CN109947035A - The deep control system in floating beacon sea - Google Patents
The deep control system in floating beacon sea Download PDFInfo
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- CN109947035A CN109947035A CN201910356123.1A CN201910356123A CN109947035A CN 109947035 A CN109947035 A CN 109947035A CN 201910356123 A CN201910356123 A CN 201910356123A CN 109947035 A CN109947035 A CN 109947035A
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Abstract
The present invention discloses a kind of deep control system in floating beacon sea.Controller is connect with underwater bathy metry module, motor drive module, the display module that tests the speed, revolving speed display module respectively, underwater bathy metry module is used to acquire the Hai Shen at beacon current time, speed measuring module is for acquiring the rotary speed information of motor in motor drive module and rotary speed information being sent to controller, and revolving speed display module is for showing motor speed information；Underwater bathy metry module is connect with controller, controller is used for the Hai Shen according to beacon current time compared with setting is extra large deeply, judged whether to meet extra large deep prescribed requirement according to comparison result, and navigation channel is planned again and controls motor drive module when being unsatisfactory for extra large deep prescribed requirement and is driven, motor drive module is connected with propeller, and motor drive module is used for the driving propeller when comparison result is unsatisfactory for extra large deep prescribed requirement and advances to the direction along ng a path after planning.The present invention can the real-time monitoring depth of water, solve the problems, such as navigation channel caused by due to sediment siltation change.
Description
Technical field
The present invention relates to the deep control fields in beacon sea, more particularly to a kind of deep control system in floating beacon sea.
Background technique
Beacon can only be built up in fixed bit and be set to dealing marine navigation in traditional idea.Existing is mostly traditional fixed
Beacon, the coastal areas such as the East Sea and Huanghai Sea sediment siltation is got worse according to investigations, and coastline is very fast to deep-sea fltting speed, navigation channel
Transition are more frequent, and conventional fixed-type beacon has been unable to meet the use demand of ship normal/cruise.
Summary of the invention
The object of the present invention is to provide a kind of deep control system in floating beacon sea, can the real-time monitoring depth of water, it is autonomous to migrate
To suitable navigation channel, solve the problems, such as that navigation channel caused by due to sediment siltation changes.
To achieve the above object, the present invention provides following schemes:
The deep control system in floating beacon sea, comprising: underwater bathy metry module, motor drive module, speed measuring module, revolving speed are shown
Module, propeller and controller, the controller respectively with the underwater bathy metry module, the motor drive module, the survey
Fast display module, revolving speed display module connection, the underwater bathy metry module are used to acquire the Hai Shen at beacon current time, institute
Speed measuring module is stated to be used to acquire the rotary speed information of motor in the motor drive module and be sent to the rotary speed information described
Controller, the revolving speed display module are used to show the rotary speed information that the controller is sent；The underwater bathy metry module and institute
State controller connection, the controller be used for according to the Hai Shen at the beacon current time and setting sea deeply compared with, according to comparing
As a result judge whether to meet extra large deep prescribed requirement, and planned described in the control of navigation channel again when being unsatisfactory for the sea depth prescribed requirement
Motor drive module is driven, and the motor drive module is connected with the propeller, and the motor drive module is used for
The comparison result is unsatisfactory for driving the propeller to advance to the direction along ng a path after planning when extra large deep prescribed requirement.
Optionally, the motor drive module is H bridge type motor-drive circuit.
Optionally, the underwater bathy metry module uses underwater bathy metry instrument.
Optionally, the speed measuring module uses contactless Hall sensor.
Optionally, the revolving speed display module uses LCD display.
Optionally, the controller uses the list being made of STM32f427ii master control borad and STM32f103 motor driving plate
Piece machine.
Optionally, the quantity of the propeller is six, and the propeller uses full circle swinging propeller.
Optionally, the controller accelerates the revolving speed of the motor by PWM.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: the present invention provides a kind of floating
The deep control system in formula beacon sea the real-time monitoring depth of water and can be automatically migrated to suitable navigation channel by controller, work as silting
Lead to navigation channel transition rapidly, controller of the invention can contexture by self path adjust propeller and according to sediment siltation situation
Revolving speed, actively migrate on demand to deep-sea to suitable navigation channel；
In addition, by six full circle swinging propellers of setting, each propeller can adjust upward oneself 360 ° of sides at any time
Angle, six propellers may be performed in different combinations, and comprehensive movement be realized, to cope with different situations.Work as mud
Sand drift product leads to navigation channel transition rapidly, the autonomous real-time monitoring water depth ratio of underwater bathy metry instrument, and beacon is actively migrated to deep-sea to suitable
Suitable position solves the problems, such as to cause navigation channel to change because coastline is promoted to deep-sea.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the deep Control system architecture composition figure in floating beacon sea of the present invention；
Fig. 2 is the mobile figure of floating beacon；
Fig. 3 is H bridge type motor-drive circuit schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of deep control system in floating beacon sea, the real-time monitoring depth of water is independently migrated to conjunction
Seaworthiness road solves the problems, such as that navigation channel caused by due to sediment siltation changes.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the deep Control system architecture composition figure in floating beacon sea of the present invention.As shown in Figure 1, the deep control in floating beacon sea
System, comprising: underwater bathy metry module 1, motor drive module 2, speed measuring module 3, revolving speed display module 4, propeller 5 and controller
6, the controller 6 respectively with the underwater bathy metry module 1, motor drive module 2, the display module 3 that tests the speed, described
Revolving speed display module 4 connects, and the underwater bathy metry module 1 is used to acquire the Hai Shen at beacon current time, and the speed measuring module 3 is used
It is described in acquiring the rotary speed information of motor in the motor drive module 2 and the rotary speed information is sent to the controller 6
Revolving speed display module 4 is used to show the rotary speed information that the controller 6 is sent；The underwater bathy metry module 1 and the controller 6
Connection, the controller 6 are used for the Hai Shen according to the beacon current time compared with setting is extra large deeply, are judged according to comparison result
Whether meet extra large deep prescribed requirement, and plans that navigation channel controls the motor driven again when being unsatisfactory for the sea depth prescribed requirement
Module 2 is driven, and the motor drive module 2 and the propeller 5 connect, and the motor drive module 2 is used for described
Comparison result is unsatisfactory for driving the propeller 5 to advance to the direction along ng a path after planning when extra large deep prescribed requirement.
The motor drive module 2 is H bridge type motor-drive circuit, and Fig. 3 is H bridge type motor-drive circuit schematic diagram.Such as
Shown in Fig. 3, the H bridge type motor-drive circuit includes a four triode Q and motor M.The motor is direct current generator.It wants
Operate direct current generator, it is necessary to a pair of of triode on diagonal line be connected.According to the conduction status of different triodes pair, electric current can
Motor can be flowed through from left to right or from right to left, to control the steering of motor.When Q1 pipe and Q4 pipe conducting when, electric current just from
Positive pole passes through motor through Q1 from left to right, then returns to power cathode through Q4 again.By shown in current arrows in figure, the flow direction
Electric current driving motor is rotated clockwise；When triode Q1 and Q4 conducting, electric current will flow through motor from left to right, to drive
Dynamic motor is by specific direction rotation (arrow around motor is designated as clockwise).
The underwater bathy metry module 1 uses underwater bathy metry instrument.Sounding instrument is new-generation digital, computerized product.It
Medium is penetrated using ultrasonic energy, is capable of forming the principle of reflection on different medium surface.Emitted using ultrasonic transducer super
Sound wave measures the time difference of transmitted wave and back wave, to measure to underwater landform.Common-used formula are as follows: z=Vt/2.
The speed measuring module 3 uses contactless Hall sensor.The revolving speed display module 4 uses LCD display.
The controller 6 is using the single-chip microcontroller being made of STM32f427ii master control borad and STM32f103 motor driving plate.The spiral
The quantity of paddle 5 is six, and the propeller uses full circle swinging propeller.
The controller 6 accelerates the revolving speed of the motor by PWM.The control mode of PWM speed regulation is exactly to inverter circuit
The on-off of switching device is controlled, and so that output end is obtained a series of equal pulse of amplitudes, is replaced sine with these pulses
Wave or required waveform.Multiple pulses are namely generated in the half period of output waveform, make the equal threshold voltages of each pulse
For sinusoidal waveform, output smoothing obtained and low-order harmonic is few.The width of each pulse is modulated by certain rule, i.e.,
The size of changeable inverter circuit output voltage, also can be changed output frequency.
Specific embodiment 1:
Step 1: controller is issued every very clockwise underwater bathy metry instrument and is instructed, and underwater bathy metry instrument emits ultrasonic wave to acquire
The current Hai Shen of beacon, and depth information is transmitted in the master control borad of controller.
Step 2: controller is compared the depth information of acquisition with scheduled depth information:
If regulation Hai Shen is x, real-time Hai Shen is y, if x < y, meets extra large deep prescribed requirement；If x > y is unsatisfactory for Hai Shen
Prescribed requirement needs to migrate to deep-sea, changes navigation channel, and calculate z=x-y.
Step 3: controller is issued to motor drive module according to comparison result and is instructed, if comparison result meets the deep regulation in sea
It is required that then motor drive module does not start propeller works；If comparison result is unsatisfactory for extra large deep prescribed requirement, single-chip microcontroller needs weight
New planning path is migrated to deep-sea direction to the navigation channel of suitable Hai Shen, and the method for specific controller planning path is as follows:
Using prediction algorithm again planning path:
Random fixed beacon bow makes beacon advance to angle, the starting of master control borad driving motor, propeller rotational, every 1min,
Underwater bathy metry instrument, which sounds the sea, is sent to controller for numerical value.15 groups of data are fitted to one with Hai Shen by continuous measurement 15min
Y is the straight line of dependent variable, and Fig. 2 is the mobile figure of floating beacon.
According to judging result, beacon direction of advance is readjusted.It is random fixed again if mobile toward the deep direction in same sea
Bow is repeated the above process to angle.If mobile toward deep-sea direction, using the direction as beacon direction of advance；If toward shallow sea direction
It is mobile, then by bow to angle+180 degree, as beacon direction of advance.Direction of advance is sent to motor by can bus by controller
Drive module will all around four direction be decomposed on six motors using matrix decomposition, carry out the power distribution of motor,
To the rotation of six full circle swinging propellers of control.
Step 4: given threshold n illustrates that sediment siltation situation is lighter if z < n, and controller is by controlling the motor driven
Module drive propeller advances by normal speed；If z > n, illustrate that sediment siltation situation is serious, controller is adjusted the speed by PWM to be accelerated
The revolving speed of motor accelerates to advance to control propeller.
PWM speed regulation is to generate pwm signal using its timer by software programming to realize to DC motor speed control
System.Single-chip microcontroller changes pwm signal duty ratio, and output signal is by photoelectrical coupler and motor-drive circuit, according to different duties
The pwm signal of ratio reaches motor start and stop, positive and negative rotation and feed speed control.
Step 5: controller obtained the depth information of underwater bathy metry instrument acquisition every ten minutes, constantly repeated the above steps,
When real time position y > x of acquisition, controller stops driving motor, full circle swinging propeller stop motion.
Present invention disengaging is limited by geographic in traditional beacon, is had higher flexibility, can be covered in traditional beacon
Cover less than place work, utilize underwater bathy metry instrument real-time monitoring Hai Shen, measurement accuracy is high；It can be real-time by controller
The monitoring depth of water is simultaneously automatically migrated to suitable navigation channel, and when silting leads to navigation channel transition rapidly, controller of the invention can be certainly
Master program path, and according to sediment siltation situation, the revolving speed of propeller is adjusted, is actively migrated on demand to deep-sea to suitable navigation channel；
By the way that six full circle swinging propellers are arranged, each propeller can adjust upward the angle of oneself, six spiral shells 360 ° of sides at any time
Rotation paddle may be performed in different combinations, and comprehensive movement be realized, to cope with different situations.When silting leads to navigation channel
Transition rapidly, the autonomous real-time monitoring water depth ratio of underwater bathy metry instrument, beacon actively migrate to deep-sea to suitable location, solve because
Coastline promotes the problem of causing navigation channel to change, the deep controller system feasible system in floating beacon sea of the invention to deep-sea
Change, intelligent, scale management.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand system and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. the deep control system in floating beacon sea characterized by comprising underwater bathy metry module, motor drive module, test the speed mould
Block, revolving speed display module, propeller and controller, the controller respectively with the underwater bathy metry module, the motor driven
Module, the display module that tests the speed, the revolving speed display module connection, the underwater bathy metry module for acquire beacon it is current when
The Hai Shen at quarter, the speed measuring module is for acquiring in the motor drive module rotary speed information of motor and by the rotary speed information
It is sent to the controller, the revolving speed display module is used to show the rotary speed information that the controller is sent；The underwater survey
Deep module is connect with the controller, and the controller is used for Hai Shen and setting Hai Shen ratio according to the beacon current time
Compared with judging whether to meet extra large deep prescribed requirement according to comparison result, and plan again when being unsatisfactory for the deep prescribed requirement in the sea
Navigation channel controls the motor drive module and is driven, and the motor drive module is connected with the propeller, and the motor drives
Dynamic model block is used to drive the propeller to the direction along ng a path after planning when the comparison result is unsatisfactory for extra large deep prescribed requirement
Advance.
2. the deep control system in floating beacon sea according to claim 1, which is characterized in that the motor drive module is H
Bridge-type motor-drive circuit.
3. the deep control system in floating beacon sea according to claim 1, which is characterized in that the underwater bathy metry module uses
Underwater bathy metry instrument.
4. the deep control system in floating beacon sea according to claim 1, which is characterized in that the speed measuring module is connect using non-
The Hall sensor of touch.
5. the deep control system in floating beacon sea according to claim 1, which is characterized in that the revolving speed display module uses
LCD display.
6. the deep control system in floating beacon according to claim 1 sea, which is characterized in that the controller use by
The single-chip microcontroller of STM32f427ii master control borad and STM32f103 motor driving plate composition.
7. the deep control system in floating beacon sea according to claim 1, which is characterized in that the quantity of the propeller is six
A, the propeller uses full circle swinging propeller.
8. the deep control system in floating beacon sea according to claim 2, which is characterized in that the controller is added by PWM
The revolving speed of the fast motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910356123.1A CN109947035A (en) | 2019-04-29 | 2019-04-29 | The deep control system in floating beacon sea |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910356123.1A CN109947035A (en) | 2019-04-29 | 2019-04-29 | The deep control system in floating beacon sea |
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| CN109947035A true CN109947035A (en) | 2019-06-28 |
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Citations (4)
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| CN105842412A (en) * | 2016-03-24 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system |
| CN206572406U (en) * | 2017-03-24 | 2017-10-20 | 王彦峰 | A kind of inland water transport intelligent navigation mark lamp |
| CN108791718A (en) * | 2018-07-11 | 2018-11-13 | 广州航保科技有限公司 | A kind of self-propulsion type navigation light |
| CN108954181A (en) * | 2018-07-11 | 2018-12-07 | 广州航保科技有限公司 | A kind of multi-functional intelligent navigation mark lamp and its information processing method |
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2019
- 2019-04-29 CN CN201910356123.1A patent/CN109947035A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105842412A (en) * | 2016-03-24 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system |
| CN206572406U (en) * | 2017-03-24 | 2017-10-20 | 王彦峰 | A kind of inland water transport intelligent navigation mark lamp |
| CN108791718A (en) * | 2018-07-11 | 2018-11-13 | 广州航保科技有限公司 | A kind of self-propulsion type navigation light |
| CN108954181A (en) * | 2018-07-11 | 2018-12-07 | 广州航保科技有限公司 | A kind of multi-functional intelligent navigation mark lamp and its information processing method |
Non-Patent Citations (1)
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| 杨柳: "海上智能自动定位浮式灯塔结构设计研究", 《智慧城市》 * |
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