CN108844484A - A kind of complete extra large depth AUV overall-in-one control schema cabin and control method - Google Patents
A kind of complete extra large depth AUV overall-in-one control schema cabin and control method Download PDFInfo
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- CN108844484A CN108844484A CN201810776547.9A CN201810776547A CN108844484A CN 108844484 A CN108844484 A CN 108844484A CN 201810776547 A CN201810776547 A CN 201810776547A CN 108844484 A CN108844484 A CN 108844484A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- 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
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Selective Calling Equipment (AREA)
- Photovoltaic Devices (AREA)
Abstract
The present invention is to provide a kind of complete extra large depth AUV overall-in-one control schema cabin and control methods.Other than having the function of common AUV control cabinet,Has the function of control cabinet ambient enviroment video information acquisition and recording simultaneously,It is equipped with light in cabin and shows a device,Convenient for night search and positioning AUV,Control cabinet uses high-boron-silicon glass spherical shape pneumatic shell,Glass does not hinder electromagnetic wave to pass wave,Translucency is good simultaneously,By the built-in antenna of communication locating device,The use of open amount and underwater electrical connector is greatly decreased,Communication locating device shows that a device is powered by independent current source with light,The solar panel and energy management module arranged in control cabinet when AUV self energy exhausts can charge for independent current source,A kind of time-sharing mode is used simultaneously,Avoid unnecessary energy waste,The working time of AUV satellite communication and position indicator when waiting for rescue can be greatly prolonged,Improve the reliability of safe retrieving AUV.
Description
Technical field
The present invention relates to a kind of AUV control cabinet, specifically a kind of deep-sea AUV overall-in-one control schema cabin.The present invention
Also it is related to a kind of control method of AUV control cabinet.
Background technique
Intelligent Underwater Robot (Autonomous Underwater Vehicle-AUV) is widely used for marine environment
Monitoring, the various fields such as exploration of ocean resources.And the development of AUV also tends to deep-sea, the watertightness requirement of deep-sea AUV is higher,
So the underwater electrical connector quantity on control cabinet end cap should be reduced to the greatest extent, this is to reduce AUV cost and its safety of raising and life
Order the effective way of power.Meanwhile the expansion of AUV scope of activities is also the main trend of future AUV development, returns to increase safety
The difficulty of AUV is received, wherein a big difficulty is to ensure that the positioning that there is the communication locating module of AUV the enough energy to complete itself
And safe and reliable communication connection is established with lash ship, therefore providing an independent current source is that communication locating module is powered and passed through too
Positive energy generation technology is that its continued power can solve the above problems.When AUV pulls the plug, communication locating module is not to be available
, it should be powered off in time after AUV enters water, complete in time position above-mentioned communication when deep ocean work floats upper sea in AUV
Module power on that it is made to resume work, and opens light in due course according to extraneous light intensity and show a device, is assisted using above-mentioned timesharing
It adjusts working method that can effectively save the electric energy of positioning and communicating module, improves the vitality of AUV.
Application No. is the patent document (publication date of CN201610269925.5：On July 27th, 2016) disclosed in " full sea
The positioning of deep marine settings and communication device and method " provides a kind of positioning and communication being mounted on the deep marine settings in full sea
Device.Although it is with the invention belongs to same technical field, it provides a kind of carrying only from the angle of deep sea installations
Equipment in deep sea equipment.
Summary of the invention
The purpose of the present invention is to provide the full sea of a kind of vitality that can be improved deep-sea AUV and recycling reliability is deep
AUV overall-in-one control schema cabin.The object of the invention is also to provide a kind of based on complete extra large depth AUV overall-in-one control schema cabin of the invention
Control method.
Complete extra large depth AUV overall-in-one control schema cabin of the invention includes spherical pneumatic shell, and the spherical shape pneumatic shell is using high boron
Silica glass is made, and solar panel 8 is mounted at the maximum spherical surface of spherical pneumatic shell, and photosensitive sensor 2 and stroboscopic lamp 3 are installed
On the top of spherical pneumatic shell 1, radio, WiFi module 4 and GPS, iridium communication locating module 6 and Beidou communication positioning module
5 and power management module 7 be installed in the top half of spherical pneumatic shell；Main control unit 9, communication positioning and light show a mould
The power supply 10 of block and main control unit 9 and the main power source 11 of executing agency is mounted on solar panel 8 in the following, radio,
The antenna 5-1 of the antenna 4-1 and GPS of WiFi module, iridium communication locating module and Beidou communication positioning module are placed in spherical resistance to
In pressure shell.
The main control unit 9 in complete extra large depth AUV overall-in-one control schema cabin of the invention and the main power source 11 of executing agency are to photosensitive
Sensor, depth transducer, main control unit, executing agency and other sensors power supply；Communication positioning and light show a module
Power supply 10 and solar panel to communicate positioning and shows that a device is powered, communication positioning and show that a device power supply is wrapped
It includes：Radio, WiFi module, GPS, iridium satellite positioning and communicating module, Beidou positioning and communicating module and stroboscopic lamp.
Control method based on complete extra large depth AUV overall-in-one control schema cabin of the invention is：
Step 1：Main control unit powers on, and photosensitive sensor and depth transducer power on, and photosensitive sensor perceives the strong of light
Degree, and converts level signal for the strength signal of light and is sent to main control unit, exports high level when there is light, when no light,
Low level is exported, depth transducer perceives the change in depth situation of AUV, and sends information to main control unit；
Step 2：AUV above deck when, when photosensitive sensor output level be higher than setting value when, main control unit control
Communication locating device processed powers on, and carries out the parameter configuration and short range debugging of AUV total system later；
Step 3：When main control unit judges that the depth that depth transducer is sent is greater than depth setting value Depth1When, it closes
Close radio, WiFi module, starting GPS, iridium satellite positioning and communicating module and Beidou positioning and communicating module, the control centre with lash ship
Communication connection is established, its location information is obtained, verifies errorless rear execution dive operation；
Step 4：When main control unit judges that the depth that depth transducer is sent is greater than depth setting value Depth2When, it closes
Close the power supply of communication locating device；
Step 5：When main control unit judges that the depth that depth transducer is sent is less than depth setting value Depth2When, it opens
Dynamic GPS, iridium satellite positioning and communicating module and Beidou positioning and communicating module, and establish and communicate to connect with lash ship, and the AUV that will acquire is real
When location information be sent to lash ship, when photosensitive sensor output level be lower than setting value when, start the power supply of stroboscopic lamp, with
Disconnected double sudden strain of a muscle modes indicate the position AUV；
Step 6：The power management module moment monitoring communication positioning and light show the charge condition of an installation's power source,
When AUV is floated on the surface of the water, solar panel will be converted solar energy into electrical energy, and show a device to communication positioning and light
Power supply charges.
Novel deep-sea AUV overall-in-one control schema cabin of the invention, in addition to have the function of common AUV control cabinet (path planning,
The functions such as motion control, state aware, Emergency Device, navigator fix, communication) except, while there is control cabinet ambient enviroment view
Frequency information collection writing function is equipped with light in cabin and shows a device, and convenient for night search and positioning AUV, control cabinet is used
High-boron-silicon glass spherical shape pneumatic shell, glass does not hinder electromagnetic wave to pass wave, while translucency is good, can be by the antenna of communication locating device
(wireless aerial, GPS antenna, iridium satellite antenna, Beidou antenna and WiFi antenna) is built-in, and open amount and underwater electrical connector make
With being greatly decreased, communication locating device shows that a device is powered by independent current source with light, exhausts time control in AUV self energy
The solar panel and energy management module arranged in cabin processed can charge for independent current source, while a kind of time-sharing mode quilt
Using avoiding unnecessary energy waste, the work of AUV satellite communication and position indicator when waiting for rescue can be greatly prolonged
Make the time, improves the reliability of safe retrieving AUV.
Novel deep sea AUV overall-in-one control schema cabin of the invention can be opened as needed using high-boron-silicon glass spherical shape pneumatic shell
Watertight socket is installed in hole, which can bear 120MPa seawater pressure, and not hinder electromagnetic wave to pass
Wave, while translucency is good.The control cabinet is installed on AUV highest point, and guarantees that AUV at least exposes top half in the water surface, control
It is blocked in addition to necessary safeguard measure without other objects in cabin processed.
Novel deep sea AUV overall-in-one control schema cabin of the invention obtains ambient video information using wide angle cameras, and uses
High-capacity flash memory is recorded.
Novel deep sea AUV overall-in-one control schema cabin of the invention is equipped with bright LED source as light in control cabinet and shows position
Device extinguishes when daylight is strong under light-sensitive element control, works at night and low-light, is dodged when work using interruption is double
Mode indicates the position AUV.
Novel deep sea AUV overall-in-one control schema cabin of the invention, communication locating device includes radio, GPS, iridium satellite, Beidou
And WiFi, wireless aerial, GPS antenna, iridium satellite antenna, Beidou antenna, WiFi antenna are placed on top half in control cabinet and lean on
Nearly apical position, when AUV floats on sea, it can be achieved that the transmitting-receiving of electromagnetic wave.Since above-mentioned built-in antenna is in control cabinet,
Underwater electrical connector is greatly decreased, and improves the safety and reliability of AUV；
A kind of novel deep sea AUV overall-in-one control schema cabin of the invention arranges solar panel and energy in the control cabinet
Storage device, AUV is in the water surface and when AUV self energy exhausts, and in illumination abundance situation, solar panel will be by solar energy
It is converted into electric energy, is powered for satellite communication positioning device, dump energy is stored by energy accumulating device, in illumination deficiency situation,
Energy accumulating device is that satellite communication positioning device and light show a device power supply, therefore can greatly prolong AUV and wait for rescue
When satellite communication positioning device and light show working time of a device；
A kind of novel deep sea AUV overall-in-one control schema cabin of the invention, communication locating device and light show that a device uses and divide
When operating mode, can measure current AUV local environment by photosensitive sensor and depth transducer (has light or unglazed and specific
Depth), main control unit communication locating device can be controlled according to sensor information and light shows the starting and closing of a device.
The present invention provides a kind of methods for constructing deep-sea overall-in-one control schema cabin, and AUV control cabinet is as AUV System Design
Core has a very important status which ensure that the smooth realization of all tasks of AUV, and the diversity of AUV task, complexity
Property also determines the complexity of its structure and function.
The present invention provides a kind of novel deep-sea AUV overall-in-one control schema cabins, and the control cabinet is in addition to general control cabin
Except function, while having the function of control cabinet ambient enviroment video information acquisition and recording, is equipped with light in cabin and shows a device；
The present invention relates to a kind of control cabinet antenna arrangement methods, and the antenna of communication locating device is placed on high-boron-silicon glass spherical shape control
In cabin processed, the use of open amount and underwater electrical connector is greatly reduced；The invention further relates to a kind of energy complementary technology, when
AUV can show that the independent current source of a device charges to communication positioning and light by solar panel at sea, prolong
The long communication positioning and the working time for showing a device, increase the reliability of AUV safe retrieving；The present invention relates to one kind
Communication locating device and light show the timesharing coordinating working method of a device, by judging that the AUV current environment (has light
Or unglazed and specific depth), and the work for the control communication module that timesharing is coordinated, to achieve the purpose that energy saving.
Detailed description of the invention
Fig. 1 is the general arrangement schematic diagram in deep-sea AUV overall-in-one control schema cabin of the invention；
Fig. 2 is the internal power supply system schematic diagram in deep-sea AUV overall-in-one control schema cabin of the invention；
Fig. 3 is that the communication locating device in deep-sea AUV overall-in-one control schema cabin of the invention and light show that a device timesharing is coordinated
Flow chart of work methods.
Specific embodiment
It illustrates below and the present invention is described in more detail.
The present invention relates to deep-sea AUV overall-in-one control schema cabin by radio, antenna 4-1 and GPS, the iridium satellite of WiFi module
It communicates built in locating module and the antenna 5-1 of Beidou communication positioning module, communication locating module is highly integrated, communication positioning and lamp
Light shows that the power supply 10 of a module and main control unit 9 and the main power source of executing agency 11 are independent, i.e., mutually independent using two
Power module, specific built-in system power supply relationship can refer to attached drawing 2.It is maximum that solar panel 8 is mounted on spherical control cabinet
At spherical surface, acquisition is maximum to be illuminated by the light area.Photosensitive sensor 2 and stroboscopic lamp 3 are mounted on the top of high-boron-silicon glass shell 1.
Radio, WiFi module 4 and GPS, iridium communication locating module 6 and Beidou communication positioning module 5 and power management module 7 are pacified
Mounted in the top half of spherical control cabinet；Main control unit 9, power supply 10 and power supply 11 are mounted below solar panel 8；Tool
The arrangement of body is detailed in Fig. 1.
Fig. 2 is the internal power supply system schematic diagram in AUV overall-in-one control schema cabin, and AUV internal power supply system is mainly by two parts
It constitutes, main power source module is used to supply to photosensitive sensor, depth transducer, main control unit, executing agency and other sensors
Electricity；Communication positioning and light show that a modular power source communicates positioning for the AUV with solar panel and shows a device, wrap
It includes：Radio, WiFi module, GPS, iridium satellite positioning and communicating module, Beidou positioning and communicating module and stroboscopic lamp.Main control unit root
According to external environment light intensity locating for photosensitive sensor AUV obtained variation and depth transducer AUV depth information obtained,
Short range debugging apparatus (radio, WiFi module), communication locating device (GPS, iridium satellite positioning and communicating module and north can be separately controlled
Bucket positioning and communicating module) and light show the open and close of a device, show a device timesharing convenient for communication locating device and light
The implementation of coordinating working method.Specific working method is detailed in Fig. 2.
Fig. 3 be the present invention relates to a kind of communication locating device and light show the stream of device timesharing coordinating working method
Cheng Tu is described in greater detail below：
Step 1：Main control unit 9 powers on, and photosensitive sensor 2 and depth transducer (being placed in out of my cabin) power on, light sensor
Device 2 perceives the intensity of light, and converts level signal for the strength signal of light and be sent to main control unit 9, the output when there is light
High level when no light, exports low level, depth transducer perceives the change in depth situation of the AUV, and sends information to master
Control unit 9；
Step 2：AUV above deck when, when photosensitive sensor 2 export level be higher than setting value when, main control unit control
Radio processed, WiFi module 4 power on, and can carry out the parameter configuration and short range debugging of AUV total system later；
Step 3：When main control unit judges that the depth that depth transducer is sent is greater than depth setting value Depth1When, it closes
Close radio, WiFi module 4, starting GPS, iridium satellite positioning and communicating module 6 and Beidou positioning and communicating module 5, the control with lash ship
Communication connection is established at center, obtains its location information, verifies errorless rear executable dive operation；
Step 4：When main control unit 9 judges that the depth that depth transducer is sent is greater than depth setting value Depth2When, it closes
Close the power supply of GPS, iridium satellite positioning and communicating module 6 and Beidou positioning and communicating module 5；
Step 5：When main control unit judges that the depth that depth transducer is sent is less than depth setting value Depth2When, it opens
Dynamic GPS, iridium satellite positioning and communicating module 6 and Beidou positioning and communicating module 5, and establish and communicate to connect with lash ship, and the AUV that will acquire
Real-time position information is sent to lash ship, when the level that photosensitive sensor 2 exports is lower than setting value, starts the power supply of stroboscopic lamp 3,
The position AUV is indicated in a manner of the double sudden strains of a muscle of interruption；
Step 6：Meanwhile 7 moment of the power management module monitoring communication positioning and light show a device independent current source 10
Charge condition, when AUV is floated on the surface of the water, solar panel 8 will be converted solar energy into electrical energy, to the independent current source into
Row charging improves safety so that extending AUV satellite communication positioning device and light when waiting for rescue shows a device working time
Recycle the reliability of the AUV.
Claims (4)
1. a kind of complete extra large depth AUV overall-in-one control schema cabin, including spherical pneumatic shell, it is characterized in that：The spherical shape pneumatic shell is to use
High-boron-silicon glass is made, and solar panel (8) is mounted at the maximum spherical surface of spherical pneumatic shell, photosensitive sensor (2) and frequency
Flashing light (3) is mounted on the top of spherical pneumatic shell (1), radio, WiFi module (4) and GPS, iridium communication locating module (6)
The top half of spherical pneumatic shell is installed in Beidou communication positioning module (5) and power management module (7)；Main control unit
(9), communication positioning and light show the power supply (10) of a module and main power source (11) installation of main control unit (9) and executing agency
In solar panel (8) in the following, the antenna (4-1) and GPS, iridium communication locating module and Beidou of radio, WiFi module
The antenna (5-1) of communication locating module is placed in spherical pneumatic shell.
2. complete extra large depth AUV overall-in-one control schema cabin according to claim 1, it is characterized in that：Main control unit (9) and execution machine
The main power source (11) of structure is to photosensitive sensor, depth transducer, main control unit, executing agency and other sensors power supply；It is logical
Letter positioning and light show that the power supply (10) of a module, to communicate positioning and showing a device power supply, communicates and determines with solar panel
Position and show that the power supply of device includes：Radio, WiFi module, GPS, iridium satellite positioning and communicating module, Beidou positioning and communicating module
And stroboscopic lamp.
3. complete extra large depth AUV overall-in-one control schema cabin according to claim 1 or 2, it is characterized in that：It is equipped in spherical pneumatic shell
LED light source shows a device as light, extinguishes when daylight is strong under light-sensitive element control, the work at night and low-light
Make, indicates the position AUV using being interrupted double sudden strain of a muscle modes when work.
4. based on the control method in complete extra large depth AUV overall-in-one control schema cabin described in claim 1, it is characterized in that：
Step 1：Main control unit powers on, and photosensitive sensor and depth transducer power on, and photosensitive sensor perceives the intensity of light,
And convert level signal for the strength signal of light and be sent to main control unit, export high level when there is light, when no light, output
Low level, depth transducer perceive the change in depth situation of AUV, and send information to main control unit；
Step 2：AUV above deck when, when the level of photosensitive sensor output is higher than setting value, main control unit control is logical
Letter positioning device powers on, and carries out the parameter configuration and short range debugging of AUV total system later；
Step 3：When main control unit judges that the depth that depth transducer is sent is greater than depth setting value Depth1When, it closes wireless
Electricity, WiFi module, starting GPS, iridium satellite positioning and communicating module and Beidou positioning and communicating module are established logical with the control centre of lash ship
Letter connection, obtains its location information, verifies errorless rear execution dive operation；
Step 4：When main control unit judges that the depth that depth transducer is sent is greater than depth setting value Depth2When, communication close
The power supply of positioning device；
Step 5：When main control unit judges that the depth that depth transducer is sent is less than depth setting value Depth2When, starting GPS,
Iridium satellite positioning and communicating module and Beidou positioning and communicating module, and establish and communicate to connect with lash ship, and the AUV real time position that will acquire
Information is sent to lash ship, when the level of photosensitive sensor output is lower than setting value, starts the power supply of stroboscopic lamp, to be interrupted double dodge
Mode indicates the position AUV；
Step 6：The power management module moment monitoring communication positioning and light show the charge condition of an installation's power source, work as AUV
When floating on the surface of the water, solar panel will be converted solar energy into electrical energy, and show an installation's power source to communication positioning and light
It charges.
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| CN110031849A (en) * | 2019-04-18 | 2019-07-19 | 哈尔滨工程大学 | Quan Haishen underwater robot audiovisual detection system and detection method |
| CN110194255A (en) * | 2019-05-21 | 2019-09-03 | 哈尔滨工程大学 | A kind of optical guidance method that AUV is moved in water-conveyance tunnel |
| WO2021042619A1 (en) * | 2019-09-05 | 2021-03-11 | 南方科技大学 | Marine instrument recovery indication apparatus and method |
| CN114900601A (en) * | 2022-06-06 | 2022-08-12 | 之江实验室 | Deep sea optical image acquisition system |
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| Publication number | Publication date |
|---|---|
| CN108844484B (en) | 2020-06-16 |
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