CN111290413A - Autonomous underwater robot water surface monitoring system and method - Google Patents
Autonomous underwater robot water surface monitoring system and method Download PDFInfo
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- CN111290413A CN111290413A CN201811500353.2A CN201811500353A CN111290413A CN 111290413 A CN111290413 A CN 111290413A CN 201811500353 A CN201811500353 A CN 201811500353A CN 111290413 A CN111290413 A CN 111290413A
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- underwater robot
- autonomous underwater
- monitoring system
- water surface
- power supply
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention relates to an autonomous underwater robot water surface monitoring system and method, wherein the system comprises: the system comprises a directional GPS module, a radio receiver, an iridium positioning receiver, a wireless network bridge and a power supply module; the method comprises the steps that a water surface monitoring system receives position, speed and heading information sent by an autonomous underwater robot through a radio receiver and an iridium positioning receiver and analyzes the information; the directional GPS module acquires the position and heading information of the mother ship, calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the bow, and calculates the time required for the mother ship to reach the autonomous underwater robot. The invention can be used without external power supply within a certain time, and is convenient and flexible to use; accurate mother ship position and heading information can be obtained without accessing a ship-borne information system; by comprehensively processing the heading, position and speed information of the mother ship and the autonomous underwater robot and visually displaying the information, the autonomous underwater robot is assisted to be quickly found by recovery personnel, and the method has high popularization value.
Description
Technical Field
The invention relates to the field of underwater robot monitoring, in particular to an autonomous underwater robot water surface monitoring system and method.
Background
Autonomous underwater robots (also called "autonomous submersible," "autonomous underwater vehicle," "AUV," "UUV," and the like) are widely used in the fields of marine mineral resource exploration, marine environment investigation, submarine target search, and the like.
Due to the "untethered" nature of autonomous underwater robots (i.e., no physical cables connected to the mother vessel or surface equipment), there is some uncertainty about the location on which it floats to the surface, and it can change constantly due to the effects of ocean currents and wind. Therefore, it is necessary to find the position of the autonomous underwater robot quickly after the autonomous underwater robot floats to the water surface and to recover the autonomous underwater robot as soon as possible. However, due to the complex sea surface conditions, especially the influence of waves and sunlight reflection, a great amount of time is needed for a mother ship driver and an autonomous underwater robot recovery person to finally determine the position of the autonomous underwater robot through naked eyes, and a plurality of watchers are often needed to participate.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a system and a method for monitoring the water surface of an autonomous underwater robot, which solve the problems that the autonomous underwater robot is difficult to search and lock in the recovery process and consumes a large amount of time and manpower.
The technical scheme adopted by the invention for realizing the purpose is as follows:
an autonomous underwater robot water surface monitoring system comprising:
the directional GPS module is connected with the industrial personal computer through a serial interface, receives the position and heading information of the mother ship and sends the information to the industrial personal computer;
the wireless receiver is connected with the industrial personal computer through a serial interface, receives position, speed and heading information of the autonomous underwater robot and sends the information to the industrial personal computer;
the iridium positioning receiver is connected with the industrial personal computer through a serial interface, receives position, speed and heading information of the autonomous underwater robot and sends the information to the industrial personal computer;
the industrial personal computer calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the ship bow according to the position and the heading information of the mother ship and the position, the speed and the heading information of the autonomous underwater robot, and calculates the time required by the mother ship to reach the position of the autonomous underwater robot;
the wireless network bridge is connected with the industrial personal computer through an Ethernet switch and used for providing a wireless network;
and the power supply module supplies power to the water surface monitoring system.
The power supply module comprises a power supply module and a power supply control module, the output end of the power supply module is connected with the power supply control module, and the power supply control module is connected with the directional GPS module, the radio receiver, the iridium positioning receiver, the industrial personal computer and the wireless network bridge to supply power for the infrared positioning receiver.
The power supply module comprises a lithium battery pack and a battery pack boosting module, the output end of the lithium battery pack is connected with the battery pack boosting module, the output end of the battery pack boosting module is connected with the power supply control module, and a current meter and a voltage meter are arranged at the output end of the battery pack boosting module and used for collecting an output current value and an output voltage value.
The power supply module comprises an external power supply input to an AC/DC conversion module, 220V alternating current input from the outside is converted into direct current, the output end of the AC/DC conversion module is connected with a power supply control module, and a current meter and a voltage meter are arranged at the output end of the AC/DC conversion module and used for collecting an output current value and an output voltage value.
The water surface monitoring system is characterized by further comprising a cooling fan connected with the output end of the AC/DC conversion module and used for providing air cooling and heat dissipation for the water surface monitoring system.
The directional GPS module is configured with dual antennas.
The industrial personal computer integrates a touch display screen and a serial interface.
An autonomous underwater robot water surface monitoring method of a water surface monitoring system, the said water surface monitoring system receives position, speed and heading information sent from autonomous underwater robot through radio receiver and iridium positioning receiver, analyze according to the agreement; the directional GPS module acquires the position and heading information of the mother ship, calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the bow, and calculates the time required for the mother ship to reach the autonomous underwater robot.
The industrial personal computer is integrated with the touch display screen, and can graphically display information such as the position, the speed and the heading of the autonomous underwater robot, the distance between the mother ship and the autonomous underwater robot, the azimuth angle of the autonomous underwater robot relative to the bow, the time required for the mother ship to reach the autonomous underwater robot and the like.
The invention has the following beneficial effects and advantages:
1. the built-in lithium battery pack can be used without external power supply within a certain time, and is convenient and flexible to use;
2. the invention is internally provided with a double-antenna directional GPS module, and can obtain accurate mother ship position and heading information without accessing a ship-borne information system (many small ships do not have conditions);
3. according to the invention, the heading, position and speed information of the mother ship and the autonomous underwater robot are comprehensively processed and visually displayed, so that the autonomous underwater robot can be assisted to be quickly found by recovery personnel, and the method has higher popularization value.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a circuit diagram of the system of the present invention;
wherein 1 is portable quick-witted case of integral type, 2 is the industrial computer, 3 is directional GPS module, 4 is iridium positioning receiver, 5 is wireless network bridge, 6 is the radio receiver, 7 is the ethernet switch, 8 is the lithium cell group, 9 is the group battery boost module, 10 is AC/DC conversion module, 11 is power control module, 12 is radiator fan, 13 is ampere meter and voltmeter.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 shows a system configuration of the present invention.
The system comprises an integrated portable case, an industrial personal computer, a power supply control circuit board, a lithium battery pack, a protection board, a battery pack boosting module, an Ethernet switch, a radio receiver, a wireless network bridge, an iridium satellite positioning receiver, an AC/DC power supply, a directional GPS module, a cooling fan, an external antenna and the like, and matched monitoring software. The directional GPS module is provided with double receiving antennas, and can still accurately obtain the heading information of the mother ship under the low-speed navigation and floating states of the mother ship, so that the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the bow of the ship are calculated and visually displayed.
The integrated portable case is used for installing main equipment of the monitoring system; the industrial personal computer integrates a touch display screen and a serial communication interface, is connected with a directional GPS module, an iridium positioning receiver, a radio receiver, a power supply control circuit board and monitoring system software running on the industrial personal computer through the serial communication interface, acquires data of the directional GPS module, the iridium positioning receiver and the radio receiver through the serial communication interface and manages power supplies of the directional GPS module, the iridium positioning receiver, the radio receiver, a wireless network bridge and other equipment through the power supply control circuit board.
The monitoring system can be powered by an external alternating current 220V power supply, the alternating current power supply is converted into a direct current power supply through an AC/DC power supply, and also can be powered by an internal power supply consisting of a lithium battery pack, a protection board and a battery pack boosting module, and two power supply sources are switched through a switch. A fan is arranged in the monitoring system to carry out integral heat dissipation on the monitoring system. The monitoring system is internally provided with a network switch and a wireless network bridge, and provides wired and wireless network access interfaces. A voltmeter and an ammeter are arranged in the monitoring system to display the energy consumption state of the monitoring system.
Fig. 2 shows a circuit diagram of the system of the present invention.
The integrated portable case 1 is used for installing main equipment of a monitoring system, and the case is made of light aluminum materials, so that the case is firm and durable while the portability is kept; the industrial personal computer 2 integrates a touch display screen and a serial communication interface, is connected with the directional GPS module 3, the iridium positioning receiver 4, the radio receiver 6 and the power supply control circuit board 11 through the serial communication interface, runs on monitoring system software on the industrial personal computer 2, acquires data of the directional GPS module 3, the iridium positioning receiver 4 and the radio receiver 6 through the serial communication interface, and manages power supplies of the directional GPS module 3, the iridium positioning receiver 4, the radio receiver 6, the wireless network bridge 5 and other devices through the control power supply control circuit board 11.
The directional GPS module 3 is used for providing GPS positioning information and accurate heading information of the mother ship; the iridium positioning receiver 4 is used for receiving the robot position and heading information sent by the main underwater robot; a wireless bridge 5, which may provide wireless network connectivity; the wireless receiver 6 is used for receiving the robot position and heading information sent by the main underwater robot through a wireless channel, and the updating frequency of the wireless information is high; and the Ethernet switch 7 is used for connecting the wireless bridge 5 and the industrial personal computer 2 and providing an interface for the access of an external network. The lithium-ion battery pack and the protection board 8 are matched with the battery pack boosting module 9, and can provide a power supply for the monitoring system when no external power supply exists; a battery pack voltage boosting module 9 for converting the battery pack output voltage into a voltage suitable for use by the electric device; an AC/DC conversion module 10 for converting an externally inputted 220V AC power into a DC power suitable for each device; the cooling fan 12 is used for cooling the monitoring system, and the ammeter and the voltmeter 13 are used for displaying the energy consumption condition of the monitoring system.
The power supply can be changed into direct current power supply by an external alternating current 220V power supply through an AC/DC power supply 10, or can be supplied by an internal power supply consisting of a lithium battery pack 8 and a battery pack boosting module 9, and the two power supply sources are switched through a switch. A fan 12 is arranged in the monitoring system to carry out integral heat dissipation on the monitoring system. The monitoring system is internally provided with a network switch 7 and a wireless bridge 5, and provides wired and wireless network access interfaces. A voltmeter and an ammeter 13 are arranged in the monitoring system to display the energy consumption state of the monitoring system.
The surface monitoring system of the autonomous underwater robot is powered using 220V (50Hz) alternating current. When the ship bow monitoring system is used, the monitoring system is reliably fixed, the radio frequency antennas required by the monitoring system are connected, the radio frequency antennas comprise an iridium antenna, a radio antenna and a directional GPS antenna, the iridium antenna and the GPS antenna are placed at an outdoor shelterless position and are reliably fixed, and the dual directional GPS antennas are arranged at intervals of more than 3 meters along the ship bow direction. And after the installation is finished, a power switch of the monitoring system is turned on, and the monitoring software is operated.
The monitoring method of the water surface monitoring system is as follows:
after the autonomous underwater robot floats to the water surface, the autonomous underwater robot sends information such as self position, heading and the like according to a set protocol through channels such as radio, satellite communication and the like;
the water surface monitoring system receives information sent by the autonomous underwater robot through the radio receiver and the iridium positioning receiver and analyzes the information according to a protocol;
the water surface monitoring system acquires the position and accurate heading information of a monitored mother ship through a double-antenna directional GPS module arranged in the water surface monitoring system, calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the bow of the ship, calculates the time required for the mother ship to reach the position of the autonomous underwater robot, and visually displays the time on an industrial personal computer to help recovery personnel to quickly find the autonomous underwater robot.
Claims (9)
1. An autonomous underwater robot water surface monitoring system, comprising:
the directional GPS module is connected with the industrial personal computer through a serial interface, receives the position and heading information of the mother ship and sends the information to the industrial personal computer;
the wireless receiver is connected with the industrial personal computer through a serial interface, receives position, speed and heading information of the autonomous underwater robot and sends the information to the industrial personal computer;
the iridium positioning receiver is connected with the industrial personal computer through a serial interface, receives position, speed and heading information of the autonomous underwater robot and sends the information to the industrial personal computer;
the industrial personal computer calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the ship bow according to the position and the heading information of the mother ship and the position, the speed and the heading information of the autonomous underwater robot, and calculates the time required by the mother ship to reach the position of the autonomous underwater robot;
the wireless network bridge is connected with the industrial personal computer through an Ethernet switch and used for providing a wireless network;
and the power supply module supplies power to the water surface monitoring system.
2. The autonomous underwater robot water surface monitoring system of claim 1, characterized in that: the power supply module comprises a power supply module and a power supply control module, the output end of the power supply module is connected with the power supply control module, and the power supply control module is connected with the directional GPS module, the radio receiver, the iridium positioning receiver, the industrial personal computer and the wireless network bridge to supply power for the infrared positioning receiver.
3. The autonomous underwater robot water surface monitoring system of claim 2, characterized in that: the power supply module comprises a lithium battery pack and a battery pack boosting module, the output end of the lithium battery pack is connected with the battery pack boosting module, the output end of the battery pack boosting module is connected with the power supply control module, and a current meter and a voltage meter are arranged at the output end of the battery pack boosting module and used for collecting an output current value and an output voltage value.
4. The autonomous underwater robot water surface monitoring system of claim 2, characterized in that: the power supply module comprises an external power supply input to an AC/DC conversion module, 220V alternating current input from the outside is converted into direct current, the output end of the AC/DC conversion module is connected with a power supply control module, and a current meter and a voltage meter are arranged at the output end of the AC/DC conversion module and used for collecting an output current value and an output voltage value.
5. The autonomous underwater robot water surface monitoring system of claim 1, characterized in that: the water surface monitoring system is characterized by further comprising a cooling fan connected with the output end of the AC/DC conversion module and used for providing air cooling and heat dissipation for the water surface monitoring system.
6. The autonomous underwater robot water surface monitoring system of claim 1, characterized in that: the directional GPS module is configured with dual antennas.
7. The autonomous underwater robot water surface monitoring system of claim 1, characterized in that: the industrial personal computer integrates a touch display screen and a serial interface.
8. An autonomous underwater robot water surface monitoring method based on the water surface monitoring system of any one of claims 1 to 7, characterized in that:
the water surface monitoring system receives position, speed and heading information sent by the main underwater robot through the radio receiver and the iridium positioning receiver, and analyzes the information according to a protocol; the directional GPS module acquires the position and heading information of the mother ship, calculates the distance between the mother ship and the autonomous underwater robot and the azimuth angle of the autonomous underwater robot relative to the bow, and calculates the time required for the mother ship to reach the autonomous underwater robot.
9. The autonomous underwater robot water surface monitoring method of claim 8, characterized in that: the industrial personal computer is integrated with the touch display screen, and can graphically display the position, the speed and the heading of the autonomous underwater robot, the distance between the mother ship and the autonomous underwater robot, the azimuth angle of the autonomous underwater robot relative to the bow, and the time information required by the mother ship to reach the autonomous underwater robot.
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| CN201811500353.2A CN111290413A (en) | 2018-12-07 | 2018-12-07 | Autonomous underwater robot water surface monitoring system and method |
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| CN201811500353.2A CN111290413A (en) | 2018-12-07 | 2018-12-07 | Autonomous underwater robot water surface monitoring system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113391584A (en) * | 2021-06-11 | 2021-09-14 | 天津大学 | CAN bus-based extensible communication system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391584A (en) * | 2021-06-11 | 2021-09-14 | 天津大学 | CAN bus-based extensible communication system |
| CN113391584B (en) * | 2021-06-11 | 2022-11-22 | 天津大学 | CAN bus-based extensible communication system |
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