CN105843119A - Multinode angle detection system for autonomous underwater vehicle - Google Patents
Multinode angle detection system for autonomous underwater vehicle Download PDFInfo
- Publication number
- CN105843119A CN105843119A CN201610181490.9A CN201610181490A CN105843119A CN 105843119 A CN105843119 A CN 105843119A CN 201610181490 A CN201610181490 A CN 201610181490A CN 105843119 A CN105843119 A CN 105843119A
- Authority
- CN
- China
- Prior art keywords
- detection
- angle
- node
- audion
- cam
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2604—Test of external equipment
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a CAN bus-based multinode angle detection system for an autonomous underwater vehicle. The CAN bus-based multinode angle detection system comprises a central control center and detection nodes which are arranged on the autonomous underwater vehicle at the positions where angle detection is needed, wherein each detection node is connected with the central control center through a CAN bus and comprises an angle detection module and a node controller. The angle detection module detects and obtains the angle information of a detection shaft, and the node controller conducts operation processing and communicates with the central control center. The node detection ensures excellent real-time performance and high degree of freedom.
Description
Technical field
The invention belongs to aircraft angle detection technique field, be specifically related to one autonomous unmanned vehicles under water
Use multinode angle detection system.
Background technology
Autonomous unmanned vehicles (AUV) is a complicated intelligent electromechanical system under water, is can be in complexity
Marine environment in autonomous execution search under water, monitor, scout, hunt thunder, operation oceanography, communicate, lead
The unmanned platform of the tasks such as boat, anti-submarine warfare, the most a lot of autonomous unmanned vehicles (AUV) under water include many
The individual actuator needing to carry out angle detection, and the action executing of this actuator and real-time status detection
Being determined by the accuracy of detection of angle detection device completely, once angle detection device is malfunctioning, then have a strong impact on this
The action executing of actuator and real-time status detection, thus jeopardize autonomous unmanned vehicles (AUV) combat duty
Complete, the most autonomous unmanned vehicles (AUV) need highly reliable, real-time good and can carry out many simultaneously
The angle detection system of some detection.Although the angle detection device on market is various in style, but general volume is inclined
Greatly, inconvenience uses, capacity of resisting disturbance is not strong, transmission range is limited and can only carry out single-point detection, and under water
Autonomous unmanned vehicles (AUV) is developed by inner space, need the node of detection many and to transmission range,
The aspects such as the interference of anti-electromagnetic environment and usability have strict requirements, and the angle detection device on a lot of markets is all
Be not suitable for.
Summary of the invention
In view of this, the invention provides one autonomous unmanned vehicles multinode angle detection system under water,
Nodal test is real-time, degree of freedom is high.
In order to achieve the above object, the technical scheme is that a kind of based on CAN unmanned under water
Aircraft multinode angle detection system, including CCC and detection node；Detection node is arranged
Needing to carry out the position of angle detection on autonomous unmanned vehicles under water, each detection node is total by CAN
Line is connected with CCC.
Detection node include angle detection module and Node Controller；Angle detection module is used for detecting acquisition
Detection axle angle information, Node Controller for calculation process and communicates with CCC.
Angle detection module is made up of cam, detection sensor and testing circuit；Detection axle is placed in detection sensing
Directly over device, cam sleeve is connected on detection axle；Detection sensor is provided above the first detection pin and the second inspection
Test tube foot, detection axle is between the first detection pin and the second detection pin, and detection axle drives convex when rotating
Wheel, after cam rotation to set angle, bossing thereon is by the first detection pin and the second detection pin
Connection, by setting quantity and the position that cam upper projecting portion is divided, it is achieved the detection to set angle.
Testing circuit is by power supply, current-limiting resistance R9、R10, divider resistance R11, filter capacitor C13And switching mode
Audion T4Composition；Second detection pin connects power supply, the first detection pin series resistance R9It is followed by switch
Type audion T4In base stage, audion T4Collector series resistance R10It is followed by power supply, switching mode audion T4
Grounded emitter, filter capacitor C13One end is connected on switching mode audion T4In base stage, other end ground connection, point
Piezoresistance R11One end is connected on audion T4In base stage, other end ground connection；
Node Controller is made up of processor of single chip computer, photoelectric isolating circuit and CAN transmission circuit, single-chip microcomputer
Processor numeral I/O mouth is connected on switching mode audion T4On colelctor electrode；Processor of single chip computer detects switching mode
Audion T4Place's level value, reaches CAN by this level value by viewpoint isolation circuit and CAN transmission circuit
Bus, is obtained and combines the level value of historical juncture to inspection by the CCC being connected in CAN
The rotational angle surveying axle judges.
Further, detection sensor is kept at a certain distance away to be welded in printed board by two microswitch and is formed；
Two microswitch are respectively the first detection pin and the second detection pin, interval not wider than cam therebetween
The width of upper protruding block, testing circuit is arranged in printed board.
Further, below printed board, connect regulation reed by adjusting post, by regulation reed to printing
Plate height is adjusted, thus regulates the distance between detection axle and microswitch.
Beneficial effect:
(1) it is CAN communication between CCC of the present invention and each detection node, forms distributed control
System processed, information of angle detection can in real time, reliably be transmitted to CCC by node；Use CAN
Bus communication so that the node number in network is the most unrestricted, can be with free communication between each node；
As long as and just can be connected by both threads between CCC with node, simple in construction, transmission range
Up to hundreds of rice.
(2) it is point to multi--point CAN communication mode between CCC of the present invention and each detection node,
The information of angle detection of multiple detection node can be detected simultaneously；
(3) CCC of the present invention timing sends Query Information to each detection node, it is simple to central authorities control
Each detection node angle detection information is grasped at center in real time.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of angle detection device of the present invention；
Fig. 2 is cam gear structural representation of the present invention；
Fig. 3 is the circuit diagram of angle detection device of the present invention；
Fig. 4 is Node Controller software main program flow chart of the present invention；
Fig. 5 is angle inspection software main program flow chart of the present invention.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
As it is shown in figure 1, the invention provides a kind of autonomous unmanned vehicles under water based on CAN with many
Node angle detecting system, this angle detection system includes CCC and detection node；Central authorities control
It is connected with each detection node centrally through CAN, i.e. may utilize and dock underwater electrical connector, watertight electricity in the air
Each node and CCC are connected in same CAN by cable and crossing cabin underwater electrical connector.
Detection node may be disposed at each position needing to carry out angle detection, each detection node and central authorities' control
Make and be connected centrally through CAN, and be provided with unique No. ID, the angle information of self can be carried out
Detect, process and judge；Detection, process and judged after the angle information containing unique ID number is passed through
CAN sends to CCC.
As in figure 2 it is shown, angle detection module is made up of cam 1, detection sensor 3 and testing circuit；Detection
Axle 2 is placed in directly over detection sensor, and cam 1 is socketed on detection axle 2；Detection sensor is provided above
First detection pin and second detection pin, detection axle 2 be positioned at the first detection pin and second detection pin it
Between, band moving cam 1 when detection axle 2 rotates, the bossing on cam 1 is by the first detection pin and the second inspection
Test tube foot connects；Detection sensor 3 is installed on immediately below cam gear by device for installing and adjusting 4,
And the distance between adjustment cam tumbler and detection sensor 3 can be carried out by special regulation reed 5,
Improve the precision of angle detection.
Wherein detection sensor (can not be wider than cam upper protruding block for using two microswitch to keep at a certain distance away
Width) be welded in printed board the device formed, highly sensitive, reliability is high, detection is real-time, size
Little and be easily installed.
As it is shown on figure 3, testing circuit includes current-limiting resistance R9, R10, divider resistance R11, filter capacitor
C13 and switching mode audion T4；Current-limiting resistance R9, R10 reduce electric current in angle inspection timekeeping circuit, anti-
Only testing circuit burns out audion because electric current is excessive, adds the reliability of testing circuit；Filter capacitor C13
The transition interference caused because of bad electromagnetic environment can be suppressed, increase the reliability of volume testing circuit；Switching mode three
Pole pipe T4, adds real-time and the sensitivity of angle detection.
Annexation: detection sensor is installed on immediately below cam gear by device for installing and adjusting, inspection
Surveying sensor pin 2 and connect+5V1 power supply, detection sensor pin 1 series resistance R9 is followed by audion
In T4 base stage, audion T4 collector series resistance R10 is followed by+5V1 power supply, audion T4 emitter stage
Ground connection PGND1, electric capacity C13 mono-end is connected in audion T4 base stage, other end ground connection, and R11 mono-terminates
In audion T4 base stage, other end ground connection, processor of single chip computer numeral I/O mouth is connected on audion T4 collection
On electrode.
As shown in Figure 4, in order to ensure the real-time of CCC and each detection node communication and each detection
The reliability of node work, CCC uses CAN to communicate with each detection node, and fixed
Time (such as 200ms) send containing the inquiry of unique ID number or action command information to each detection node, respectively detect joint
After putting revene lookup or the uniqueness of action command information and correctness, then the information received is judged,
If current angle information is fed back to CCC by Query Information the most immediately, if action command letter
Breath then performs present instruction, and information of angle detection is fed back to CCC after having performed by action command.
Operation principle: if cam upper projecting portion is divided does not presses detection sensor, then detection sensor pin 1
Can not turn on pin 2, not have electric current to pass through current-limiting resistance R9 and divider resistance R11, i.e. audion T4
Base stage and emitter stage between there is no positive bias, thus can not turn on, i.e. audion T4 ends, now monolithic
The digital I/O (DI/O) of machine processor detects high level+5V (90 °/270 °), inside processor of single chip computer
When the angle detection mastery routine run reads this I/O message, obtain high level+5V (90 °/270 °)；If it is convex
Play part and press detection sensor, then detection sensor pin 1 and pin 2 turn on, then have electric current to pass through
Current-limiting resistance R9 and divider resistance R11, thus have a positive voltage to be added to base stage and the transmitting of audion T4
Between pole, audion T4 turns on because obtaining positive bias, i.e. turns between transistor collector and emitter stage,
Now the digital I/O (DI/O) of processor of single chip computer detects low level 0V (180 °/360 °), at single-chip microcomputer
When the angle detection mastery routine of reason device internal operation reads this I/O message, obtain low level 0V (180 °/360 °).
There are two bossings, it is achieved that to four angle states (i.e. 90 °/270 ° and 180 °/360 in the program
°) real-time detection, angle state quantity can be real by bossing quantity that design is different according to actual needs
Existing.
First angle inspection software main program flow chart as it is shown in figure 5, initialize the numeral of processor of single chip computer
I/O mouth (DI/O) is read states, then reading word I/O mouth level information, prolongs after obtaining I/O mouth level information
Time 50ms (stabilization process) after reading word I/O message breath again, if it is the most previous to obtain I/O mouth level information
Cause, and if low level 0V, then variables A rg is entered as 90 °/270 °, and otherwise variables A rg is entered as 180
°/360°；I.e. press detection sensor when cam, then Status Flag variable Flag is entered as 1 (loading condition),
Otherwise variable Flag is entered as 0 (release conditions)；Processor of single chip computer is by current for angle detection signal i.e. release shaft
State passes through CAN real-time Transmission to CCC；Program delay 200ms, again reading word I/O
Mouth level, the most repeatedly, completes real-time angular detection function.
Each detection node is connected by CAN with CCC, and mastery routine often postpones 200ms and just holds
1 angle detection of row, angle detection signal (200ms) can be sent to CCC in real time.
Mastery routine uses stabilization to process (time delay 50ms), can prevent from leading because of factor impacts such as bad electromagnetic environment
The error detection result caused, it is strong that testing result reliably reads height, capacity of resisting disturbance.
To sum up, these are only presently preferred embodiments of the present invention, be not intended to limit the protection model of the present invention
Enclose.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, all
Within protection scope of the present invention should being included in.
Claims (3)
1. a underwater unmanned vehicle multinode angle detection system based on CAN, its feature
It is, including CCC and detection node；Described detection node be arranged on described in autonomous unmanned under water
Need to carry out the position of angle detection in aircraft, during each detection node is controlled with central authorities by CAN
The heart connects；
Described detection node includes angle detection module and Node Controller；Angle detection module is used for detecting
Obtaining detection axle angle information, Node Controller for calculation process and communicates with CCC；
Described angle detection module is made up of cam (1), detection sensor (3) and testing circuit；Detection axle
(2) being placed in directly over detection sensor, cam (1) is socketed in detection axle (2)；On detection sensor
Side arranges the first detection pin and the second detection pin, and detection axle (2) is positioned at the first detection pin and the second inspection
Between test tube foot, band moving cam (1) when detection axle (2) rotates, after cam (1) turns to set angle,
Bossing thereon is by the first detection pin and the second detection pin connection, by setting cam (1) epirelief
Play quantity and the position of part, it is achieved the detection to set angle；
Described testing circuit is by power supply, current-limiting resistance R9、R10, divider resistance R11, filter capacitor C13With open
Pass type audion T4Composition；Second detection pin connects power supply, the first detection pin series resistance R9It is followed by
Switching mode audion T4In base stage, audion T4Collector series resistance R10It is followed by power supply, switching mode three pole
Pipe T4Grounded emitter, filter capacitor C13One end is connected on switching mode audion T4In base stage, other end ground connection,
Divider resistance R11One end is connected on audion T4In base stage, other end ground connection；
Described Node Controller is made up of processor of single chip computer, photoelectric isolating circuit and CAN transmission circuit, single
Sheet machine processor numeral I/O mouth is connected on switching mode audion T4On colelctor electrode；Processor of single chip computer detects out
Pass type audion T4Place's level value, is passed this level value by viewpoint isolation circuit and CAN transmission circuit
To CAN, obtained and combined the electricity of historical juncture by the CCC being connected in CAN
The rotational angle of described detection axle (2) is judged by level values.
A kind of underwater unmanned vehicle multinode angle based on CAN
Degree detecting system, it is characterised in that described detection sensor is kept at a certain distance away welding by two microswitch
Formed in printed board；Two microswitch are respectively the first detection pin and the second detection pin, the two it
Between the width of interval not wider than described cam (1) upper protruding block, described testing circuit is arranged in printed board.
A kind of underwater unmanned vehicle multinode angle based on CAN
Degree detecting system, it is characterised in that connect regulation reed (5) by adjusting post (4) below described printed board,
By regulation reed (5), printed board is highly adjusted, thus regulates detection axle (2) and microswitch
Between distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610181490.9A CN105843119B (en) | 2016-03-28 | 2016-03-28 | A kind of underwater autonomous unmanned navigation device multinode angle detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610181490.9A CN105843119B (en) | 2016-03-28 | 2016-03-28 | A kind of underwater autonomous unmanned navigation device multinode angle detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105843119A true CN105843119A (en) | 2016-08-10 |
| CN105843119B CN105843119B (en) | 2018-10-26 |
Family
ID=56583870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610181490.9A Expired - Fee Related CN105843119B (en) | 2016-03-28 | 2016-03-28 | A kind of underwater autonomous unmanned navigation device multinode angle detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105843119B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950962A (en) * | 2017-04-14 | 2017-07-14 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat dcs |
| CN111147139A (en) * | 2019-12-24 | 2020-05-12 | 广东省半导体产业技术研究院 | Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method |
| CN113110013A (en) * | 2021-04-02 | 2021-07-13 | 山西汾西重工有限责任公司 | Delay time testing arrangement |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87208774U (en) * | 1987-05-30 | 1988-08-17 | 第二汽车制造厂 | Cam shaft tester |
| CN2659027Y (en) * | 2003-12-02 | 2004-11-24 | 沈阳重工电器制造有限公司 | Vertical magnetic force regulation type contact less master controller |
| CN101007334A (en) * | 2007-02-13 | 2007-08-01 | 西南铝业（集团）有限责任公司 | Controlling system of moulded forging hydraulic press with proportional type oil controlling water |
| CN103105847A (en) * | 2012-12-28 | 2013-05-15 | 无锡市拓发自控设备有限公司 | Testing device for cam controller |
| JP2015098819A (en) * | 2013-11-19 | 2015-05-28 | トヨタ自動車株式会社 | Camshaft, cam angle detection device, and internal combustion engine |
-
2016
- 2016-03-28 CN CN201610181490.9A patent/CN105843119B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87208774U (en) * | 1987-05-30 | 1988-08-17 | 第二汽车制造厂 | Cam shaft tester |
| CN2659027Y (en) * | 2003-12-02 | 2004-11-24 | 沈阳重工电器制造有限公司 | Vertical magnetic force regulation type contact less master controller |
| CN101007334A (en) * | 2007-02-13 | 2007-08-01 | 西南铝业（集团）有限责任公司 | Controlling system of moulded forging hydraulic press with proportional type oil controlling water |
| CN103105847A (en) * | 2012-12-28 | 2013-05-15 | 无锡市拓发自控设备有限公司 | Testing device for cam controller |
| JP2015098819A (en) * | 2013-11-19 | 2015-05-28 | トヨタ自動車株式会社 | Camshaft, cam angle detection device, and internal combustion engine |
Non-Patent Citations (1)
| Title |
|---|
| 晏刚: "舵机角度检测系统的设计与应用", 《电子世界》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950962A (en) * | 2017-04-14 | 2017-07-14 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat dcs |
| CN111147139A (en) * | 2019-12-24 | 2020-05-12 | 广东省半导体产业技术研究院 | Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method |
| CN113110013A (en) * | 2021-04-02 | 2021-07-13 | 山西汾西重工有限责任公司 | Delay time testing arrangement |
| CN113110013B (en) * | 2021-04-02 | 2024-05-28 | 山西汾西重工有限责任公司 | Delay time testing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105843119B (en) | 2018-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104298192B (en) | A kind of unmanned boat boat-carrying intelligent terminal of multiprotocol conversion and parametric controller system | |
| CN104865965B (en) | The avoidance obstacle method and system that robot depth camera is combined with ultrasonic wave | |
| CN102508302B (en) | Underwater main control and data collection system of marine double-frequency induced polarization instrument | |
| CN108181908A (en) | A kind of unmanned boat system for inland river environmental monitoring | |
| CN105843119A (en) | Multinode angle detection system for autonomous underwater vehicle | |
| CN206848752U (en) | A kind of dual redundant unmanned boat onboard control system based on ARM | |
| CN105842716B (en) | A kind of BDStar navigation system and optimization method | |
| CN111780747A (en) | Large-airspace high-dynamic navigation guidance and control integrated system and method | |
| CN205563189U (en) | Unmanned aerial vehicle flight controller | |
| CN208476347U (en) | Integrated aero-engine fuel measurement monitoring device | |
| CN208568070U (en) | Unmanned plane vibration detection device | |
| CN104890512B (en) | A kind of automobile-used Anti-mis-stepping pedal system | |
| CN106708071A (en) | Highly-integrated autonomous flight micro UAV flight control system | |
| WO2021233761A1 (en) | Method and device for detecting wearing state of earphone, and earphone | |
| CN116500943A (en) | Redundant control system of underwater robot | |
| CN108089590A (en) | A kind of unmanned aerial vehicle remote sensing sensor automatic control system and method | |
| CN104329169B (en) | A kind of general sensor signal diagnosis and fault-tolerance approach | |
| CN206224186U (en) | A kind of flight control panel based on dual processor framework | |
| CN210629283U (en) | Double-chip redundant magnetic encoder for EPS brushless motor | |
| CN111913467A (en) | System-level fault diagnosis method for spacecraft control system | |
| CN212341836U (en) | Data glove and virtual reality system | |
| CN207439444U (en) | Transmission sensors detector | |
| CN110986944A (en) | Ship attitude identification method for shipborne reconnaissance and shooting unmanned aerial vehicle | |
| CN211044016U (en) | Intelligent driving trolley system structure based on openMV | |
| CN104677382A (en) | Active magnetic suspension automatic wet centering calibration method for three-floating inertia instrument |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181026 Termination date: 20190328 |