CN106774049A - For the orientation and communication and supervision emergency flight control system and method for underwater robot - Google Patents
For the orientation and communication and supervision emergency flight control system and method for underwater robot Download PDFInfo
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- CN106774049A CN106774049A CN201510818712.9A CN201510818712A CN106774049A CN 106774049 A CN106774049 A CN 106774049A CN 201510818712 A CN201510818712 A CN 201510818712A CN 106774049 A CN106774049 A CN 106774049A
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- 238000004891 communication Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 23
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 48
- 238000012544 monitoring process Methods 0.000 claims abstract description 37
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000003672 processing method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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
- G05B19/048—Monitoring; Safety
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of orientation and communication for underwater robot and supervision emergency flight control system and method, orientation and communication module one end connects GPS positioning device, Ridio communications device and satellite communication device are connected, the other end connects automatic Pilot unit by wireless bridge device, monitoring module one end connects automatic Pilot unit by CAN, the other end connects depth/altimeter setting, leakage inspector, pressure switch apparatus and Position indication lamp device for mark, emergency processing module one end connects automatic Pilot unit by CAN, the other end connects jettison system, emergency cell device.The of the invention comprehensive sensor communication device carried using underwater robot, time-sharing work, it is ensured that underwater robot after water outlet with the fast and reliable communication of water surface console；To underwater robot each observation device unified management, to underwater robot, each control node carries out effective monitoring；Realize carrying underwater robot the Optimum utilization of the energy.
Description
Technical field
The present invention relates to underwater robot technical field, specifically a kind of positioning for underwater robot
Communication and supervision emergency flight control system and method.
Background technology
Continuous exploration with the mankind to Marine Sciences, increasing scientist is of interest for underwater robot.
Under water robot for mankind's Marine Sciences bring tremendous contribution while, its function it is rich, system
Security also largely effects on underwater robot and fulfils assignment the effect of task.Existing underwater robot communication
System, monitoring system function are relatively simple, and integrated level is smaller；By underwater robot structure size and entrained
Energy limitations affect, it is impossible to complete on a large scale, it is highly difficult, observe job task for a long time, this is significantly
Have impact on during underwater robot job task and reclaim after task terminates the security of positioning.
The content of the invention
In view of the shortcomings of the prior art, present invention offer is a kind of carries out communicating positioning and coordination to underwater robot
Management, while reducing orientation and communication and supervision emergency flight control system and the side of energy resource consumption and rapid emergency processing
Method.
The technical scheme that is used to achieve the above object of the present invention is：
A kind of orientation and communication for underwater robot and supervision emergency flight control system, orientation and communication module one end
Connection GPS positioning device, Ridio communications device and satellite communication device connection, the other end pass through wireless network
Biodge device connects automatic Pilot unit, and the water surface interaction and positioning over long distances are carried out to underwater robot；
Monitoring module one end connects automatic Pilot unit, other end connection depth/altimeter dress by CAN
Put, leakage inspector, pressure switch apparatus and Position indication lamp device for mark, monitor the state of automatic Pilot unit；
Emergency processing module one end by CAN connect automatic Pilot unit, the other end connection jettison system,
Emergency cell device, makes underwater robot that load is thrown under abnormal condition and floats.
In the orientation and communication module, microprocessor controls circuit to connect with automatic Pilot unit by CAN communication
Connect；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides GPS positioning device by controlling power driving circuit, Ridio communications device, defends
The supply voltage of star communication device；
Microprocessor connects GPS positioning device by serial communication circuit, and Ridio communications device and satellite are logical
News device, carries out data interaction.
In the monitoring module, microprocessor controls circuit to be connected with automatic Pilot unit by CAN communication；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides pressure switch apparatus, Position indication lamp device for mark, leak by controlling power driving circuit
The supply voltage of sensor device, depth/altimeter setting；
Microprocessor connects depth/altimeter setting by serial communication circuit, carries out data interaction；
Isolation circuit input connection automatic Pilot unit, pressure switch apparatus, Position indication lamp device for mark, leak
Sensor device, output end connection microprocessor, the TTL pulse signal that automatic Pilot unit is exported, pressure
The level signal output of power switching device and the output of leakage sensor device is automatic for monitoring to microprocessor
The working condition and underwater robot for driving unit enter water/leak state；
Power supply control switching circuit input connects microprocessor, and output end connection automatic Pilot unit will be micro-
Automatic Pilot unit is arrived in the shutdown signal output that processor sends, for closing automatic Pilot unit.
4. the orientation and communication for underwater robot according to claim 1 with supervision emergency flight control system, its
It is characterised by：In the emergency processing module, microprocessor controls circuit and automatic Pilot by CAN communication
Unit is connected；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides the supply voltage of jettison system by controlling power driving circuit；
Power supply control switching circuit input connects microprocessor, and output end connection automatic Pilot unit will be micro-
Automatic Pilot unit is arrived in the shutdown signal output that processor sends, for closing automatic Pilot unit；
Power supply control switching circuit is also connected with emergency cell and controls circuit with power conversion, microprocessor is led to
Cross power supply control switching circuit and realize power supply of the emergency cell to processing module of meeting an urgent need.
A kind of orientation and communication for underwater robot and supervision emergency control method, when underwater robot is in water
During face, location information is sent according to orientation and communication method and the control command that water surface console is assigned is received；
When underwater robot under water when, according to monitoring method monitor underwater robot working condition and realization
The optimized utilizing energy of underwater robot；
When underwater robot is in abnormal operating state, throwing is assigned according to emergency processing method and carries order,
Throw underwater robot and carry floating.
Orientation and communication method is comprised the following steps：
Step 1：If judging that underwater robot, in the water surface, opens GPS positioning device, radio communication
Device and satellite communication device, otherwise close GPS positioning device, Ridio communications device and satellite communication dress
Put；
Step 2：Location information and the standard time of underwater robot are obtained by GPS positioning device, by CAN
Bus is sent to automatic Pilot unit, while being pressed by Ridio communications device and satellite communication device respectively
Different cycles are sent to water surface console；
Step 3：If judgement receives the data of automatic Pilot unit transmission, water surface console is sent data to,
Then judge whether to receive the data that water surface console sends；Otherwise, directly judge whether to receive water surface control
The data that platform sends；
Step 4：If receiving the data of water surface console transmission, by water surface console data is activation to automatic
Drive unit, otherwise return to step 1；
Step 5：Judge the return to step 2 if underwater robot underwater robot is in the water surface, otherwise close
GPS positioning device, Ridio communications device and satellite communication device.
Monitoring method is comprised the following steps：
Step 1：If judging that underwater robot enters water, Position indication lamp device for mark is closed, microprocessor starts to connect
The data of depth/altimeter setting are received, leakage sensor unit state is detected, underwater robot observation attitude is obtained,
And it is sent to automatic Pilot unit；
Step 2：Receive automatic Pilot unit feedback data, and if judge underwater robot attitude safety,
Then continue to judge whether automatic Pilot unit CAN monitoring bags receive normal, if underwater robot attitude is uneasy
Entirely, then send to throw to emergency processing unit and carry order；
Step 3：If automatic Pilot unit CAN monitoring bags receive normal, continue to determine whether to receive pass
Machine order, if automatic Pilot unit CAN monitoring bags receive abnormal, continuation judges automatic Pilot unit
Whether TTL pulse signal normally detects, if normally, judging whether to receive shutdown command, otherwise to should
Anxious processing unit sends to throw and carries order；
Step 4：If receiving shutdown command, automatic Pilot unit is closed, and judge whether to reach wake-up bars
Part, otherwise return to step 1；
Step 5：If reaching wake-up condition, navigation control computer is waken up, and judge whether to receive automatically
Drive unit start and complete packet；
Step 6：If receiving the start of automatic Pilot unit completes packet, return to step 1 otherwise continues
Wait and receive automatic Pilot unit start completion packet.
The wake-up condition for reach observation time or more than setting depth capacity or less than setting minimum-depth or
More than setting height or underwater robot leak or depth/altimeter device communication failure.
The emergency processing method is comprised the following steps：
Step 1：If judgement receives throwing and carries order, jettison system is thrown and is carried, and continues to judge automatic Pilot list
Whether the output voltage of unit is less than threshold value, otherwise directly judges whether the output voltage of automatic Pilot unit is less than
Threshold value；
Step 2：If the output voltage of automatic Pilot unit is less than threshold value, switching power supply mode is emergency cell
Device is powered, otherwise return to step 1.
The invention has the advantages that and advantage：
1. the sensor communication device that the present invention is comprehensively carried using underwater robot, time-sharing work, it is ensured that water
Lower robot after water outlet with the fast and reliable communication of water surface console；
2. to underwater robot each observation device unified management, to underwater robot, each control is saved the present invention
Point is effectively monitored；
3. the present invention realizes carrying underwater robot the Optimum utilization of the energy；
4. the present invention greatly improves underwater robot and completes the security of observation mission and ageing.
Brief description of the drawings
Fig. 1 is general structure block diagram of the present invention；
Fig. 2 is orientation and communication module electrical connection figure of the present invention
Fig. 3 is monitoring module electrical connection figure of the present invention
Fig. 4 is emergency processing module electrical connection figure of the present invention
Fig. 5 is orientation and communication method flow diagram of the present invention；
Fig. 6 is monitoring method flow chart of the present invention；
Fig. 7 is emergency processing method flow chart of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
It is as shown in Figure 1 general structure block diagram of the present invention.Orientation and communication and supervision for underwater robot is emergent
Control system, is made up of, by CAN reality orientation and communication module, monitoring module and emergency processing module
Information exchange existing with automatic Pilot unit, control and manage.Orientation and communication module and GPS positioning device, nothing
Line electricity communication device, satellite communication device connection, the module is by wireless bridge device and automatic Pilot in addition
Unit is connected, and realizes the GPS time services of underwater robot and positioning, water surface console is to the wireless of underwater robot
The functions such as electric communication, satellite communication, wireless network communication, water surface interaction over long distances is carried out to underwater robot
And positioning；Monitoring module and automatic Pilot unit, depth/altimeter setting, leakage inspector, pressure switch
Device and Position indication lamp device for mark are connected, realize to underwater robot automatic Pilot unit whether the prison of normal work
Control function, the underwater robot observation security monitoring function of attitude, underwater robot are in sentencing for the water surface/under water
Determine to show that the energy source optimization of bit function and underwater robot during observing is used after function and water outlet；It is emergent
Processing module is connected with jettison system, emergency cell device, under realizing underwater robot abnormal operating state
Throwing carry floating function.
If Fig. 2 is orientation and communication module electrical connection figure of the present invention.In the orientation and communication module, microprocessor
Device controls circuit to be connected with automatic Pilot unit by CAN communication, and power conversion controls circuit by automatic Pilot
The voltage transformation of unit output is microprocessor, GPS positioning device, Ridio communications device, satellite communication dress
The operating voltage put, and to microprocessor power supply, microprocessor provides GPS by controlling power driving circuit
Positioner, Ridio communications device, the supply voltage of satellite communication device；Simultaneously by serial communication electricity
Realize microprocessor and GPS positioning device, Ridio communications device, the data interaction of satellite communication device in road.
Fig. 3 is monitoring module electrical connection figure of the present invention.In the monitoring module, microprocessor passes through CAN
Communication control circuit is connected with automatic Pilot unit, and power conversion control circuit exports automatic Pilot unit
Voltage transformation is microprocessor, pressure switch apparatus, Position indication lamp device for mark, leakage sensor device, deep/height
The operating voltage of counter device is spent, and to microprocessor power supply, microprocessor is carried by controlling power driving circuit
For pressure switch apparatus, Position indication lamp device for mark, leakage sensor device, the supply voltage of depth/altimeter setting；
The data interaction of microprocessor and depth/altimeter setting is realized by serial communication circuit simultaneously.Isolation circuit will
The level of the TTL pulse signal, pressure switch apparatus and the output of leakage sensor device of the output of automatic Pilot unit
To microprocessor, for monitoring automatic Pilot unit, whether normal work and underwater robot enter signal output
Water/leak state；Automatic Pilot list is arrived in the shutdown signal output that power supply control switching circuit sends microprocessor
Unit, for closing automatic Pilot unit.
Fig. 4 is emergency processing module electrical connection figure of the present invention.In the emergency processing module, microprocessor
Circuit is controlled to be connected with automatic Pilot unit by CAN communication, power conversion controls circuit by automatic Pilot list
The voltage transformation of unit's output is microprocessor, the operating voltage of jettison system, and to microprocessor power supply, it is micro-
Processor provides the supply voltage of jettison system by controlling power driving circuit；Power supply control switching circuit will
Emergency cell is connected with power conversion control circuit, and microprocessor can be realized by power supply control switching circuit should
Power supply of the urgent telegram pond to processing module of meeting an urgent need.
Fig. 5 is orientation and communication method flow diagram of the present invention.A kind of orientation and communication for underwater robot and supervision
Emergency control method, pressure switch apparatus real-time monitoring underwater robot is in the water surface/submerged condition, when under water
Robot opens Position indication lamp device for mark in the water surface, and the positioning for obtaining underwater robot by GPS positioning device is believed
Breath and standard time, automatic Pilot unit is sent to by CAN, while passing through radio communication respectively
Device and satellite communication device are sent to water surface console, and both send cycle difference to reduce each other
Interference.Meanwhile, water surface console can also send control by Ridio communications device and satellite communication device
Order or control parameter data are to underwater robot.
If Fig. 6 is monitoring method flow chart of the present invention.When underwater robot under water when, close close Position indication lamp
Device for mark, radio device and satellite communication device, microprocessor real-time reception depth/altimeter setting data,
Detection leakage sensor unit state, obtains underwater robot observation attitude, is sent to certainly by CAN
Dynamic to drive unit, whether the current underwater robot attitude of automatic Pilot unit judges is safe, by CAN
Monitoring module is returned to, if underwater robot attitude is dangerous, monitoring module is by CAN to emergent
Processing module directly transmits throwing and carries order, underwater robot is thrown load and floats；Automatic Pilot unit is periodic
Specific CAN packets are sent to monitoring module by CAN, by TTL pulse circuit to monitoring mould
Block sends periodic pulse signal, when monitoring module can't detect the CAN data that automatic Pilot unit is sent simultaneously
When bag and TTL pulse signal, automatic Pilot cell operation failure is illustrated, then monitoring module passes through CAN
Throwing is directly transmitted to emergency processing module and carry order, underwater robot is thrown load and float；If underwater is artificial
Make normal, when underwater robot reaches expected observation place, automatic Pilot unit is by CAN to prison
Control module sends observation attitude scope and observation time parameter, and monitoring module is received after the parameter to automatic Pilot
Unit sends shutdown sleep command, and after wake-up condition is reached, monitoring module is by CAN to driving automatically
Sail unit and send start wake command, treat to send wake-up reason and rest period after the completion of the start of automatic Pilot unit
Between energy consumption data bag, subsequent treatment is carried out by automatic Pilot unit；
If Fig. 7 is emergency processing method flow chart of the present invention.The emergency processing module ought receive automatic Pilot list
After the Emergency Device order that unit sends, jettison system is directly controlled to complete to throw load action；When detecting machine under water
When device people's system power supply voltage is relatively low, emergency processing module by orientation and communication with supervision emergency flight control system confession
TURP is changed to emergency cell device powers and is powered instead of automatic Pilot unit.
The wake-up condition includes reaching observation time or more than setting depth capacity or less than setting minimum-depth
Or more than setting height or underwater robot leak or depth/altimeter device communication failure.
Claims (9)
1. a kind of orientation and communication for underwater robot with supervision emergency flight control system, it is characterised in that：Positioning is logical
News module one end connection GPS positioning device, Ridio communications device and satellite communication device connection, the other end
Automatic Pilot unit is connected by wireless bridge device, the water surface is carried out to underwater robot interactive and fixed over long distances
Position；
Monitoring module one end connects automatic Pilot unit, other end connection depth/altimeter dress by CAN
Put, leakage inspector, pressure switch apparatus and Position indication lamp device for mark, monitor the state of automatic Pilot unit；
Emergency processing module one end by CAN connect automatic Pilot unit, the other end connection jettison system,
Emergency cell device, makes underwater robot that load is thrown under abnormal condition and floats.
2. the orientation and communication for underwater robot according to claim 1 with supervision emergency flight control system, its
It is characterised by：In the orientation and communication module, microprocessor controls circuit and automatic Pilot by CAN communication
Unit is connected；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides GPS positioning device by controlling power driving circuit, Ridio communications device, defends
The supply voltage of star communication device；
Microprocessor connects GPS positioning device by serial communication circuit, and Ridio communications device and satellite are logical
News device, carries out data interaction.
3. the orientation and communication for underwater robot according to claim 1 with supervision emergency flight control system, its
It is characterised by：In the monitoring module, microprocessor controls circuit and automatic Pilot unit by CAN communication
Connection；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides pressure switch apparatus, Position indication lamp device for mark, leak by controlling power driving circuit
The supply voltage of sensor device, depth/altimeter setting；
Microprocessor connects depth/altimeter setting by serial communication circuit, carries out data interaction；
Isolation circuit input connection automatic Pilot unit, pressure switch apparatus, Position indication lamp device for mark, leak
Sensor device, output end connection microprocessor, the TTL pulse signal that automatic Pilot unit is exported, pressure
The level signal output of power switching device and the output of leakage sensor device is automatic for monitoring to microprocessor
The working condition and underwater robot for driving unit enter water/leak state；
Power supply control switching circuit input connects microprocessor, and output end connection automatic Pilot unit will be micro-
Automatic Pilot unit is arrived in the shutdown signal output that processor sends, for closing automatic Pilot unit.
4. the orientation and communication for underwater robot according to claim 1 with supervision emergency flight control system, its
It is characterised by：In the emergency processing module, microprocessor controls circuit and automatic Pilot by CAN communication
Unit is connected；
Power conversion control circuit input end connection automatic Pilot unit, output end connection microprocessor and power
Drive circuit, the voltage transformation that automatic Pilot unit is exported is the operating voltage of microprocessor, and to micro- place
Reason device is powered；
Microprocessor provides the supply voltage of jettison system by controlling power driving circuit；
Power supply control switching circuit input connects microprocessor, and output end connection automatic Pilot unit will be micro-
Automatic Pilot unit is arrived in the shutdown signal output that processor sends, for closing automatic Pilot unit；
Power supply control switching circuit is also connected with emergency cell and controls circuit with power conversion, microprocessor is led to
Cross power supply control switching circuit and realize power supply of the emergency cell to processing module of meeting an urgent need.
5. a kind of orientation and communication for underwater robot with supervision emergency control method, it is characterised in that：When under water
Robot sends location information and receives the control that water surface console is assigned in the water surface according to orientation and communication method
System order；
When underwater robot under water when, according to monitoring method monitor underwater robot working condition and realization
The optimized utilizing energy of underwater robot；
When underwater robot is in abnormal operating state, throwing is assigned according to emergency processing method and carries order,
Throw underwater robot and carry floating.
6. the orientation and communication for underwater robot according to claim 5 with supervision emergency control method, its
It is characterised by：Orientation and communication method is comprised the following steps：
Step 1：If judging that underwater robot, in the water surface, opens GPS positioning device, radio communication
Device and satellite communication device, otherwise close GPS positioning device, Ridio communications device and satellite communication dress
Put；
Step 2：Location information and the standard time of underwater robot are obtained by GPS positioning device, by CAN
Bus is sent to automatic Pilot unit, while being pressed by Ridio communications device and satellite communication device respectively
Different cycles are sent to water surface console；
Step 3：If judgement receives the data of automatic Pilot unit transmission, water surface console is sent data to,
Then judge whether to receive the data that water surface console sends；Otherwise, directly judge whether to receive water surface control
The data that platform sends；
Step 4：If receiving the data of water surface console transmission, by water surface console data is activation to automatic
Drive unit, otherwise return to step 1；
Step 5：Judge the return to step 2 if underwater robot underwater robot is in the water surface, otherwise close GPS
Positioner, Ridio communications device and satellite communication device.
7. the orientation and communication for underwater robot according to claim 5 with supervision emergency control method, its
It is characterised by：Monitoring method is comprised the following steps：
Step 1：If judging that underwater robot enters water, Position indication lamp device for mark is closed, microprocessor starts to connect
The data of depth/altimeter setting are received, leakage sensor unit state is detected, underwater robot observation attitude is obtained,
And it is sent to automatic Pilot unit；
Step 2：Receive automatic Pilot unit feedback data, and if judge underwater robot attitude safety,
Then continue to judge whether automatic Pilot unit CAN monitoring bags receive normal, if underwater robot attitude is uneasy
Entirely, then send to throw to emergency processing unit and carry order；
Step 3：If automatic Pilot unit CAN monitoring bags receive normal, continue to determine whether to receive pass
Machine order, if automatic Pilot unit CAN monitoring bags receive abnormal, continuation judges automatic Pilot unit
Whether TTL pulse signal normally detects, if normally, judging whether to receive shutdown command, otherwise to should
Anxious processing unit sends to throw and carries order；
Step 4：If receiving shutdown command, automatic Pilot unit is closed, and judge whether to reach wake-up bars
Part, otherwise return to step 1；
Step 5：If reaching wake-up condition, navigation control computer is waken up, and judge whether to receive automatically
Drive unit start and complete packet；
Step 6：If receiving the start of automatic Pilot unit completes packet, return to step 1 otherwise continues
Wait and receive automatic Pilot unit start completion packet.
8. the orientation and communication for underwater robot according to claim 7 with supervision emergency control method, its
It is characterised by：The wake-up condition is arrival observation time or minimum more than setting depth capacity or less than setting
Depth or more than setting height or underwater robot leak or depth/altimeter device communication failure.
9. the orientation and communication for underwater robot according to claim 5 with supervision emergency control method, its
It is characterised by：The emergency processing method is comprised the following steps：
Step 1：If judgement receives throwing and carries order, jettison system is thrown and is carried, and continues to judge automatic Pilot list
Whether the output voltage of unit is less than threshold value, otherwise directly judges whether the output voltage of automatic Pilot unit is less than
Threshold value；
Step 2：If the output voltage of automatic Pilot unit is less than threshold value, switching power supply mode is emergency cell
Device is powered, otherwise return to step 1.
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| CN201510818712.9A CN106774049A (en) | 2015-11-23 | 2015-11-23 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
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| CN201510818712.9A CN106774049A (en) | 2015-11-23 | 2015-11-23 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| 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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| CN111290411A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Modular autonomous underwater robot system |
| CN112230639A (en) * | 2019-06-28 | 2021-01-15 | 中国科学院沈阳自动化研究所 | Remote recovery control system and method for autonomously remotely controlling underwater robot |
| CN113391584A (en) * | 2021-06-11 | 2021-09-14 | 天津大学 | CAN bus-based extensible communication system |
| CN113391584B (en) * | 2021-06-11 | 2022-11-22 | 天津大学 | CAN bus-based extensible communication system |
| CN113581701A (en) * | 2021-07-06 | 2021-11-02 | 浙江世仓智能仓储设备有限公司 | Rescue system and method for abnormal power failure of shuttle vehicle |
| CN113581701B (en) * | 2021-07-06 | 2023-05-16 | 浙江世仓智能仓储设备有限公司 | Rescue system and method for abnormal power failure of shuttle |
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