CN110758693A - Unmanned underwater vehicle control and data management platform - Google Patents
Unmanned underwater vehicle control and data management platform Download PDFInfo
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- CN110758693A CN110758693A CN201911352266.1A CN201911352266A CN110758693A CN 110758693 A CN110758693 A CN 110758693A CN 201911352266 A CN201911352266 A CN 201911352266A CN 110758693 A CN110758693 A CN 110758693A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The unmanned underwater vehicle control and data management platform provided by the invention realizes unified control operation, monitoring and early warning of underwater unmanned underwater vehicles of different models through the early warning control device and the data management device, and simultaneously realizes database management and comprehensive analysis of actual measurement data of various types of navigation positioning systems, optical camera equipment and acoustic detection equipment carried by the underwater vehicle and rapid editing and output of project result reports, so that the problems that the operation control is not easy to master proficiently, the working effect of the equipment monitoring and early warning function is poor or missing, the comprehensive contrastive analysis of various types of detection data and the rapid output of the project result database management and the project result report are difficult to carry out in the prior art are solved, and the unmanned underwater vehicle control and data management platform has good convenient and practical benefits.
Description
Technical Field
The invention relates to the technical field of underwater unmanned underwater vehicles, in particular to an unmanned underwater vehicle control and data management platform.
Background
The underwater unmanned underwater vehicle, as an ultimate operation robot working underwater, can perform underwater detection and other underwater operations in the depth which cannot be reached by divers and unsafe environment, along with the development of miniaturization technology, has the advantages of small volume, low resistance, flexibility, convenient integrated carrying and the like, and is widely valued and applied to the underwater detection of ocean, water conservancy and hydropower engineering structures.
The underwater unmanned underwater vehicle control systems in the prior art are various in types and are not easy to be mastered by operators. The device monitoring and early warning functions have poor or missing working effects, the control devices are numerous, the configuration is complex, comprehensive contrastive analysis of various types of detection data is difficult to carry out, and project achievement database management and achievement report quick output cannot be finished.
Disclosure of Invention
The invention aims to provide a control and data management platform of an unmanned underwater vehicle, which solves the problems that operation control is not easy to master skillfully, the working effect of equipment monitoring and early warning functions is poor or missing, and comprehensive comparison analysis of various types of detection data and rapid output of project achievement database management and achievement reports are difficult to carry out in the prior art.
In order to achieve the above object, an aspect of the present invention provides an unmanned underwater vehicle control and data management platform, which includes an early warning control device for receiving and processing a control data stream sent by an underwater vehicle in real time and monitoring an early warning data stream, and a data management device for receiving and processing a detection data stream sent by the underwater vehicle in real time.
The early warning control device comprises a first communication module, a monitoring early warning module and a submersible vehicle control module, wherein the first communication module is embedded into the early warning control device and is used for realizing uploading and downloading of a control data stream and a monitoring early warning data stream between a system and the submersible vehicle, the monitoring early warning processing module receives the monitoring early warning data stream uploaded by the first communication module and displays and monitors the monitoring early warning data stream, judges whether a planned route is continuously executed or adjusted to execute an emergency measure plan, and simultaneously performs backup management on the monitoring early warning data stream, the submersible vehicle control module receives the control data stream uploaded by the first communication module and displays the control data stream, executes a control instruction of the submersible vehicle and sends the control instruction to a first communication unit, and simultaneously performs backup management on the control data stream.
The data management device comprises a second communication module and a detection data stream processing module, wherein the second communication module is embedded into the detection data stream processing module and used for uploading and downloading detection data streams between the system and the underwater vehicle, the detection data stream processing module receives the detection data streams uploaded and distributed by the second communication module and feeds the detection data streams back to an operator, and meanwhile backup management is carried out on the control data streams.
Further, the monitoring and early warning data flow comprises attitude, depth, heading, insulation coefficient monitoring and umbilical cable storage and arrangement critical values of the underwater vehicle.
Further, control flow dataflow includes the underwater vehicle motion data, and control data is put to function data and umbilical cable accomodate the cloth.
Further, the underwater vehicle control instruction comprises an underwater vehicle space navigation control instruction, an underwater vehicle light switch and illumination control instruction and an umbilical cable management system deployment/recovery control instruction.
Furthermore, the detection data flow data comprises navigation positioning system real-time detection data flow, optical camera equipment real-time detection data flow, three-dimensional scanning sonar real-time detection data flow, side scanning sonar equipment real-time detection data flow and multi-beam image sonar real-time detection data flow.
Furthermore, the detection data stream processing module comprises a navigation data management unit, and the navigation data management unit is used for storing navigation, positioning and path tracking data of the underwater vehicle so as to realize management and query of navigation data.
The detection data stream processing module further comprises a project data management unit, wherein the project data management unit is used for managing project information and working log data, the project information comprises project names, project places, project purposes, project plans and project owner information, and the log information comprises the time when the underwater vehicle reaches the water surface and corresponds to the project information, the place when the underwater vehicle goes to the plan and corresponds to the project information, the time when the underwater vehicle starts to execute the inspection and corresponds to the inspection, the time when the underwater vehicle starts to currently inspect and corresponds to the inspection, the time when the underwater vehicle finishes currently inspecting and corresponds to the inspection, the time when an abnormal target is found and corresponds to the inspection, the time when the underwater vehicle finishes executing the inspection and corresponds to the inspection, the time when the underwater vehicle returns to the water entry point and corresponds to the inspection, and the time when the underwater vehicle leaves.
Further, the detection data stream processing module comprises an optical shooting data management unit, and the optical shooting data management unit receives video data acquired by the optical shooting equipment of the underwater vehicle and edits and manages the video data.
Furthermore, the detection data stream processing module further comprises an acoustic detection data management unit, which is used for editing and managing the audio data acquired by the acoustic detection equipment of the receiving underwater vehicle.
The detection data stream processing module is characterized by further comprising a report generating unit and a display unit, wherein the report generating unit generates a detection report according to the navigation data, the project information, the working log data, the video data and the audio data, and the display unit provides technical support for remote support and consultation according to a graphical operation interface of the detection data stream processing module.
The unmanned underwater vehicle control and data management platform provided by the embodiment realizes unified control operation, monitoring and early warning of underwater unmanned underwater vehicles of different models through the early warning control device and the data management device, and simultaneously realizes database management and comprehensive analysis of actual measurement data of various types of navigation positioning systems, optical camera equipment and acoustic detection equipment carried by the underwater vehicle and rapid editing and output of project result reports, so that the problems that operation control is not easy to master proficiently, the working effect of equipment monitoring and early warning functions is poor or missing, comprehensive contrastive analysis of various types of detection data and rapid output of project result database management and result reports are difficult to carry out in the prior art are solved, and the unmanned underwater vehicle control and data management platform has good convenient and practical benefits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a system architecture diagram of an unmanned underwater vehicle control and data management platform according to an embodiment of the invention.
Fig. 2 is a schematic diagram of an alternative architecture of the warning control device 110 according to the present invention.
FIG. 3 is a block diagram of an alternative architecture of the data management device 120 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The underwater unmanned underwater vehicle and the system thereof in the prior art are various in types, various underwater unmanned vehicles are provided with control systems according to self design conditions, the operation habits and the operation requirements are different, high requirements are provided for pilots of the underwater unmanned underwater vehicles, meanwhile, the functions of monitoring and early warning exist among various underwater unmanned underwater vehicle systems, and the functions are different and certain, particularly, the underwater unmanned underwater vehicle is often provided with various optical detection equipment, acoustic detection equipment and auxiliary tool equipment according to the requirements of different operation purposes, the equipment is often provided with independent control and system software, and the functions of comprehensive contrastive analysis of various types of detection data and rapid output of project achievement reports are difficult to develop.
In order to solve the technical problems, the invention provides an unmanned underwater vehicle control and data management platform which solves the problems that operation control is not easy to master skillfully, the working effect of equipment monitoring and early warning functions is poor or missing, and comprehensive comparison analysis of various types of detection data and rapid output of project achievement database management and achievement report are difficult to carry out in the prior art.
An unmanned underwater vehicle control and data management platform according to an embodiment of the present invention is described below with reference to the accompanying drawings. Fig. 1 is a system architecture diagram of an unmanned underwater vehicle control and data management platform according to an embodiment of the invention.
The unmanned underwater vehicle control and data management platform is used for receiving control data streams, monitoring early warning data streams and detection data streams sent by the underwater unmanned underwater vehicle in real time, and completing navigation control, monitoring early warning and data acquisition and management of the unmanned underwater vehicle. The unmanned underwater vehicle is any unmanned vehicle which can navigate underwater by remote control or automatic control and can comprise, but is not limited to, various unmanned underwater vehicles such as a cabled remote control underwater vehicle, a cableless remote control underwater vehicle and the like. The invention is connected with the unmanned underwater vehicle by a cable communication/wireless communication mode to receive and send communication signals.
As shown in fig. 1, the unmanned underwater vehicle 200 according to the present invention includes at least an underwater vehicle unit 210 and a deck control unit. The underwater vehicle unit 210 is connected with a detection device, and the detection device acquires detection data of the underwater vehicle such as navigation positioning, optics, sonar and the like. In the present embodiment, the detection devices connected to the underwater vehicle unit 210 include a navigation positioning system 21a, an optical imaging device 21b, a three-dimensional scanning sonar 21c, a side scanning sonar 21d, and a multi-beam image sonar 21 e. The deck control unit 220 is connected with the unmanned underwater vehicle control and data management platform in a wired/wireless manner in a digital communication manner, and is used for receiving and sending control data streams, monitoring early warning data streams and detecting data streams, and controlling the navigation attitude and the detection equipment of the unmanned underwater vehicle through the unmanned underwater vehicle control and data management platform.
In the present embodiment, the drone controlling and data managing platform includes an early warning controlling device 110 and a data managing device 120. The early warning control device 110 is used for receiving and processing the control data stream and the monitoring early warning data stream sent by the underwater vehicle in real time, and the data management device 120 is used for receiving and processing the detection data stream sent by the underwater vehicle in real time.
Fig. 2 is a schematic diagram of an alternative architecture of the warning control device 110 according to the present invention. As shown in fig. 2, the warning control apparatus 110 of the present invention includes a first communication module 111, a monitoring warning module 112, a submergence device control module 113 and a submergence device grip controller 114.
The early warning control device 110 provided in the embodiment of the present invention uses a windows operating system as an industrial control host of an internal working platform, receives a control data stream and a monitoring early warning data stream uploaded by a first communication module 111 through control system software running on the platform, and then distributes the control data stream and the monitoring early warning data stream to the control system software, an operating technician receives control data stream information through a software display window, then feeds back a control instruction in a manner of controlling a real-time data stream, and then receives and downloads the control real-time data stream through the control system software, and distributes the monitoring early warning data stream to a monitoring early warning module 112, and an operating technician receives the monitoring early warning data stream information through the software display window; the control data stream is distributed to the submersible control module 113 and the operating technician receives the control data stream information through the software display window.
The first communication module 111 is embedded in the early warning control device 110, and is connected with a deck control unit of the unmanned underwater vehicle in a wired or wireless communication mode to acquire monitoring early warning data streams and control data streams sent by the deck control unit and distribute the monitoring early warning data streams and the control data streams to the early warning control device 110, an operator reads the monitoring early warning data streams and the control data streams according to the early warning control device 110 and operates the unmanned underwater vehicle through the handle type controller 114 of the unmanned underwater vehicle, and the first communication module 111 sends the control data streams fed back by the operation back to the deck control unit of the unmanned underwater vehicle to complete the control of the unmanned underwater vehicle.
The monitoring and early warning module 112 and the underwater vehicle control module 113 run on the early warning control device 110 in a software manner, and the monitoring and early warning module 112 is configured to analyze received monitoring and early warning data stream information, display the received monitoring and early warning data stream information in real time in a software display window manner, and meanwhile, realize monitoring and early warning data stream backup in a transaction log backup manner by taking a time axis as a sequence. The analyzed monitoring and early warning data flow content comprises the current situation of the attitude, the current situation of the depth, the current situation of the heading, the current situation of waterproof insulation and the current situation of the arrangement of an umbilical cable management system.
The underwater vehicle control module 113 is configured to analyze the received control data stream information, display the received control data stream information in real time in a software display window manner, and download the control data stream fed back by the handle controller 114 of the underwater vehicle in real time, and meanwhile, implement backup of the control data stream in a transaction log backup manner in order of a time axis. The analyzed control data stream content comprises a space navigation control instruction of the underwater vehicle, a light switch of the underwater vehicle, an illumination adjustment control instruction and a deployment/recovery control instruction of the umbilical cable management system.
The function of the submersible handle controller 114 is to convert control commands issued by an operating technician into controlling the real-time data stream. The handle type controller 114 of the underwater vehicle comprises a control handle switch button, an underwater vehicle power gear switching button, a light switch, a brightness adjusting button, a horizontal movement operating rod, a vertical floating and diving knob, a vertical floating and diving fine adjustment knob, a control handle power supply interface, a control handle communication interface and a control handle working state display.
FIG. 3 is a block diagram of an alternative architecture of the data management device 120 of the present invention. As shown in fig. 2, the data management device 120 of the present invention includes a second communication module 121 and a probe stream processing module 122.
The data management apparatus 120 is an industrial control host that uses a windows operating system as an internal working platform, and after receiving the probe data stream information uploaded by the second communication module 121, distributes the probe data stream to the probe data stream processing module 122.
The second communication module 121 is embedded in the data management device 120, and is configured to collectively upload a detection data stream sent by a detection device carried by the underwater unmanned vehicle, and upload a real-time detection data stream to the data management device 120. The detection data stream uploaded in a centralized manner comprises a navigation positioning system real-time detection data stream, an optical camera device real-time detection data stream, a three-dimensional scanning sonar real-time detection data stream, a side scanning sonar device real-time detection data stream and a multi-beam image sonar real-time detection data stream.
The detection data stream processing module 122 operates on the data management device 120 as a detection device actual measurement data management software system, and is used for analyzing the received detection data stream information, displaying the received detection data stream information in real time in a software display window manner, and simultaneously realizing functions of navigation positioning path tracking and result database management, project information and work log database management, optical camera shooting database management, acoustic detection database management, detection report editing and output, and system display interface online release of the underwater vehicle.
Specifically, the probe data stream processing module 122 further includes a navigation data management unit item 122a, an item data management unit 122b, an optical imaging data management unit 122c, an acoustic probe data management unit 122d, a report generation unit 122e, and a display unit 122 f.
The navigation data management unit item 122a is used for displaying the position of the underwater vehicle in real time by a navigation window of the underwater vehicle in the data management system actually measured by the detection equipment after receiving the navigation positioning detection data stream, displaying the distance from the current position of the underwater vehicle to a target, the target azimuth angle under the view angle of the underwater vehicle and the motion trajectory of the underwater vehicle in real time by setting a target mark point so as to realize navigation, positioning and path tracking of the underwater vehicle, and meanwhile, establishing a database management file by using an independent ACS II format file by using the positioning data, the target coordinate and number, the distance to the target and the azimuth angle of the underwater vehicle, so as to realize database management and query of the navigation positioning data stream.
The project data management unit 122b configures and records current project information through a project information window of the detection data stream processing module 122, wherein the recorded project information comprises project names, project sites, project objectives, project plans and project owner information; through the operation of an operation technician, in a work log window in the detection data stream processing module 122, the work log of each submarine vehicle diving is recorded by taking a time axis as a sequence, and the content recorded in the work log comprises the time when the submarine vehicle reaches the water surface and corresponds to the time, the time when the submarine vehicle goes to a planned place and corresponds to the planned place, the time when the submarine vehicle starts to execute inspection and corresponds to the submarine vehicle, the time when the current inspection of the submarine vehicle starts and corresponds to the current inspection of the submarine vehicle, the time when an abnormal target is found and corresponds to the current inspection of the submarine vehicle, the time when the submarine vehicle finishes executing inspection and corresponds to the underwater vehicle, the time when the submarine vehicle returns to the water inlet point and corresponds to the underwater vehicle, and finally, the project information and the work log establish a database management file in an independent ACS II format file to realize the data management and query of the project.
The optical imaging data management unit 122c receives the optical imaging device real-time detection data stream in the optical imaging display window of the detection data stream processing module 122, and can display the optical imaging image through four channels at most, and the window is configured with functions of starting recording, pausing recording, ending recording, screenshot and screenshot editing, and meanwhile, the optical imaging image data is a mp4 format file, and the optical imaging screenshot data is a jpg format file to establish a database management file, so that the database management and query of the optical imaging data stream are realized.
The acoustic detection data management unit 122d receives the acoustic image pickup device real-time detection data stream in the acoustic image pickup display window of the detection data stream processing module 122, and can display the acoustic image pickup image through four channels at most, and the window is configured with functions of starting recording, pausing recording, ending recording, screenshot and screenshot editing, and meanwhile, the acoustic image pickup data is a mp4 format file, and the acoustic image pickup screenshot data is a jpg format file to establish a database management file, so that the database management and query of the acoustic image pickup data stream are realized.
The report generating unit 122e combines the project information and work log database, the underwater vehicle navigation positioning and path tracking database, the optical camera shooting screenshot data database and the acoustic camera shooting screenshot data database in a project inspection report editing and output window in the detection data stream processing module 122, performs appropriate editing and configuration by operating technicians, and outputs the project information, the positions where the anomalies are detected in each flight, the optical camera shooting screenshot and the acoustic camera shooting screenshot in a word document format as a project inspection result report.
The display unit 122f implements online publishing of the data stream information of the data stream processing module 122 by using a mobile-end high-speed network technology and a cloud server through a display interface reserved in the data stream processing module 122, and provides technical support for remote support and consultation.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. The unmanned underwater vehicle control and data management platform is characterized by comprising an early warning control device and a data management device;
the early warning control device is used for receiving and processing a control data stream and a monitoring early warning data stream sent by the underwater vehicle in real time;
the data management device is used for receiving and processing the detection data stream sent by the underwater vehicle in real time and editing, managing and backing up the detection data stream data.
2. The unmanned underwater vehicle control and data management platform of claim 1, wherein the early warning control device comprises a first communication module, a monitoring early warning module and an underwater vehicle control module;
the first communication module is embedded into the early warning control device and is used for realizing the uploading and downloading of control data flow and monitoring early warning data flow between the system and the underwater vehicle;
the monitoring and early warning processing module receives the monitoring and early warning data stream uploaded by the first communication module, displays and monitors the monitoring and early warning data stream, judges whether to continue executing the planned air route or adjusting the planned air route to execute the emergency measure plan, and simultaneously performs backup management on the monitoring and early warning data stream;
the underwater vehicle control module receives and displays the control data stream uploaded by the first communication module, executes a control instruction of the underwater vehicle and sends the control instruction to the first communication unit, and meanwhile, performs backup management on the control data stream.
3. The unmanned underwater vehicle control and data management platform of claim 1, wherein the data management device comprises a second communication module and a detection data stream processing module;
the second communication module is embedded into the detection data stream processing module and is used for realizing the uploading and downloading of the detection data stream between the system and the underwater vehicle;
and the detection data stream processing module receives the detection data stream uploaded and distributed by the second communication module and feeds the detection data stream back to an operator, and meanwhile, the control data stream is subjected to backup management.
4. The unmanned underwater vehicle control and data management platform of any of claims 1 or 2, wherein the monitoring and early warning data stream comprises an attitude, a depth, a heading, an insulation coefficient monitoring and an umbilical cable storage and deployment threshold value.
5. The unmanned underwater vehicle control and data management platform of any one of claims 1 or 2, wherein the control data stream comprises underwater vehicle motion data, function data and umbilical cable storage and deployment control data.
6. The unmanned underwater vehicle control and data management platform of claim 2, wherein the control commands of the underwater vehicle comprise a space navigation control command of the underwater vehicle, a light switch and illumination control command of the underwater vehicle, and a deployment/recovery control command of an umbilical cable management system.
7. The unmanned underwater vehicle control and data management platform according to any one of claims 1 or 3, wherein the detection data stream data comprises a navigation positioning system real-time detection data stream, an optical camera device real-time detection data stream, a three-dimensional scanning sonar real-time detection data stream, a side scanning sonar device real-time detection data stream, and a multi-beam image sonar real-time detection data stream.
8. The unmanned underwater vehicle control and data management platform of claim 3, wherein the detection data stream processing module comprises a navigation data management unit, and the navigation data management unit is used for storing data of navigation, positioning and path tracking of the unmanned underwater vehicle so as to realize management and query of navigation data.
9. The unmanned underwater vehicle control and data management platform of claim 3, wherein the detection data stream processing module further comprises a project data management unit, the project data management unit is used for managing project information and working log data, the project information comprises project name, project location, project purpose, project plan and project owner information, and the log information comprises time for the underwater vehicle to reach the water surface and correspond to the project name, the underwater vehicle to go to the project location and correspond to the project time, time for the underwater vehicle to start to perform inspection and correspond to the underwater vehicle, time for the underwater vehicle to start to perform inspection and correspond to the current inspection, time for the underwater vehicle to finish performing inspection and correspond to the current inspection, time for the underwater vehicle to return to the water entry point and correspond to the current inspection, time for the underwater vehicle to leave the water surface and correspond to the current inspection.
10. The unmanned underwater vehicle control and data management platform of claim 3, wherein the detection data stream processing module comprises an optical camera shooting data management unit, and the optical camera shooting data management unit receives video data acquired by an optical camera shooting device of the unmanned underwater vehicle, edits and manages the video data.
11. The unmanned underwater vehicle control and data management platform of claim 3, wherein the detection data stream processing module further comprises an acoustic detection data management unit for editing and managing audio data acquired by the acoustic detection device of the unmanned underwater vehicle.
12. The unmanned underwater vehicle control and data management platform of claim 3, wherein the detection data stream processing module further comprises a report generating unit and a display unit, the report generating unit generates a detection report according to the navigation data, the project information, the working log data, the video data and the audio data, and the display unit is a graphical operation interface of the detection data stream processing module and provides technical support for remote support and consultation.
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Application publication date: 20200207 |