CN106802588A - A kind of long distance control system for underwater robot - Google Patents
A kind of long distance control system for underwater robot Download PDFInfo
- Publication number
- CN106802588A CN106802588A CN201510845477.4A CN201510845477A CN106802588A CN 106802588 A CN106802588 A CN 106802588A CN 201510845477 A CN201510845477 A CN 201510845477A CN 106802588 A CN106802588 A CN 106802588A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- terminal
- water surface
- control system
- long distance
- 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.)
- Pending
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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
- G05B19/0428—Safety, monitoring
-
- 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
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The present invention relates to a kind of long distance control system for underwater robot, water surface terminal and underwater robot wireless connection receive the information of underwater robot, and are sent to underwater robot and order；The information of underwater robot, by 2G/3G mobile network's wireless connections, is sent to land-based terminal, and receive the control command of land-based terminal by water surface terminal with land-based terminal.The present invention can save the expense that ship is rented for monitoring underwater robot, monitoring personnel is set to be monitored on ship, reduce labour intensity, using Public Mobile Network as the means of communication between water surface terminal and land-based terminal, it is reliable and stable, with low cost, water surface terminal is reusable, flexible arrangement.
Description
Technical field
It is specifically a kind of for the long-range of underwater robot the present invention relates to underwater robot monitoring field
Monitoring system.
Background technology
Exploration with people to ocean is increasingly frequently and urgent, and underwater robot is used as a kind of important instrument
Substantial amounts of application is obtained.
Because underwater robot applied environment is complicated and changeable, extremely important is just become to underwater robot monitoring.
Especially AUV (Autonomous Underwater Vehicle), can only due to not having cable to connect with lash ship
The robot for working under water is monitored by underwater sound equipment.Due to the inherent characteristic of underwater sound equipment, this
Kind of monitoring must the vicinity of robot job site under water carry out, generally require for monitoring device to be arranged in water
Monitor in real time is carried out on the ship of face, rental ship is with high costs, poor working environment.
With the development of mobile communication network technology, it is most of near that 2G/3G mobile networks have covered China
Haiti area.And 2G/3G mobile networks communication is cheap with equipment and communication cost, technology maturation is reliably special
Point.
2G/3G mobile networks communication and underwater sound monitoring device are combined, exploitation is a kind of to be used for underwater robot
Long distance control system, can greatly reduce underwater robot monitoring cost and monitoring personnel work it is strong
Degree.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of long distance control system for underwater robot.
The technical scheme that is used to achieve the above object of the present invention is：
A kind of long distance control system for underwater robot, water surface terminal and underwater robot wireless connection,
The information of underwater robot is received, and order is sent to underwater robot；Water surface terminal passes through with land-based terminal
2G/3G mobile network's wireless connections, are sent to land-based terminal, and receive bank base end by the information of underwater robot
The control command at end.
The water surface terminal includes sealed compartment, and the sinker of uncoupling rigging is provided with sealed compartment lower end；Sealing
Cabin two ends set ball float, there is provided buoyancy.
In the sealed compartment, GPS module connection embedded controller, in real time the position transmission of positioning water surface terminal
To land-based terminal；Mobile data module connects embedded controller, and 2G/3G mobile networks are passed through with land-based terminal
Two-way communication；Embedded controller connects Position indication lamp by Position indication lamp driver, and Position indication lamp is controlled；
Acoustic equipment connects embedded controller, and embedded controller is sent to after the information for collecting underwater robot.
Also include rechargeable battery, powered to embedded controller.
The embedded controller extends out DDR with the microcontroller of ARM frameworks as core by EMIF interfaces
Internal memory；Storage card is extended out by MMC interfaces and is used as program and data storage；Microcontroller collection bunchiness
Mouth, Ethernet, CAN, USB controller and universal I/O port, for connecting and controlling external equipment.
The acoustic equipment includes acoustics communication device, acoustic localization device.
The uncoupling rigging includes mechanical unhook structure and electromagnetic actuation formula unhook structure.
The land-based terminal includes that computer connects mobile data module, control mobile data module and water surface end
End two-way communication.
The invention has the advantages that and advantage：
1. the present invention can save the expense that ship is rented for monitoring underwater robot.
2. the present invention makes monitoring personnel to be monitored on ship, reduces labour intensity.
3. the present invention uses Public Mobile Network as the means of communication between water surface terminal and land-based terminal, stabilization
It is reliable, it is with low cost.
4. water surface terminal of the invention is reusable, flexible arrangement.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is water surface terminal structure figure of the 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 structural representation of the invention.The present invention is a kind of for the long-range of underwater robot
Monitoring system, is made up of land-based terminal and water surface terminal.
Described land-based terminal is by all-purpose computer, monitoring software and mobile data module composition.General-purpose computations
Machine is connected with mobile data module, and special monitoring software is installed on a general-purpose computer, and special monitoring software can
Display is patterned with the transmission information of the water surface terminal for receiving mobile data module, while having transmission
The function of guidance command, can be sent to water surface terminal by mobile data module and ordered.In addition, special prison
Control software can send sound and light alarm when water surface terminal location exceeds setting range, prevent water surface lost terminal.
It is illustrated in figure 2 water surface terminal structure figure of the invention.Described water surface terminal, by anchor architecture (bag
Include sinker and uncoupling rigging), sealed compartment, embedded controller, rechargeable battery, mobile data module, GPS
Module, Position indication lamp driving plate, acoustic equipment, ball float, gps antenna, mobile network's antenna, Position indication lamp group
Into.
Anchor architecture is made up of sinker and uncoupling rigging, and sinker can be metal or cement quality, for by water
Face terminal is fixed on marine a certain specified location；Uncoupling rigging is used to make when needing and moving monitor surface terminal
Sinker be separately from other sections, uncoupling rigging can use electromagnetic actuation structure, to electromagnet power-off i.e. lead
Cause to break off relations, it is possible to use the conventional mechanical uncoupling rigging of acoustic releaser, completed to break off relations by motor-driven.
Embedded controller extends out DDR internal memories with ARM framework microcontrollers as core by EMIF interfaces；
Storage card is extended out by MMC interfaces and is used as program and data storage；The integrated serial ports of the microcontroller,
Ethernet, CAN, USB controller and universal I/O port, for connecting and controlling external equipment；Control
Device runs (SuSE) Linux OS.Acoustic equipment include be acoustics communication device and acoustic localization device (such as Long baselines,
Ultra-short baseline) etc..
Sealed compartment is used for embedded controller, rechargeable battery, mobile data module, the GPS for protecting it internal
Module, Position indication lamp driving plate do not receive water logging.
Ball float is used to provide enough buoyancy for sealed compartment, it is ensured that water surface terminal swims in the water surface all the time.
Embedded controller obtains the position of water surface terminal by GPS module, is sent by mobile data module
To land-based terminal；Embedded controller obtains the information of monitored underwater robot by underwater sound equipment, leads to
Cross mobile data module and be sent to land-based terminal；Embedded controller obtains bank base end by mobile data module
Hold the order of transmission and performed；Embedded controller can control Position indication lamp, for preventing the water surface at night
Terminal is by ship collision.
The present invention uses 2G/3G mobile networks as telecommunication means, and work under water is gathered by water surface terminal
The data of the underwater robot of work, transfer data to land-based terminal and are shown by 2G/3G mobile networks,
Monitoring personnel is monitored on the coast.Monitoring can cover China's major part offshore area, and land-based terminal can cloth
Put any area at home.GPS module is configured in water surface terminal inner simultaneously, land-based terminal can show in real time
Water surface terminal location, realizes the loss prevention function of water surface terminal.Position indication lamp is installed in water surface terminal, is prevented
Ship collision.Water surface terminal uses controllable uncoupling rigging, can be when needing to move water surface terminal by water
Face terminal is separated with sinker under water, can be by water surface terminal arrangement to other positions.Water surface terminal passes through water
Acoustic equipment obtains the information of underwater robot.Water surface terminal built-in embedded controller, embedded controller is adopted
Collection underwater sound equipment data and gps data, land-based terminal is transferred data to by 2G/3G mobile networks, while
Control Position indication lamp.Water surface terminal provides the energy by its internal rechargeable battery.
Claims (8)
1. a kind of long distance control system for underwater robot, it is characterised in that：Water surface terminal and underwater robot
Wireless connection, receives the information of underwater robot, and send order to underwater robot；Water surface terminal and bank
The information of underwater robot is sent to land-based terminal by base terminal by 2G/3G mobile network's wireless connections,
And receive the control command of land-based terminal.
2. the long distance control system for underwater robot according to claim 1, it is characterised in that：It is described
Water surface terminal includes sealed compartment, and the sinker of uncoupling rigging is provided with sealed compartment lower end；Sealed compartment two ends set
Put ball float, there is provided buoyancy.
3. the long distance control system for underwater robot according to claim 2, it is characterised in that：It is described
In sealed compartment, GPS module connection embedded controller, the position that water surface terminal is positioned in real time is sent to bank base
Terminal；
Mobile data module connects embedded controller, and 2G/3G mobile network's two-ways are passed through with land-based terminal
Letter；
Embedded controller connects Position indication lamp by Position indication lamp driver, and Position indication lamp is controlled；
Acoustic equipment connects embedded controller, and embedded control is sent to after the information for collecting underwater robot
Device processed.
4. the long distance control system for underwater robot according to claim 3, it is characterised in that：Also wrap
Rechargeable battery is included, is powered to embedded controller.
5. the long distance control system for underwater robot according to claim 3, it is characterised in that：It is described
Embedded controller extends out DDR internal memories with the microcontroller of ARM frameworks as core by EMIF interfaces,
Storage card is extended out by MMC interfaces and is used as data storage；The integrated serial ports of microcontroller, Ethernet,
CAN, USB controller and general I/O interface, for connecting and controlling external equipment.
6. the long distance control system for underwater robot according to claim 3, it is characterised in that：It is described
Acoustic equipment includes acoustics communication device, acoustic localization device.
7. the long distance control system for underwater robot according to claim 2, it is characterised in that：It is described
Uncoupling rigging includes mechanical unhook structure and electromagnetic actuation formula unhook structure.
8. the long distance control system for underwater robot according to claim 1, it is characterised in that：It is described
Land-based terminal includes that computer connects mobile data module, control mobile data module and water surface terminal two-way
Letter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845477.4A CN106802588A (en) | 2015-11-26 | 2015-11-26 | A kind of long distance control system for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845477.4A CN106802588A (en) | 2015-11-26 | 2015-11-26 | A kind of long distance control system for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106802588A true CN106802588A (en) | 2017-06-06 |
Family
ID=58976479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510845477.4A Pending CN106802588A (en) | 2015-11-26 | 2015-11-26 | A kind of long distance control system for underwater robot |
Country Status (1)
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| CN (1) | CN106802588A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380381A (en) * | 2017-07-29 | 2017-11-24 | 深圳市丝路蓝创意展示有限公司 | A kind of floatable diving system |
| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
| CN107816988A (en) * | 2017-10-31 | 2018-03-20 | 北京臻迪科技股份有限公司 | Dynamic self-stabilization position method and apparatus in a kind of fluid of underwater unmanned awareness apparatus |
| CN108189987A (en) * | 2017-12-26 | 2018-06-22 | 杭州华能工程安全科技股份有限公司 | A kind of buoy control platform of low depth manned submersible |
| CN112986709A (en) * | 2019-12-17 | 2021-06-18 | 中国科学院沈阳自动化研究所 | Device and method for monitoring health state of underwater robot through electromagnetic information |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380381A (en) * | 2017-07-29 | 2017-11-24 | 深圳市丝路蓝创意展示有限公司 | A kind of floatable diving system |
| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170606 |
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| RJ01 | Rejection of invention patent application after publication |