CN107329488A - Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system - Google Patents
Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system Download PDFInfo
- Publication number
- CN107329488A CN107329488A CN201610284459.8A CN201610284459A CN107329488A CN 107329488 A CN107329488 A CN 107329488A CN 201610284459 A CN201610284459 A CN 201610284459A CN 107329488 A CN107329488 A CN 107329488A
- Authority
- CN
- China
- Prior art keywords
- embedded system
- under water
- control
- embedded
- uav
- 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
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000036461 convulsion Effects 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000283203 Otariidae Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- 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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system involved in the present invention, it is characterised in that：By surface manoeuvering person side and under water, unmanned two embedded systems of pusher side are constituted for the core of the system.It can pass through wired or wireless communication modes between the two.
Description
Technical field
The present invention relates to the unmanned aerial vehicle (UAV) control method under water based on distribution embedded system.
Background technology
Unmanned plane (Unmanned Underwater Vehicle under water：UUV) grasped by Remote or self-contained program
Vertical not manned underwater vehicle.Major function is underwater observation and underwater operation, is mainly used in underwater scientific investigation, defends under water, under water
Construction, the under water field such as rescue.According to whether umbilical cables can be divided into two classes：One class, is referred to as remote control based on wire communication
Submersible (Remotely Operated Vehicle：ROV), it is mainly used in Fixed Point Operation.It is another kind of, based on wireless telecommunications or
Carry programme controlled referred to as autonomous submersible (Autonomous Underwater Vehicle：AUV), when being mainly used in long
Between, cruise under water on a large scale.
The sealion ROV of JW fishers companies of U.S. production, are a miniaturization, the unmanned plane under water of low cost.
It uses water surface computer centralized control.Canadian international submarine engineering
(ISE) each model UUV that company produces is using the centralized control of the multicomputer of the water surface-under water.
At present, under water unmanned plane be in application field magnify the stage, with Activities of Ocean substantial increase, for it is low into
Originally, miniaturization, the easy-operating demand of unmanned plane under water increase.
The content of the invention
The present invention provides a kind of unmanned aerial vehicle (UAV) control method under water based on distribution embedded system, replaces base in the prior art
In the centralized Control method of one or more computer, thus reduce power consumption, reduce cost, reduce control system volume, and
The system expandability is improved, Fault Tolerance is improved.
By surface manoeuvering person side and under water, unmanned two embedded systems of pusher side are constituted for the core of the system.Between the two
Wired or wireless communication modes can be passed through.
The simple unmanned plane under water of function can be using following simple distribution embedded control system.Surface manoeuvering person surveys embedding
Embedded system is directly connected with joystick, control panel, picture system, expansion interface.Unmanned pusher side embedded system under water
Directly it is connected with propeller, underwater lamp, sensor, power tool, expansion interface.So as to realize very miniaturization, it is inexpensive, low
The control system of power consumption.
The complicated unmanned plane under water of function can also use this distribution embedded control system.Core control under water is embedded
System is responsible for the control of underwater lamp, camera, camera, sensor other mini-plants, in addition propeller, manipulator, large-scale
Underwater installation is controlled by special embedded system.The water surface core control embedded system be responsible for whole system it is former it is normal inquire about,
The tasks such as alarm, jerk.Set water surface console embedded system, manipulator embedded system, Surface Picture embedded in addition
Other embedded systems of system, the water surface etc. are each responsible for the data acquisition and calculating of water surface console, the number of manipulator control platform
According to collection and calculating, the control (DVR, character adding, Video segmentation etc.) of image correlation device, the equipment of other equipment the water surface
Control end.Embedded system is not limited only to Ethernet, can be as needed other agreements such as can buses by network communication
Networking.
The compatible prior art of the system and emerging technology, other computers such as surface navigation computer can be connect by network
Enter system, the mobile terminal such as mobile phone or flat board APP can also pass through the access systems such as wifi or bluetooth.
The advantage of the invention is that：
1. small volume, lightweight, low cost.Embedded substitution computer, significantly reduces volume and deadweight, and reduce into
This.
2. low-power consumption.Embedded substitution computer, is greatly reduced power consumption, for some AUV, reduces power consumption
Mean that increase endurance.
3. safeguard that simple, scalability is strong.Either increase underwater installation or increase water surface control end, only need to will be new
Embedded system access network, user can simple operations.Without thering is expert engineer to change master control meter as original
Calculation machine program.
4. each embedded system controls different equipment respectively, stability is good.
5. compatibility is good, pass through the compatible original computer equipment of network communication and emerging mobile terminal APP.
Brief description of the drawings
Fig. 1 is the electric power system schematic diagram of the present invention
Fig. 2 is the control system architecture schematic diagram of the present invention；
Fig. 3 is the hardware architecture diagram of the present invention.
Fig. 4 is the structural representation of embodiment 4
The 1- 3- horizontal propeller 4- vertical pusher 5- underwater lamps of unmanned plane body 2- snap joints under water
6- removable batteries.
Embodiment
We come to this unmanned plane control under water based on distribution embedded system with reference to accompanying drawing and specific example below
Method processed is further described in detail.
Embodiment one, system is constituted
As shown in figure 1, the core of the system by surface manoeuvering person side and under water unmanned two embedded systems of pusher side
Composition.It can pass through wired or wireless communication modes between the two.
Embodiment two, single system application scheme
As shown in Fig. 2 the simple unmanned plane under water of function can be using following simple distribution embedded control system.The water surface
Operator surveys embedded system and is directly connected with joystick, control panel, picture system, expansion interface.Unmanned pusher side under water
Embedded system is directly connected with propeller, underwater lamp, sensor, power tool, expansion interface.It is very small-sized so as to realize
Change, low cost, the control system of low-power consumption.
Embodiment three, complication system application scheme
As shown in figure 3, the complicated unmanned plane under water of function can also use this distribution embedded control system.Core under water
Control embedded system is responsible for the control of underwater lamp, camera, camera, sensor other mini-plants, in addition propeller, machine
Tool hand, Large Underwater equipment are controlled by special embedded system.Water surface core control embedded system is responsible for whole system
Therefore the task such as normal inquiry, alarm, jerk.Water surface console embedded system, manipulator embedded system, water surface figure are set in addition
As embedded system, the water surface other embedded systems etc., to be each responsible for the data acquisition and calculating of water surface console, machinery manual
The data acquisition and calculating of platform processed, the control (DVR, character adding, Video segmentation etc.) of image correlation device, other equipment are set
Standby water surface control end.Embedded system is not limited only to Ethernet, can be as needed can buses etc. by network communication
Other protocol networkings.
Example IV, external interface
The compatible prior art of the system and emerging technology, other computers such as surface navigation computer can be connect by network
Enter system, the mobile terminal such as mobile phone or flat board APP can also pass through the access systems such as wifi or bluetooth.
Claims (4)
1. the unmanned aerial vehicle (UAV) control method under water based on distribution embedded system, it is characterised in that：The core of the system is by water
Face operator side and under water unmanned two embedded system compositions of pusher side.It can pass through wired or wireless communication modes between the two.
2. the unmanned aerial vehicle (UAV) control method as claimed in claim 1 under water based on distribution embedded system, it is characterised in that：Function
Simply unmanned plane can be using following simple distribution embedded control system under water.It is direct that surface manoeuvering person surveys embedded system
It is connected with joystick, control panel, picture system, expansion interface.Under water unmanned pusher side embedded system directly with propeller,
Underwater lamp, sensor, power tool, expansion interface connection.So as to realize very miniaturization, low cost, the control system of low-power consumption
System.
3. the unmanned aerial vehicle (UAV) control method as claimed in claim 1 under water based on distribution embedded system, it is characterised in that：Function
Complicated unmanned plane under water can also use this distribution embedded control system.The embedded system of core control under water is responsible under water
Lamp, camera, camera, the control of sensor other mini-plants, propeller, manipulator, Large Underwater equipment are by special in addition
The embedded system control of door.Water surface core control embedded system is responsible for former normal inquiry, alarm, jerk of whole system etc. and appointed
Business.Set in addition water surface console embedded system, manipulator embedded system, Surface Picture embedded system, the water surface other
Embedded system etc. be each responsible for the data acquisition and calculating of water surface console, the data acquisition of manipulator control platform and calculating,
The control (DVR, character adding, Video segmentation etc.) of image correlation device, the water surface control end of the equipment of other equipment.It is embedded
System is not limited only to Ethernet, can be as needed other protocol networkings such as can buses by network communication.
4. the unmanned aerial vehicle (UAV) control method as claimed in claim 1 under water based on distribution embedded system, it is characterised in that：This is
Unite compatible prior art and emerging technology, other computers such as surface navigation computer can pass through network access system, mobile phone
Or the mobile terminal APP such as flat board can also pass through the access systems such as wifi or bluetooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284459.8A CN107329488A (en) | 2016-04-30 | 2016-04-30 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284459.8A CN107329488A (en) | 2016-04-30 | 2016-04-30 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107329488A true CN107329488A (en) | 2017-11-07 |
Family
ID=60193220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610284459.8A Pending CN107329488A (en) | 2016-04-30 | 2016-04-30 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107329488A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5398636A (en) * | 1993-09-13 | 1995-03-21 | The United States Of America As Represented By The Secretary Of The Navy | System for effecting underwater coupling of optical fiber cables characterized by a novel lateral arm cable capture mechanism |
| US5995882A (en) * | 1997-02-12 | 1999-11-30 | Patterson; Mark R. | Modular autonomous underwater vehicle system |
| CN101386340A (en) * | 2008-10-29 | 2009-03-18 | 哈尔滨工程大学 | Underwater robot for ship hull detection |
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN104199447A (en) * | 2014-08-18 | 2014-12-10 | 江苏科技大学 | Underwater structure detection robot control system and motion control method |
| CN104615141A (en) * | 2013-11-04 | 2015-05-13 | 中国科学院沈阳自动化研究所 | Control system of small autonomous underwater vehicle |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
| CN104932518A (en) * | 2015-05-15 | 2015-09-23 | 厦门大学 | Underwater robot sea search system |
-
2016
- 2016-04-30 CN CN201610284459.8A patent/CN107329488A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5398636A (en) * | 1993-09-13 | 1995-03-21 | The United States Of America As Represented By The Secretary Of The Navy | System for effecting underwater coupling of optical fiber cables characterized by a novel lateral arm cable capture mechanism |
| US5995882A (en) * | 1997-02-12 | 1999-11-30 | Patterson; Mark R. | Modular autonomous underwater vehicle system |
| CN101386340A (en) * | 2008-10-29 | 2009-03-18 | 哈尔滨工程大学 | Underwater robot for ship hull detection |
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104615141A (en) * | 2013-11-04 | 2015-05-13 | 中国科学院沈阳自动化研究所 | Control system of small autonomous underwater vehicle |
| CN203786566U (en) * | 2014-03-21 | 2014-08-20 | 中国海洋石油总公司 | Submarine cable maintenance underwater robot system |
| CN104199447A (en) * | 2014-08-18 | 2014-12-10 | 江苏科技大学 | Underwater structure detection robot control system and motion control method |
| CN104932518A (en) * | 2015-05-15 | 2015-09-23 | 厦门大学 | Underwater robot sea search system |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110223413A (en) | Intelligent polling method, device, computer storage medium and electronic equipment | |
| US11263891B2 (en) | Enhanced emergency response | |
| WO2018152849A1 (en) | Control method, remote monitoring device, base station, server and steaming media server | |
| CN113687718A (en) | Man-machine integrated digital twin system and construction method thereof | |
| CN108828996A (en) | A kind of the mechanical arm remote control system and method for view-based access control model information | |
| CN104569909B (en) | A kind of indoor alignment system and method | |
| Aristizábal et al. | Design of an open source-based control platform for an underwater remotely operated vehicle | |
| CN102594372B (en) | Software-radio-based intelligent bridge system for ship | |
| TWM510574U (en) | WIFI wireless remote controller based on web server technology | |
| CN105467979A (en) | Automobile bus remote control system and method | |
| CN104724295A (en) | Universal interface system for unmanned aerial vehicle loads | |
| JP2015141140A (en) | Remotely-operable measuring instrument and measuring system | |
| CN107329488A (en) | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system | |
| CN103345721A (en) | Collaborative consultation system and method applied to portable scene emergency device | |
| Almalı et al. | Wireless remote control of a mobile robot | |
| CN203744940U (en) | Portable three-dimensional scanner | |
| CN109895093A (en) | Task management method for IDC robot | |
| Ferreira et al. | Enhancing autonomous capabilities and human-robot interaction for unmanned surface vehicles | |
| CN109669539A (en) | A kind of wearable field operation man-machine interaction method of electric power, apparatus and system | |
| CN209167861U (en) | A kind of underwater robot, remote controler and underwater investigation system | |
| CN213938164U (en) | Satellite remote control ROV control system | |
| CN205123855U (en) | Image acquisition equipment and modularization camera and monitored control system | |
| CN108537839B (en) | Visual guidance strong real-time pointing device based on field bus | |
| CN110691096A (en) | Ship maneuvering integrated information system | |
| Uddin | A development of low cost wi-fi robot for teaching aid |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171107 |