CN105843119B - A kind of underwater autonomous unmanned navigation device multinode angle detection system - Google Patents
A kind of underwater autonomous unmanned navigation device multinode angle detection system Download PDFInfo
- Publication number
- CN105843119B CN105843119B CN201610181490.9A CN201610181490A CN105843119B CN 105843119 B CN105843119 B CN 105843119B CN 201610181490 A CN201610181490 A CN 201610181490A CN 105843119 B CN105843119 B CN 105843119B
- Authority
- CN
- China
- Prior art keywords
- detection
- angle
- node
- pin
- bus
- 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.)
- Expired - Fee Related
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
Abstract
The invention discloses a kind of based on the underwater unmanned vehicle of CAN bus multinode angle detection system, including Central Control Center and detection node；The position for needing to carry out angle detection on the underwater autonomous unmanned navigation device is arranged in the detection node, and each detection node is connect by CAN bus with Central Control Center；The detection node includes angle detection module and Node Controller；Angle detection module obtains detection axis angle information for detecting, and Node Controller is communicated for calculation process and with Central Control Center.Nodal test of the present invention is real-time, degree of freedom is high.
Description
Technical field
The invention belongs to aircraft angle detection technique fields, and in particular to a kind of underwater autonomous unmanned navigation device more piece
Point angle detection system.
Background technology
Underwater autonomous unmanned navigation device (AUV) is a complicated intelligent electromechanical system, and being can be in complicated ocean
The nothing of searching for, monitor, scouting, hunting the tasks such as thunder, operation oceanography, communication, navigation, anti-submarine warfare under water is independently executed in environment
People's platform, underwater autonomous unmanned navigation devices (AUV) many at present include multiple executing agencies for needing to carry out angle detection, and
And the action of the executing agency executes and real-time status detection is determined by the accuracy of detection of angle detection device completely, once angle
Detection device failure then seriously affects action execution and the real-time status detection of the executing agency, to jeopardize autonomous unmanned boat
The completion of row device (AUV) combat duty, therefore underwater autonomous unmanned navigation device (AUV) needs are highly reliable, real-time is good and can be same
The angle detection system of Shi Jinhang multiple spots detection.Although angle detection device in the market is various in style, general volume is bigger than normal,
Inconvenience uses, anti-interference ability is not strong, transmission range is limited and can only carry out single-point detection, and underwater autonomous unmanned navigation device
(AUV) it is developed by inner space, needs the node detected more and to transmission range, the interference of anti-electromagnetic environment and usability etc.
Aspect has strict requirements, and much angle detection device in the market is unsuitable for.
Invention content
In view of this, the present invention provides a kind of underwater autonomous unmanned navigation device multinode angle detection system, node
Detect that real-time, degree of freedom is high.
In order to achieve the above object, the technical scheme is that：A kind of underwater unmanned vehicle based on CAN bus is used
Multinode angle detection system, including Central Control Center and detection node；Autonomous unmanned navigation under water is arranged in detection node
The position of progress angle detection, each detection node is needed to be connect with Central Control Center by CAN bus on device.
Detection node include angle detection module and Node Controller；Angle detection module obtains detection axis for detecting
Angle information, Node Controller are communicated for calculation process and with Central Control Center.
Angle detection module is made of cam, detection sensor and detection circuit；Detection axis be placed in detection sensor just on
Side, cam are socketed in detection axis；The first detection pin of setting and the second detection pin, detection axis are located above detection sensor
Between first detection pin and the second detection pin, band moving cam when detection axis rotates, after cam turns to set angle, thereon
Projection portion by the first detection pin and the second detection pin connection, by the quantity and the position that set cam upper projecting portion point
It sets, realizes the detection to set angle.
Detection circuit is by power supply, current-limiting resistance R9、R10, divider resistance R11, filter capacitor C13With switching mode triode T4Group
At；Second detection pin connects power supply, the first detection pin series resistance R9It is followed by switching mode triode T4In base stage, three poles
Pipe T4Collector series resistance R10It is followed by power supply, switching mode triode T4Emitter is grounded, filter capacitor C13One end is connected on switch
Type triode T4In base stage, other end ground connection, divider resistance R11One end is connected on triode T4In base stage, other end ground connection；
Node Controller is made of processor of single chip computer, photoelectric isolating circuit and CAN transmission circuits, processor of single chip computer number
I/O mouthfuls of word is connected on switching mode triode T4On collector；Processor of single chip computer detects switching mode triode T4Locate level value, it will
The level value reaches CAN bus by viewpoint isolation circuit and CAN transmission circuits, is controlled by the center being connected in CAN bus
Center processed obtains and the level value of historical juncture is combined to judge the rotational angle of detection axis.
Further, detection sensor is formed by spaced apart be welded in printed board of two microswitches；Two
Microswitch is respectively the first detection pin and the second detection pin, is spaced the width for being not wider than cam upper protruding block therebetween,
Detection circuit is set in printed board.
Further, it is connected by adjusting post below printed board and adjusts reed, by adjusting reed to printed board height
It is adjusted, to adjust the distance between detection axis and microswitch.
Advantageous effect：
(1) it is CAN communication between Central Control Center of the present invention and each detection node, forms dcs, section
Point can by information of angle detection in real time, be reliably transmitted to Central Control Center；It is communicated using CAN bus so that in network
Node number is theoretically unrestricted, can be with free communication between each node；As long as and between Central Control Center and node
It can be connected by both threads, simple in structure, transmission range is up to hundreds of meters.
(2) it is point to multi--point CAN communication mode between Central Control Center of the present invention and each detection node, can examines simultaneously
Survey the information of angle detection of multiple detection nodes；
(3) Central Control Center timing of the present invention sends Query Information to each detection node, real convenient for Central Control Center
When grasp each detection node information of angle detection.
Description of the drawings
Fig. 1 is the composition schematic diagram of angle detection device of the present invention；
Fig. 2 is cam gear structural schematic diagram 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.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention provides a kind of underwater autonomous unmanned navigation device multinode angle based on CAN bus
Detecting system, the angle detection system include Central Control Center and detection node；Central Control Center is by CAN bus and respectively
Detection node connects, you can using aerial docking underwater electrical connector, watertight cable and crossing cabin underwater electrical connector by each node and in
Centre control centre is connected in same CAN bus.
Detection node may be disposed at each position for needing to carry out angle detection, each detection node and Central Control Center
It is connected by CAN bus, and is provided with unique ID number, the angle information of itself can be detected, handled and be judged；Inspection
The angle information containing unique ID number is sent to Central Control Center by CAN bus after the completion of surveying, handle and judging.
As shown in Fig. 2, angle detection module is made of cam 1, detection sensor 3 and detection circuit；Detection axis 2 is placed in inspection
It surveys right over sensor, cam 1 is socketed in detection axis 2；The first detection pin of setting and the second detection above detection sensor
Pin, detection axis 2 are located between the first detection pin and the second detection pin, band moving cam 1 when detection axis 2 rotates, on cam 1
Projection portion by first detection pin and second detection pin connection；Detection sensor 3 is installed on cam by adjusting post 4
Immediately below tumbler, and can by special adjusting reed 5 come adjust between cam gear and detection sensor 3 away from
From the precision of raising angle detection.
Wherein detection sensor is that (cannot be wider than the width of cam upper protruding block using two microswitches are spaced apart
Degree) it is welded in the device formed in printed board, high sensitivity, reliability are high, detection is real-time, size is small and is easily installed.
As shown in figure 3, detection circuit includes current-limiting resistance R9, R10, divider resistance R11, filter capacitor C13 and switching mode
Triode T4；Current-limiting resistance R9, R10 reduce electric current in angle inspection timekeeping circuit, prevent detection circuit from being burnt because electric current is excessive
Bad triode increases the reliability of detection circuit；It is dry that filter capacitor C13 can inhibit the transition caused by bad electromagnetic environment
It disturbs, increases the reliability of volume detection circuit；Switching mode triode T4 increases real-time and the sensitivity of angle detection.
Connection relation：Detection sensor is installed on by device for installing and adjusting immediately below cam gear, detection sensing
2 connection+5V1 power supplys of device pin, 1 series resistance R9 of detection sensor pin are followed by triode T4 base stages, triode T4 collection
Electrode Series Resistance R10 is followed by+5V1 power supplys, and triode T4 emitters are grounded PGND1, and mono- ends capacitance C13 are connected on triode T4 bases
On extremely, other end ground connection, mono- ends R11 are connected in triode T4 base stages, and other end ground connection, I/O mouthfuls of processor of single chip computer number connects
On triode T4 collectors.
As shown in figure 4, in order to ensure real-time and each detection node work that Central Control Center is communicated with each detection node
The reliability of work, Central Control Center are communicated using CAN bus with each detection node, and timing (such as 200ms) is to each inspection
It surveys node and sends inquiry or action command information containing unique ID number, each detection node revene lookup or action command information are only
After one property and correctness, then the information received is judged, it is then immediately that current angle information is anti-if Query Information
It is fed to Central Control Center, then executes present instruction if action command information, action command detects angle after the completion of executing
Information feeds back to Central Control Center.
Operation principle：If cam upper projecting portion point does not press detection sensor, detection sensor pin 1 and pin
2 cannot be connected, and without electric current by current-limiting resistance R9 and divider resistance R11, i.e., not have between the base stage and emitter of triode T4
There is positive bias, to be connected, i.e. triode T4 cut-offs, the digital I/O (DI/O) of processor of single chip computer detects height at this time
Level+5V (90 °/270 °) is obtained when the angle of processor of single chip computer internal operation detection main program reads the I/O messages
To high level+5V (90 °/270 °)；If projection portion presses detection sensor, detection sensor pin 1 and pin 2 are led
It is logical, then there is electric current by current-limiting resistance R9 and divider resistance R11, to which there are one the base stages and hair that positive voltage is added to triode T4
Between emitter-base bandgap grading, triode T4 is connected because positive bias is obtained, i.e., is connected between transistor collector and emitter, at this time monolithic
The digital I/O (DI/O) of machine processor detects low level 0V (180 °/360 °), when the angle of processor of single chip computer internal operation
When detection main program reads the I/O messages, low level 0V (180 °/360 °) is obtained.Projection portion there are two tools in the program,
The real-time detection to four angle states (i.e. 90 °/270 ° and 180 °/360 °) is realized, angle state quantity can be according to reality
Border needs to realize by designing different projection portion quantity.
Angle inspection software main program flow chart as shown in figure 5, initialize digital I/O mouthfuls of processor of single chip computer first
(DI/O) it is read states, then reads I/O mouthfuls of level informations of word, obtains delay 50ms (stabilization processing) after I/O mouthfuls of level informations
Reading word I/O messages breath again afterwards, if obtain I/O mouthful level informations with before unanimously, and if low level 0V, then variable
Arg is assigned a value of 90 °/270 °, and otherwise variables A rg is assigned a value of 180 °/360 °；I.e. when cam presses detection sensor, then state
Indexed variable Flag is assigned a value of 1 (loading condition), and otherwise variable Flag is assigned a value of 0 (release conditions)；Processor of single chip computer is by angle
Degree detection signal, that is, release shaft current state passes through CAN bus real-time Transmission to Central Control Center；Program delay 200ms, again
I/O mouthfuls of level of word are read, repeatedly, complete real-time angular detection function.
Each detection node is connect with Central Control Center by CAN bus, and main program often postpones 200ms and is carried out 1 angle
Degree detection, angle detection signal (200ms) can be sent to Central Control Center in real time.
Main program can be prevented wrong caused by the factors such as bad electromagnetic environment influence using stabilization processing (delay 50ms)
Error detection is as a result, testing result reliably reads high, strong antijamming capability.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (3)
1. a kind of based on the underwater unmanned vehicle of CAN bus multinode angle detection system, which is characterized in that including center
Control centre and detection node；The detection node setting needs to carry out angle detection on the underwater autonomous unmanned navigation device
Position, each detection node connect by CAN bus with Central Control Center；
The detection node includes angle detection module and Node Controller；Angle detection module obtains detection axis for detecting
Angle information, Node Controller are communicated for calculation process and with Central Control Center；
The angle detection module is made of cam (1), detection sensor (3) and detection circuit；Detection axis (2) is placed in detection and passes
Right over sensor, cam (1) is socketed in detection axis (2)；The first detection pin of setting and the second detection above detection sensor
Pin, detection axis (2) are located between the first detection pin and the second detection pin, band moving cam (1) when detection axis (2) rotates,
After cam (1) turns to set angle, projection portion thereon is by the first detection pin and the second detection pin connection, by setting
Quantity and the position for determining cam (1) upper projecting portion point, realize the detection to set angle；
The detection circuit is by power supply, current-limiting resistance R9、R10, divider resistance R11, filter capacitor C13With switching mode triode T4Group
At；Second detection pin connects power supply, the first detection pin series resistance R9It is followed by switching mode triode T4In base stage, three poles
Pipe T4Collector series resistance R10It is followed by power supply, switching mode triode T4Emitter is grounded, filter capacitor C13One end is connected on switch
Type triode T4In base stage, other end ground connection, divider resistance R11One end is connected on triode T4In base stage, other end ground connection；
The Node Controller is made of processor of single chip computer, photoelectric isolating circuit and CAN transmission circuits, processor of single chip computer number
I/O mouthfuls of word is connected on switching mode triode T4On collector；Processor of single chip computer detects switching mode triode T4Locate level value, it will
The level value reaches CAN bus by photoelectric isolating circuit and CAN transmission circuits, is controlled by the center being connected in CAN bus
Center processed obtains and judges the rotational angle of the detection axis (2) in conjunction with the level value of historical juncture.
2. it is as described in claim 1 a kind of based on the underwater unmanned vehicle of CAN bus multinode angle detection system,
It is characterized in that, the detection sensor is formed by spaced apart be welded in printed board of two microswitches；Two fine motions
Switch is respectively the first detection pin and the second detection pin, and interval between the two is not wider than the width of cam (1) upper protruding block
Degree, the detection circuit are set in printed board.
3. it is as claimed in claim 2 a kind of based on the underwater unmanned vehicle of CAN bus multinode angle detection system,
It is characterized in that, is connected by adjusting post (4) below the printed board and adjust reed (5), by adjusting reed (5) to printed board
Height is adjusted, to adjust the distance between detection axis (2) and microswitch.
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 CN105843119A (en) | 2016-08-10 |
| CN105843119B true 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) |
Families Citing this family (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 (4)
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 (4)
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 舵机角度检测系统的设计与应用;晏刚;《电子世界》;20130830;第141页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105843119A (en) | 2016-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105843119B (en) | A kind of underwater autonomous unmanned navigation device multinode angle detection system | |
| CN102508302B (en) | Underwater main control and data collection system of marine double-frequency induced polarization instrument | |
| CN104298192B (en) | A kind of unmanned boat boat-carrying intelligent terminal of multiprotocol conversion and parametric controller system | |
| CN105896673A (en) | Charging landing gear, unmanned aerial vehicle, charging platform and unmanned aerial vehicle cruising and charging system | |
| CN106292721A (en) | A kind of aircraft that controls follows the tracks of the method for destination object, equipment and system | |
| CN105006646A (en) | ADS-B portable device | |
| CN105955292A (en) | Aircraft flight control method and system, mobile terminal and aircraft | |
| CN105867420A (en) | Quick mode switching system and method applied to unmanned aerial vehicle | |
| CN107345808A (en) | Time of exposure acquisition methods, pulse signal acquisition device, unmanned plane and draw sudden strain of a muscle device | |
| CN110095121A (en) | A kind of the unmanned plane course calculation method and system of anti-body magnetic disturbance | |
| CN203572965U (en) | Multipath antenna switching device | |
| CN208476347U (en) | Integrated aero-engine fuel measurement monitoring device | |
| CN208399592U (en) | Cable through and insulation tester | |
| CN103744083A (en) | Float type sonar navigation system device | |
| CN205396544U (en) | Unmanned aerial vehicle | |
| CN205721829U (en) | A kind of unmanned vehicle | |
| CN116500943A (en) | Redundant control system of underwater robot | |
| CN203825467U (en) | Auxiliary control device for preventing unmanned patrol helicopter from mistakenly hitting transmission line | |
| CN114003046A (en) | Positioning circuit supporting debugging, debugging control method, electronic device and vehicle | |
| CN111913467B (en) | System-level fault diagnosis method for spacecraft control system | |
| CN204613744U (en) | A kind of Algorithms of Robots Navigation System | |
| CN209070345U (en) | A kind of multisensor guidance control system based on Internet of Things | |
| CN107077147A (en) | The control method and remote control of remote control | |
| CN106093662A (en) | Touch-control display module and touch-control the display electric property detection device of module, method | |
| CN206876165U (en) | Signal acquisition device, draw and dodge device and unmanned plane |
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 |