CN108241179A - A bionic and gliding hybrid propulsion underwater robot - Google Patents

Abstract

The present invention discloses a kind of bionical underwater robot with gliding hybrid propulsion mode, including head, sink-float regulating mechanism, gravity center adjusting mechanism, circuit cabin, hang gliding and tail portion.Head is made of Image Acquisition cabin；The regulating mechanism that rises and falls includes interior oil sac, reversal valve, hydraulic pump, overflow valve and outer oil sac；Gravity center adjusting mechanism includes stepper motor driver, stepper motor, servo driving, left and right center of gravity steering engine, screw, guide rail and pouring weight；Circuit cabin is made of control system, including motion layer, sensing layer, key-course, Communication Layer and supervisory layers；Hang gliding is made of carbon fiber in epoxy material, has the advantages such as intensity height, light weight.Tail portion includes four joint bionic fish tail steering engines and fish tail skeleton.The bionical underwater robot with gliding hybrid propulsion mode of the present invention, has the characteristics that big voyage, low noise, low energy consumption, highly concealed type, turning radius are small, can improve the accuracy of measurement data and improve the working efficiency measured.

Description

A bionic and gliding hybrid propulsion underwater robot

technical field

The invention relates to the technical field of underwater detection robots, in particular to an underwater robot in a hybrid propulsion mode of bionic and gliding.

Background technique

In the prior art, there are three propulsion methods for underwater robots: propeller propulsion has the characteristics of large propulsion power, fast robot speed but high noise; bionic propulsion method has the characteristics of high robot flexibility, easy adjustment of underwater balance posture, low noise, and easy turning. The radius is small but the operating radius is small and the efficiency is not high; the gliding propulsion method has the characteristics of low energy consumption and long range, but the turning radius is large and not flexible enough.

Based on the above reasons, it is necessary to study and design an underwater robot that can not only have the advantages of the above propulsion methods but also effectively solve their shortcomings.

Contents of the invention

The purpose of the present invention is to provide a bionic and gliding hybrid propulsion mode underwater robot to solve the problems in the prior art. The bionic and gliding hybrid propulsion mode is adopted. The robot has a large voyage, low noise, low energy consumption, Due to the small turning radius, various specific sensing layers and application layers can be added to this platform to make it have good practical value in underwater search and rescue for military applications, and it has a good application in marine development and application prospect.

In order to achieve the above object, the present invention provides the following solution: The present invention provides a bionic and gliding hybrid propulsion mode underwater robot, which includes a head, a sinking adjustment mechanism, and a center of gravity adjustment mechanism that are sequentially connected and arranged in the robot cabin from the beginning to the end. , circuit compartment, hang glider and tail, the head and tail are locked in the engine room through external lead screws, and the sinking and floating adjustment mechanism, center of gravity adjustment mechanism and circuit compartment are sequentially locked in series through lead screws and placed in the In the cabin, the hang glider is fixed in the middle of the cabin; the control system in the circuit cabin is electrically connected with the head, the ups and downs adjustment mechanism, the center of gravity adjustment mechanism, the hang glider and the tail, and the tail includes sequentially Connected multi-joint bionic fishtail servo and fishtail skeleton.

Optionally, the head includes an image collection cabin and a fairing, the fairing is sleeved on the outer periphery of the image collection cabin, and a camera module is arranged in the image collection cabin.

Optionally, the camera module adopts a wide-angle fisheye camera, and the camera is also provided with an infrared lamp and a supplementary light circuit.

Optionally, the sinking adjustment mechanism includes an inner oil bag, a reversing valve, a hydraulic pump, a relief valve, and an outer oil bag connected to each other through oil pipes. Set inside the pressure-resistant cabin, the outer oil bag is located between the pressure-resistant cabin and the outer PVC pipe, the outer oil bag is directly in contact with water, and is used through the cooperation of the hydraulic pump and the overflow valve The liquid between the inner oil bag and the outer oil bag is converted into each other.

Optionally, the center of gravity adjustment mechanism includes a stepper motor, a left and right center of gravity steering gear, a cantilever, a rotating shaft, a guide rail and a weight, and the stepper motor driver and the steering gear drive in the circuit compartment are respectively connected to the The stepping motor is connected to the left and right center of gravity steering gears, the stepping motor is connected to a lead screw, and the lead screw and the fixed guide rail jointly mount the weight, and the steering gear walls of the left and right center of gravity steering gears are extended and fixed on the whole On the center of gravity adjustment mechanism, one end of the rotating shaft passes through the center of gravity adjustment mechanism and the other end is connected to the top end of the center of gravity adjustment mechanism through a cantilever.

Optionally, the control system in the circuit compartment adopts three-core processors to work together, two auxiliary processors respectively control a part of motion regulation, and the main processor completes communication, data processing and instruction sending of each sensor.

Optionally, the hang glider adopts NACA4415 airfoil, the relative camber of the airfoil is 4%, and the relative thickness is 15%, and the material of the hang glider is light carbon fiber epoxy composite material.

Optionally, the engine room adopts double-layer O-shaped gaskets for interference fit between the end cover and the cabin shell, and the locking is completed through the screw nut device outside the inner cabin body.

Optionally, the exterior of the cabin is entirely covered with a layer of water-permeable PVC material.

Optionally, the underwater robot also includes a solar power supply system arranged on the engine room, and the solar power supply system is electrically connected to the control system of the circuit cabin.

Compared with the prior art, the present invention has achieved the following technical effects:

The underwater robot with bionic and gliding mixed propulsion mode in the present invention is an underwater robot oriented to seabed geological exploration in the military field, which adopts the combination of CPG bionic and gliding propulsion modes and time-division multiplexing. Robots have the following advantages:

(1) In terms of propulsion methods: Combining the two propulsion technologies of CPG bionics and gliding, an underwater robot for seabed geological exploration in the military field has been developed with the characteristics of long range, low noise, low energy consumption, and small turning radius. In the later stage, if combined with solar energy technology, it will be able to realize continuous monitoring of monitoring and testing sites for several months.

(2) Control system: Three-core processors are used to work together, two auxiliary processors control part of the motion adjustment, and the main processor completes the communication and the data processing and command sending of each sensor to make the whole system real-time and operable Sex is greatly improved.

(3) Underwater communication: Due to the large attenuation coefficient of seawater on electromagnetic waves, acoustic communication and laser communication are mainly used in underwater wireless communication, such as Shanghai Jinyu Scientific Instrument Co., Ltd. ATM series underwater communication equipment, AquaNetwork underwater communication system, etc. . Traditional underwater communication equipment is expensive, bulky, complex and difficult to maintain. This project avoids its edge. Aiming at the unique movement mode of underwater glider, a timing and fixed-point surface communication system is developed to complete the underwater machine. Data transmission between the main body and the ground and task downloading, etc.

(4) Modular design: The mechanical main body of the underwater robot is divided into several parts: the head fairing front cover, the ups and downs adjustment mechanism, the center of gravity adjustment mechanism, the circuit cabin, the bionic fishtail structure, and the glider wing. It is compact, does not interfere with each other, and can be disassembled separately, making maintenance and development easier and more convenient.

(5) Unique sealing method: Under the seabed high-pressure environment, the sealing of underwater robots has become a technical problem. This project uses double-layer O-ring interference fit between the end cover and the cabin shell, and passes The screw nut device outside the body completes the connection, the integrity is good, and the connection is tight and reliable.

(6) Wing material selection: The airfoil uses American NACA4415 with better streamline shape, which can effectively avoid flow separation on the wing and has good hydrodynamic characteristics. The relative camber of the airfoil is 4%, the maximum camber position is at 0.4 of the chord length, and the relative thickness is 15%. Traditional wing materials are generally made of super duralumin, steel or titanium alloy, etc., which are difficult to process and weigh a lot. This project introduces carbon fiber epoxy composite materials, whose specific gravity is less than 1/4 of steel, and its tensile strength is average. All are above 3500Mpa, which is 7-9 times that of steel, and the tensile modulus of elasticity is 23000-43000Mpa, which is also higher than steel. It also has absolute advantages in corrosion resistance and heat resistance, which greatly reduces the weight of the wing. In terms of processing, it is more convenient and simple to intersect traditional machine tool processing with the use of pumping technology.

(7) Fuzzy PID algorithm: Using advanced fuzzy PID control algorithm, the stability and control precision of the robot can be improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the overall structure schematic diagram of the underwater robot of bionic and gliding hybrid propulsion mode among the present invention;

Fig. 2 is a structural schematic diagram 1 of the ups and downs regulating mechanism;

Fig. 3 is the structural schematic diagram II of the ups and downs regulating mechanism;

Fig. 4 is a structural schematic diagram of the center of gravity adjustment mechanism;

Fig. 5 is the structural representation of tail;

Fig. 6 is a schematic diagram of the control flow of the control system;

Among them, 1 head; 2 ups and downs adjustment mechanism; 3 center of gravity adjustment mechanism; 4 circuit cabin; 5 hang glider; 6 tail; 7 inner oil bag; 8 reversing valve; 9 hydraulic pump; ; 12 stepper motor; 13 cantilever; 14 center of gravity steering gear; 15 lead screw; 16 guide rail; 17 heavy block; 18 nut; 19 rotating shaft; 20 bionic fishtail steering gear; .

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The purpose of the present invention is to provide a bionic and gliding hybrid propulsion underwater robot, to solve the problems in the prior art, using bionic and gliding hybrid propulsion, the robot has a long range, low noise, low energy consumption, Due to the small turning radius, various specific sensing layers and application layers can be added based on this platform, so that it has good practical value in underwater search and rescue for military applications, and has a good application in marine development and application. prospect.

The underwater robot of the bionic and gliding hybrid propulsion mode provided by the present invention includes a head, a sinking adjustment mechanism, a center of gravity adjustment mechanism, a circuit cabin, a hang gliding wing and a tail connected sequentially from the head to the tail, and the head and the tail Locked in the cabin by an external screw, the sinking and floating adjustment mechanism, the center of gravity adjustment mechanism and the circuit cabin are sequentially locked in series through the screw and placed in the cabin, and the hang glider is fixed in the middle of the cabin; the control system in the circuit cabin is connected to the head, The sinking and floating adjustment mechanism, the center of gravity adjustment mechanism, the hang glider and the tail are all electrically connected, and the tail includes a multi-joint bionic fishtail steering gear and a fishtail skeleton connected in sequence.

The underwater robot of the hybrid propulsion mode of bionic and gliding, when adopting the gliding propulsion mode, changes the net buoyancy in sea water through the sinking and floating adjustment mechanism to provide the driving force for ascending and diving. Change the position of the center of gravity to adjust the attitude (pitch angle, roll angle) through the center of gravity adjustment mechanism, and cooperate with the low-resistance shell and side wings to continuously perform zigzag curve movement in the water. When encountering complex environment waters or when it is necessary to explore certain deep waters, the underwater robot adopts a bionic propulsion method, using the four-joint tail to swing left and right as a power source for propulsion, so as to adapt to activities in complex waters and to determine depth and height Water exploration.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to Figures 1-6, wherein, Figure 1 is a schematic diagram of the overall structure of an underwater robot with a hybrid propulsion mode of bionics and gliding in the present invention; Figure 2 is a schematic structural diagram of the sinking and floating adjustment mechanism; Figure 3 is a schematic structural diagram of the sinking and floating regulating mechanism Two; Figure 4 is a schematic structural diagram of the center of gravity adjustment mechanism; Figure 5 is a structural schematic diagram of the tail; Figure 6 is a schematic diagram of the control process of the control system.

As shown in Figures 1-6, the present invention provides a bionic and gliding hybrid propulsion underwater robot, including a head 1, a sinking adjustment mechanism 2, a center of gravity adjustment mechanism 3, The circuit compartment 4, the hang glider 5 and the tail part 6, the head 1 and the tail part 6 are locked in the cabin through the external lead screw, and have a waterproof effect. Locked in series and placed in the cabin, the hang glider 5 is fixed in the middle of the cabin and locked; the control system in the circuit cabin 4 is electrically connected to the head 1, the ups and downs adjustment mechanism 2, the center of gravity adjustment mechanism 3, the hang glider 5 and the tail 6. Connected, the tail part 6 includes a multi-joint bionic fishtail steering gear 20 and a fishtail skeleton 21 connected in sequence. The bionic fishtail is treated with a special fishtail skeleton 21 to ensure that the bionic fishtail shell will not be damaged due to deformation and movement posture under the condition of deep water and high water pressure. The existence of four-joint steering gear greatly improves the performance of underwater robots. athletic ability.

The head 1 includes an image acquisition cabin and a fairing. The fairing is set on the outer periphery of the image acquisition cabin to make the transition of the sealing structure smooth. A camera module is installed in the image acquisition cabin. The camera module uses a raspberrypi wide-angle fisheye camera. There is an infrared lamp and fill light circuit to solve the problem of poor visual effect due to too weak light when underwater aerial photography.

The sinking adjustment mechanism 2 includes an inner oil bag 7, a reversing valve 8, a hydraulic pump 9, a relief valve 10 and an outer oil bag 11 connected to each other through oil pipes. Inside the pressure-resistant cabin, the outer oil bag 11 is located between the pressure-resistant cabin and the outer PVC pipe 22. The outer oil bag 11 is directly in contact with water, and the inner oil bag 7 and the outer oil bag 7 are connected to each other through the cooperation of the hydraulic pump 9 and the overflow valve 10. The liquids between the oil capsules 11 are mutually converted. The inner oil bag 7, reversing valve 8, hydraulic pump 9, overflow valve 10 and outer oil bag 11 are connected to each other through oil pipes. The interior is filled with hydraulic oil. The whole mechanism is driven by hydraulic pump 9. 8 cooperates with the overflow valve 10, so that the oil liquid can be exchanged between the inner and outer oil pockets 11, so as to achieve the purpose of adjusting the ups and downs.

Center of gravity adjustment mechanism 3 comprises stepping motor 12, left and right center of gravity steering gear 14, cantilever 13, rotating shaft 19, guide rail 16 and weight 17, and the stepping motor driver and steering gear drive in the circuit compartment 4 pass cables and stepping gears respectively. The motor 12 is connected with the left and right center of gravity steering gear 14, the stepper motor 12 is connected with the lead screw, the lead screw 15 and the fixed guide rail 16 are jointly mounted with a weight 17, and the weight 17 is connected with the lead screw 15 and the guide rail 16 through the nut 18, the left and right center of gravity The steering gear wall of the steering gear 14 is extended and fixed on the whole center of gravity adjustment mechanism 3 , and one end of the rotating shaft 19 runs through the center of gravity adjustment mechanism 3 and the other end is connected with the top of the center of gravity adjustment mechanism 3 by the cantilever 13 . The center of gravity adjustment mechanism 3 uses a 4988 stepper motor driver to drive the stepper motor 12 and a lobot steering gear drive plate to drive the left and right center of gravity steering gear 14 to adjust the front, rear, left, and right buoyancy centers of the machine when gliding underwater, so that the robot can work in a balanced and stable manner. beneficial effect.

The control system in the circuit cabin 4 uses a three-core processor to work together. Two auxiliary processors control a part of the motion adjustment respectively. The main processor completes the communication and the data processing and command sending of each sensor, so that the real-time performance of the whole system is improved. Great improvement. In addition, the control system adopts a layered structure design, which is divided into a motion layer, a sensing layer, a control layer, a communication layer and a monitoring layer.

The motion layer is the underlying motion control unit, which decomposes the abstract motion instructions into the motion relationship between the motor and the engine, and drives the motor through the driver to execute. Among them, the motion control card adopts the PMAC multi-axis motion controller imported from the United States, and the motor adopts the Swiss MAXON motor to ensure the accuracy and stability of the motion.

The sensing layer is divided into two parts, mainly motion sensing and information sensing. Motion sensing mainly measures the navigation attitude of the underwater robot, including three-axis acceleration, three-axis deflection angle, three-axis magnetic flux, etc. Information sensing is measured by DJIN7478 underwater ultrasonic ranging module, geomagnetic sensor HMC5983, GPS and ADC battery voltage acquisition, etc. It mainly senses the battery condition of the robot and the surrounding environment, including diving depth, depth from the bottom, GPS information, obstacles in front, etc. .

The control layer adopts the stm32f103zet6 embedded motherboard of the ARM Cortex-M3 processor as the main processor, and mounts the multi-core processor of the stm32f103c8t6 as the auxiliary processor to work together. Mainly according to the received instructions and tasks, the sensor information is fused, the path planning is carried out and the motion model is established, and it is decomposed into tasks acceptable to the motion layer, communication layer and monitoring layer, and it is controlled

The communication layer mainly completes the data communication between the underwater machine body and the monitoring terminal. Every time a certain period of time passes, the underwater robot will surface according to the preset program, and the GPS signal will self-calibrate and upload data and download new instructions to receive new tasks.

The monitoring layer receives data information from the communication layer and displays it on the display screen in a graphical way. And can carry out direct remote control and instruction control to the underwater robot through the keyboard. Relevant areas can be set, and the underwater robot can be set according to the point (that is, the navigation path of the underwater robot can be directly set by mouse click and depth input).

The gliding wing 5 adopts the streamlined NACA4415 airfoil, the relative camber of the airfoil is 4%, the maximum camber position is 0.4 of the chord length, and the relative thickness is 15%, which can effectively avoid flow separation on the wing and improve the hydrodynamic characteristics. Lightweight carbon fiber epoxy composite material is selected and manufactured by vacuum blister technology. It has a large lift-to-drag ratio while reducing sailing resistance, which can improve the working efficiency of the whole machine gliding.

The double-layer O-ring interference fit is used between the end cover and the cabin shell on the engine room, and the locking is completed through the screw nut 18 device outside the inner cabin body. The integrity is good, the connection is tight and reliable, and the underwater 50 Absolute airtightness within the range of meters. The exterior of the cabin is entirely covered with a layer of PVC material permeable shell.

The underwater robot also includes a solar power supply system arranged on the engine room, and the solar power supply system is electrically connected with the control system of the circuit cabin 4 to realize continuous months of uninterrupted monitoring of the monitoring and detection sites.

The underwater robot of the bionic and gliding hybrid propulsion mode in the present invention can overcome the limitation of the single propulsion mode of the underwater robot, so that the underwater robot of the bionic and gliding hybrid propulsion mode has a long range, low noise, low energy consumption, high The characteristics of concealment and small turning radius can improve the accuracy of measurement data and improve the work efficiency of measurement. Using this system as a platform to develop a series of underwater equipment can promote the intelligentization and automation upgrade of the ocean engineering equipment industry, and can also be used for some For special groups of people or for special working environments.

The underwater robot is a large-scale, deep-moving ocean environment data acquisition platform. It is powered by its own battery, and when the gliding propulsion method is used, the net buoyancy in seawater is changed by the sinking and floating adjustment mechanism 2 to provide the driving force for ascending and descending. Change the position of the center of gravity to adjust the posture (pitch angle, roll angle) through the center of gravity adjustment mechanism 3, and cooperate with the low resistance shell and the side wings to continuously perform zigzag curve motion in water. During the zigzag movement, the underwater environment data such as salinity, depth, temperature and topography in the water are continuously sampled and recorded through the built-in sensor and data acquisition system. When encountering complex environment waters or when it is necessary to explore certain deep waters, the underwater robot adopts a bionic propulsion method, using the four-joint tail 6 to swing left and right as a power source for propulsion, so as to adapt to activities in complex waters and fixed depth. High water exploration. Every once in a while, it will surface according to the preset program, upload the data through the satellite and download the corresponding instructions (such as changing the detection area, gliding depth and propulsion mode, etc.).

It should be noted that the selection of the above-mentioned components and related data in the present invention are examples of examples to reflect that the solution of the present invention can be implemented, as long as the affected underwater work requirements can be met and the corresponding data monitoring can be completed Or the implementation of relevant effects such as promotion, the adaptive selection or exchange of each component and data in the present invention is also within the protection scope of the present invention; in addition, as long as it is the same as the basic principle of the present invention, only certain components Simple additions, deletions or replacements between them also fall within the protection scope of the present invention.

In the present invention, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to the present invention The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. An underwater robot of a bionic and gliding hybrid propulsion mode, characterized in that: it comprises a head, a sinking adjustment mechanism, a center of gravity adjustment mechanism, a circuit cabin, a hang gliding wing and a tail that are sequentially connected and arranged in the robot cabin from head to tail, The head and the tail are locked in the nacelle through an external lead screw, the sinking and floating adjustment mechanism, the center of gravity adjustment mechanism and the circuit compartment are sequentially locked in series through the lead screw and placed in the nacelle, and the hang glider is fixed In the middle of the engine room; the control system in the circuit compartment is electrically connected to the head, the ups and downs adjustment mechanism, the center of gravity adjustment mechanism, the hang glider and the tail, and the tail includes a multi-joint bionic fishtail steering gear connected in sequence and fishtail skeleton. 2. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: the head comprises an image acquisition cabin and a fairing, and the fairing is sleeved on the outer periphery of the image acquisition cabin, A camera module is arranged in the image acquisition cabin. 3. The underwater robot according to claim 2, characterized in that: the camera module adopts a wide-angle fish-eye camera, and the camera is also provided with an infrared lamp and a supplementary light circuit. 4. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: said ups and downs adjustment mechanism includes an inner oil bag connected to each other through oil pipes, a reversing valve, a hydraulic pump, an overflow valve and Outer oil bag, the outer side of the sinking and floating adjustment mechanism is a pressure chamber, the inner oil bag is arranged inside the pressure chamber, the outer oil bag is located between the pressure chamber and the outer PVC pipe, the The outer oil bag is in direct contact with water, and the liquid between the inner oil bag and the outer oil bag is exchanged through the cooperation of the hydraulic pump and the overflow valve. 5. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: the center of gravity adjustment mechanism includes a stepping motor, a left and right center of gravity steering gear, a cantilever, a rotating shaft, a guide rail and a weight, and the The stepping motor driver and the steering gear drive in the circuit compartment are respectively connected to the stepping motor and the left and right center of gravity steering gears through cables, the stepping motor is connected to a lead screw, and the lead screw is mounted together with the fixed guide rail The weight, the steering gear wall of the left and right center of gravity steering gears are extended and fixed on the entire center of gravity adjustment mechanism, one end of the rotating shaft runs through the center of gravity adjustment mechanism and the other end passes through the cantilever and the top of the center of gravity adjustment mechanism connect. 6. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: the control system in the circuit cabin adopts three-core processors to work together, and two auxiliary processors control a part of the motion respectively Adjustment, the main processor completes the communication and the data processing and instruction sending of each sensor. 7. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: said gliding wing adopts NACA4415 airfoil, the relative camber of the airfoil is 4%, and the relative thickness is 15%. The hang glider is made of lightweight carbon fiber epoxy composite. 8. The underwater robot of bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: the cabin adopts double-layer O-shaped gaskets for interference fit between the end cover and the cabin shell, and through the inner The external lead screw and nut device of the cabin body is locked. 9 . The underwater robot with a bionic and gliding hybrid propulsion method according to claim 1 , characterized in that: the exterior of the cabin is entirely covered with a layer of water-permeable shell made of PVC material. 10. The underwater robot of the bionic and gliding hybrid propulsion mode according to claim 1, characterized in that: the underwater robot also includes a solar power supply system arranged on the engine room, and the solar power supply system and the circuit The control system of the cabin is electrically connected.