaction；It supervises control circuit module on duty and working condition is confirmed according to the command information of automatic pilot, into corresponding work
Operation mode；
If underwater robot/submersible is in supervision mode, automatic pilot inform supervision attended circuit module into
Enter supervision state, while underwater robot/submersible real time information is sent to supervision control circuit module on duty, supervises on duty
Circuit module, which receives, to be fed back to automatic pilot after information and completes a carrying out shake communication, judge to supervise attended circuit module whether into
Enter supervision state；
If supervision attended circuit module enters supervision state, automatic pilot sends shutdown confirmation message, supervises electricity on duty
Road module closes automatic pilot after receiving confirmation shutdown command, into supervision state, otherwise returns and supervises control circuit on duty
Module parses CAN bus data, carries out information exchange with automatic pilot；
During supervision state, supervision attended circuit module carries out timing and to the current depth of underwater robot/submersible, height
Degree is monitored, in each bay section of real-time monitoring whether leak；
Terminate supervision state if detecting that leak or timing terminate in bay section, start automatic pilot, supervises attended circuit
Module is sent to automatic pilot for relevant information is started, by the built-in wake-up guidance task of automatic pilot starting, and according to
The information that supervision attended circuit module provides judges the mission task of next step, and automatic pilot informs supervision attended circuit simultaneously
Module enter operating mode on duty, if automatic pilot starting failure, directly initiate the water surface communication positioning unit enter answer
Anxious work；The starting relevant information includes present system time, the mark whether planned online excessively, current flight path
Index, next wakeup time, will currently monitor depth and elevation information and starting reason at current completed observation frequency；
If detecting leak in bay section and timing terminating, judge whether underwater robot/submersible ultra-deep or bottoms out；
Attended circuit module is supervised if ultra-deep or if bottoming out and sends buoyancy adjustment instruction, is started buoyancy adjustment control device, is adjusted
Whole buoyancy avoids ultra-deep or bottoms out, and otherwise keeps supervision state until timing terminates.
3. according to claim 2 be used for underwater robot/submersible time-sharing supervision control method on duty, spy
Sign is: the operating mode includes hardware check operating mode, mission operating mode on duty and supervision mode.
4. according to claim 2 or 3 be used for underwater robot/submersible time-sharing supervision control method on duty,
It is characterized by: supervising control circuit module on duty according to automatic if automatic pilot is in hardware check operating mode
The systems inspection instruction that pilot issues, checks the equipment of supervision attended circuit module various functions and connection, and
Result information is fed back into automatic pilot.
5. according to claim 2 or 3 be used for underwater robot/submersible time-sharing supervision control method on duty,
It is characterized by:
If automatic pilot is in mission operating mode on duty, supervises control circuit module on duty and believe collected state
Breath is sent to automatic pilot, judges whether automatic pilot is normal；
If automatic pilot is normal, judges whether water surface communication positioning unit working condition is normal, otherwise enter emergency mould
Formula；
Judge that the water surface communicates positioning unit working condition, and result information is fed back into automatic pilot.
6. according to claim 5 be used for underwater robot/submersible time-sharing supervision control method on duty, spy
Sign is: the status information includes depth information, elevation information and each bay section leak status information of submersible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410692757.1A CN105700412B (en) | 2014-11-26 | 2014-11-26 | For underwater robot/submersible time-sharing supervision control system on duty and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410692757.1A CN105700412B (en) | 2014-11-26 | 2014-11-26 | For underwater robot/submersible time-sharing supervision control system on duty and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105700412A CN105700412A (en) | 2016-06-22 |
| CN105700412B true CN105700412B (en) | 2019-04-09 |
Family
ID=56294015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410692757.1A Active CN105700412B (en) | 2014-11-26 | 2014-11-26 | For underwater robot/submersible time-sharing supervision control system on duty and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105700412B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN108132617B (en) * | 2016-11-30 | 2019-09-24 | 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN103345257A (en) * | 2013-06-29 | 2013-10-09 | 西北工业大学 | Autopilot control system of underwater vehicle |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104142688A (en) * | 2014-08-06 | 2014-11-12 | 深圳乐智机器人有限公司 | Underwater robot platform |
-
2014
- 2014-11-26 CN CN201410692757.1A patent/CN105700412B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN103345257A (en) * | 2013-06-29 | 2013-10-09 | 西北工业大学 | Autopilot control system of underwater vehicle |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104142688A (en) * | 2014-08-06 | 2014-11-12 | 深圳乐智机器人有限公司 | Underwater robot platform |
Non-Patent Citations (2)
| Title |
|---|
| 基于CAN总线的水下机器人分布式控制系统;高剑等;《中国造船》;20070915;第48卷(第3期);第129和130页 * |
| 远程水下航行器自动驾驶仪设计;张立川等;《系统仿真学报》;20090105;第21卷(第1期);第226和227页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105700412A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105700412B (en) | For underwater robot/submersible time-sharing supervision control system on duty and method | |
| CN201464873U (en) | Power battery pack management system for hybrid electric vehicle | |
| CN103809471B (en) | A kind of new type auto switching emergency treatment device and implementation method | |
| CN205665903U (en) | Wireless ultrasonic detector of parking system machinery vehicle position loRa | |
| CN208283809U (en) | A kind of small underwater robot kinetic control system | |
| CN105484992A (en) | Intelligent man-machine interaction water pump control system | |
| CN103711177A (en) | Wireless based multi-well remote intelligent control water supply system | |
| CN205725840U (en) | Water supply network data intelligence harvester | |
| CN204215254U (en) | Tap water secondary water-supply remote supervision system for boosting pump stations | |
| CN205478239U (en) | Human -computer interaction intelligent pump control system | |
| CN205679598U (en) | Underwater robot water monitoring device | |
| CN110737233A (en) | Main control equipment, device, system and control method for intelligent controller of comprehensive pipe rack | |
| CN102810840B (en) | Voltage protection system | |
| CN201658866U (en) | Vacuum desaeration machine | |
| CN105739550A (en) | Automatic water supplement system of high-voltage DC power transmission converter valve water cooling system | |
| CN103663029A (en) | Elevator remote monitoring and debugging system | |
| CN202676441U (en) | Valve core service life detector for water heating product | |
| CN102541039B (en) | Full-automatic monitoring system of cutter suction dredger diesel engine set | |
| CN208205327U (en) | A kind of central air-conditioning fault detection control system | |
| CN202676221U (en) | Water supply system of flow detector for plumbing product | |
| CN105715363A (en) | Fuel-saved and energy-saved diesel generator | |
| CN111324082A (en) | Intelligent ship host automatic control system and method | |
| CN104458340A (en) | Wireless sensor network based multi-water-intake weighting water intake system and method | |
| CN205644535U (en) | A modularization controlling means for aviation water wastewater systems | |
| CN220290084U (en) | Comprehensive controller for monitoring power environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |