CN112214004A - Calibration and automatic detection system and method for underwater glider - Google Patents

Calibration and automatic detection system and method for underwater glider Download PDF

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Publication number
CN112214004A
CN112214004A CN202011071397.5A CN202011071397A CN112214004A CN 112214004 A CN112214004 A CN 112214004A CN 202011071397 A CN202011071397 A CN 202011071397A CN 112214004 A CN112214004 A CN 112214004A
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CN
China
Prior art keywords
underwater glider
signal
detection system
computer processor
underwater
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Withdrawn
Application number
CN202011071397.5A
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Chinese (zh)
Inventor
金文明
张煜东
王瑾
於晓龙
罗业腾
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Shenzhen Investment Holding Co ltd
Shenyang Institute of Automation of CAS
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Shenzhen Investment Holding Co ltd
Shenyang Institute of Automation of CAS
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Priority to CN202011071397.5A priority Critical patent/CN112214004A/en
Publication of CN112214004A publication Critical patent/CN112214004A/en
Withdrawn legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/24Pc safety
    • G05B2219/24065Real time diagnostics

Abstract

The invention relates to an underwater robot, in particular to a calibration detection system and method based on an underwater glider. The system adopts a CPCI bus architecture and an embedded processor architecture of DSP + FPGA to combine with other multi-class standard buses and analog-digital signal interface technologies according to the automatic detection requirement of the embedded system, so that the reliability, the universality and the intelligent degree of the detection system are improved. The method comprises the steps of calibrating and automatically detecting signals of the equipment to be detected of the underwater glider and the carried sensor, and judging whether each equipment works normally. The present invention has: 1. the system is developed with mature devices plus some key advanced technologies. 2. And a standard interface type and a software structure are adopted, so that the development period and the cost caused by special equipment are avoided. 3. Has the expandable capability and maintains a certain service cycle. 4. The system function and performance are ensured under the complex severe environment, the system reliability is improved, and the detection fault and unreliable result are avoided.

Description

Calibration and automatic detection system and method for underwater glider
Technical Field
The invention belongs to the field of an electric control system of an underwater robot, and particularly relates to a universal calibration and automatic detection system and method for an underwater glider.
Background
The underwater glider is a novel underwater measuring system which is driven by buoyancy of the underwater glider, is a non-plug-in propulsion device developed by combining a buoy technology, a subsurface buoy technology and an underwater robot technology, has the characteristics of long time, long distance, large-range clustering, ocean observation without a mother ship, low power consumption and the like, and can work for months or even more than 1 year on the sea by once laying the underwater glider. The system is mainly responsible for marine environment data acquisition and storage, path planning, motion attitude control, communication link establishment, data transmission, mission task receiving and interpretation, system state monitoring, system error emergency treatment and the like during underwater glider diving operation. The underwater glider has the characteristics of wide operation range, long operation time, maneuverability, controllability, reusability and the like, is an underwater measuring platform with self-contained energy, and can achieve the maximum continuous operation time of months or even more than one year. In the long-time process, the operation stability and reliability of the underwater glider in the sea are very important, so that the underwater glider is subjected to some means before being closed and arranged, and the practicability of the system is very important to be improved. Need carry out automated inspection to the system of glider system, in order to guarantee timely the restoration when the system has the leak on the one hand, improve the reliability of system, on the other hand can study the technique that improves commonality and intelligent degree, has important meaning to glider under water.
Disclosure of Invention
In view of the above problems, the present invention provides a stable and reliable system and method for calibrating and automatically detecting an underwater glider system and a hardware system detection thereof, so as to ensure that the underwater glider operates on the sea for a long time.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a calibration and automatic detection system for an underwater glider comprises: the system comprises a lower computer processor, a signal generating and conditioning circuit and a detection system function interface board which are sequentially connected, wherein the detection system function interface board is also connected with a processor and a display control unit of the equipment to be detected and an upper computer;
the lower computer processor is used for receiving the instructions of the upper computer and feeding back the acquired signals;
the upper computer is used for carrying out data acquisition control on the lower computer processor and displaying the fed-back acquisition signals;
the signal generating and conditioning circuit board is used for generating an excitation signal according to the instruction received by the lower computer, outputting the excitation signal to the equipment to be detected, acquiring and conditioning a feedback signal output by the equipment to be detected, and outputting the feedback signal to the lower computer processor;
the detection system function interface board is used for providing various communication or processing interfaces.
And the lower computer processor adopts an embedded processing chip of a DSP and an FPGA.
The equipment to be detected comprises: each control circuit board sensor potentiometer, depth gauge sensor, pitching angle sensor, buoyancy gauge and rudder potentiometer of the underwater glider; CTD, CTM, GPS sensors; DO, ECO sensor.
The signal generating and conditioning circuit comprises a test excitation signal generating module and a test response signal collecting module which are respectively used for generating an excitation signal and processing a feedback collected signal.
The detection system function interface board includes: serial bus interface, 1553B bus interface, CAN bus interface, AD/DA interface, digital switching value interface and PCI bus interface.
The system adopts a CPCI bus for communication.
A method for calibrating and automatically detecting a system for an underwater glider is realized based on the calibration and automatic detection system for the underwater glider, and comprises the following steps: signals of each control circuit board of the underwater glider and signals of each sensor carried on the underwater glider are calibrated and automatically detected, and whether each device works normally or not is judged.
The calibration step comprises: the method comprises the steps of measuring and calibrating the maximum value, the minimum value and the middle value of the measuring range of a pitching angle sensor, a buoyancy meter and a rudder potentiometer of the underwater robot, adjusting and calibrating the measuring range of each sensor, and calibrating the detected values of the pitching angle sensor, the buoyancy meter and the rudder potentiometer into the corresponding measuring range middle value when the underwater glider is in an underwater hovering state.
The step of automatically detecting comprises: the upper computer processor is communicated with the lower computer processor, the lower computer processor receives instructions of the upper computer to control the signal generation and conditioning circuit board to generate a test excitation signal module to generate a test excitation signal, the test excitation signal is sent to the equipment to be detected through the detection system functional interface board, and the lower computer processor also controls the signal generation and conditioning circuit board to acquire a test response signal module and process a feedback signal of the equipment to be detected and send the feedback signal to the upper computer processor to complete an automatic detection process.
The invention has the following beneficial effects and advantages:
1. the invention is used for the calibration and automatic detection and upgrade of the sensor of the underwater glider, carries out standardized detection and calibration on various existing sensors of the underwater glider, and ensures the normal working and use of the sensor and the normal operation of the glider.
2. Aiming at the automatic detection requirement of the glider on the embedded system, the CPCI bus architecture is adopted to combine with other multi-class standard buses and analog-digital signal interface technologies, the technology for improving the reliability, the universality and the intelligent degree of the detection system is researched, and the method has important significance on the automatic detection technology. After the detection system starts to work, the detection result can be obtained without the participation of staff. The automatic detection system is controlled by a computer, can automatically complete detection tasks, generate excitation and data processing, and display and output detection results in real time, and has the characteristics of high detection speed, high precision, complete functions, uniform parameters, wide range and the like.
Drawings
FIG. 1 is a flow chart of the system calibration test of the present invention;
FIG. 2 illustrates the system interface architecture of the present invention;
FIG. 3 is a flow chart of the design of the automatic detection system of the present invention;
FIG. 4 illustrates the basic detection principle of the automatic detection system of the present invention;
FIG. 5 illustrates the structure of the automatic inspection system of the present invention;
FIG. 6 is a circuit diagram of a module for generating test stimulus signals and a module for collecting test response signals according to the present invention.
Detailed Description
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.
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.
The invention designs a universal applicable calibration and automatic detection flow method and system based on an underwater glider by combining the working characteristics of the underwater glider.
The system calibration test flow chart of the invention is shown in figure 1, before assembling the underwater glider, the integrality of each PCB (mainly each control circuit board of the device to be tested, such as the core board, the expansion board and the tail board of the underwater glider, for example, the control circuit board can act on the execution mechanism according to the instruction output signal of the underwater glider processor to control the motion track of the underwater glider) and each sensor function carried on the control circuit board is determined, and then calibration and test are carried out one by one. The process contents of calibration and test mainly include the following four types: 1) starting from a basic function PCB sensor potentiometer supporting the underwater glider, firstly, the voltage and current of the PCB are calibrated and tested, so that the voltage and current of the PCB become actual voltage and current (realized by a software program). 2) And calibrating and detecting a depth meter sensor, a pitch angle sensor, a buoyancy meter and a rudder potentiometer, wherein the calibration of the maximum value, the minimum value and the middle value of the measuring range of the pitch angle sensor, the buoyancy meter and the rudder potentiometer which are arranged on the underwater robot body is carried out (the range of each sensor is adjusted and calibrated, and each value of the pitch angle sensor, the buoyancy meter and the rudder potentiometer which are detected is calibrated to be the corresponding measuring range middle value when the underwater glider is in an underwater hovering state), and the detection step of whether the functions of each sensor are normal or not is carried out. 3) And the detection work of the CTD, CTM and GPS sensors, namely, the step of detecting whether the functions of the sensors are normal or not; the above is that the basic model underwater glider must be calibrated. 4) Meanwhile, if necessary, a DO dissolved oxygen sensor, an ECO nitrate sensor and the like can be carried out for function expansion, and the sensors are tested, namely, the detection step of whether the functions of the sensors are normal or not is carried out. After the potentiometer sensors are carried and calibrated, automatic detection can be carried out: and is used for judging whether each device works normally.
The interface composition structure of the simulation system of the underwater glider carried by the invention is shown in figure 2, and a processor of the underwater glider is a typical embedded computing system and is also a control unit of the underwater glider. In order to complete the navigation and control tasks of the glider, various sensors such as CTD, OD and ECO collect data and communicate with an upper computer, so that the glider generally has complex peripheral interfaces, and the interfaces are formed as shown in FIG. 2. The data instruction of the standard communication bus transmission system of the underwater glider, such as an RS232/RS422/RS485 bus, and also partial digital and analog interfaces, the interfaces are simply and conveniently connected with external test equipment, the number of interface devices is small, the compatibility is good, and the selection of the universal test equipment is convenient. Generally applied to complex environment, the method has better hardware reliability design, and the coupling among the hardware modules is smaller, thereby being convenient for individual test and fault isolation through observable data paths and circuits. Meanwhile, the underwater glider is provided with enough test points for test control, excitation input and signal measurement, and is internally provided with a circuit capable of controlling corresponding internal components, and an input/output interface of switching value and analog value. In the working process, the system can carry out self-checking on internal components after being electrified, can monitor each key state in real time after formal work, and can output a detection state at a specific moment, which is sufficient to be a self-checking system comprising hardware and software for self-detection. Therefore, the main method and way for improving the testability level of the equipment and the system and enabling the equipment and the system to have good testability is to design aspects such as compatibility, inherent testability and the like of the invention. The underwater glider processor is connected with each sensor through various adapting interfaces (TTL interface, RS232 interface, RS422 interface, switching value interface and analog value interface): GPS, TCM module, TCD depth gauge, altimeter, DO and ECO sensors, battery, potentiometer.
According to the design method of the automatic detection system, the design flow of the automatic detection system adopts a top-down design method, the modules are designed according to the composition structure of the automatic detection system, a part of the modules which are convenient to verify are debugged, and finally all the modules are integrated into a complete system for unified test and verification. The design flow is shown in fig. 3. The design flow of the automatic detection system in the figure is developed according to the equipment to be detected, and the design process of the automatic detection system of most complex embedded systems is the same as that described above. In the design flow, an individual link may need to be iterated for many times, for example, the software and hardware design of the detection system is difficult to meet the requirement of the test system at one time because the related modules and details are more. In order to shorten the development period, the software and hardware design of the detection system can be carried out simultaneously after the system scheme is established, and even a module partially universal in the requirement analysis stage exists. The design flow of the detection system is the basis for ensuring the practicability, economy and high efficiency of system design, and the lack of important links therein will affect the function and performance of the system.
The calibration and automatic detection system generally comprises a microcomputer module, a module for generating a test excitation signal, a module for collecting a test response signal, an adaptive interface and the like, and the basic detection principle is shown in figure 4. It can be seen from the basic test principle of the detection system that the detection system applies excitation to the devices to be tested, the devices to be tested feed back response signals, the data communication process in the detection is controlled by a computer, and the devices to be tested are connected through an interface adapter. In the testing process of the detection system, the underwater glider is connected with the underwater glider through a cable, the underwater glider and the cable are provided with the same connecting interfaces, and the signal types are in one-to-one correspondence. After the detection system starts a test flow: 1) first, a bus interface sends a test command to the glider processor, and the driver is applied and the response signal is monitored. 2) And then the detection system starts the task binding of the glider, the lower computer processor reports the result to the upper computer after receiving the analog state signal of the equipment system to be detected, the upper computer system sends an instruction, the underwater glider performs the task execution starting preparation, after the task is executed, the underwater glider starts the communication stage with the upper computer, and the test process is finished. An interactive testing method is adopted to simulate the communication state environment of the real work of the underwater glider, a lower computer processor transmits testing data and states to an upper computer according to the work flow of the equipment to be tested (the underwater glider), and the upper computer processor analyzes and evaluates the software and hardware functions of the equipment to be tested by feeding back the collected data and states and comprehensively analyzes the overall performance of the equipment to be tested.
The calibration and automatic detection system adopts a modular design, supports the combination of a master control module and a plurality of slave control modules in the system based on a master-slave framework of a CPCI bus technology, and can fully utilize the advantages of graphic display control, data storage, human-computer interaction and the like of an upper computer and the characteristics of high integration level, good real-time performance, low power consumption and the like of a lower embedded framework. Data alternating signals among a plurality of functional modules contained in the system are all connected through a back panel of the CPCI bus system, and the advantages of the CPCI bus system in front-back plug-in mounting are fully applied. The calibration and automatic detection system of the invention specifically comprises: the system comprises a lower computer processor (DSP + FPGA), a signal generating and conditioning circuit board and a detection system function interface board which are sequentially connected, wherein the detection system function interface board is also connected with a device to be detected and a processor and a display control unit of an upper computer. The lower computer processor is used for receiving instructions of the upper computer and feeding back collected signals, the upper computer is used for carrying out data collection control on the lower computer processor and displaying the fed back collected signals, and the signal generating and conditioning circuit board is used for generating exciting signals according to the instructions received by the lower computer, outputting the exciting signals to the equipment to be detected, collecting and conditioning the feedback signals output by the equipment to be detected and outputting the feedback signals to the lower computer processor. The detection system function interface board comprises serial bus interfaces (such as RS485, RS232 and RS422), a 1553B bus interface, a CAN bus interface, an AD/DA interface, a digital switching value interface and a PCI bus interface.
The signal generating and conditioning circuit of the calibration and automatic detection system comprises: the module for generating the test excitation signal and the module for acquiring the test response signal are respectively used for generating the excitation signal and conditioning the feedback acquisition signal, and the specific circuit structure is shown in fig. 6. In the test process of the detection system, the detection system is connected with a computer through a standard cable, the detection system and the computer have the same connecting interface, and the signal types are in one-to-one correspondence. After the test system begins the test procedure, it first sends a test command to the computer, applies an excitation and monitors the signal in response. And then the detection system starts to run and bind tasks, the computer reports results after receiving the simulation state of the detection system, the detection system sends instructions, the computer performs various tests, the butt joint of the pitching machine, the steering engine, the buoyancy and various sensors and the preparation before the overall test are started, after each unit is normally tested, the overall test through the running virtual period is started, and the test process is finished. The interactive testing method is adopted to simulate the communication state environment of the real work of the underwater glider, the testing data and state are continuously transmitted according to the working process, the detection system analyzes the collected data and receives the feedback state to evaluate the software and hardware functions, and the overall performance of the detection system is comprehensively analyzed.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (9)

1. A calibration and automatic detection system for an underwater glider is characterized by comprising a lower computer processor, a signal generating and conditioning circuit and a detection system functional interface board which are sequentially connected, wherein the detection system functional interface board is also connected with a processor and a display control unit of a device to be detected and an upper computer;
the lower computer processor is used for receiving the instructions of the upper computer and feeding back the acquired signals;
the upper computer is used for carrying out data acquisition control on the lower computer processor and displaying the fed-back acquisition signals;
the signal generating and conditioning circuit board is used for generating an excitation signal according to the instruction received by the lower computer, outputting the excitation signal to the equipment to be detected, acquiring and conditioning a feedback signal output by the equipment to be detected, and outputting the feedback signal to the lower computer processor;
the detection system function interface board is used for providing various communication or processing interfaces.
2. The system for calibrating and automatically detecting the underwater glider according to claim 1, wherein the lower computer processor is an embedded processing chip of a DSP and an FPGA.
3. The system of claim 1, wherein the device to be tested comprises: each control circuit board sensor potentiometer, depth gauge sensor, pitching angle sensor, buoyancy gauge and rudder potentiometer of the underwater glider; CTD, CTM, GPS sensors; DO, ECO sensor.
4. The system of claim 1, wherein the signal generating and conditioning circuit comprises a test excitation signal generating module and a test response signal collecting module, and the test excitation signal generating module and the test response signal collecting module are respectively used for generating an excitation signal and processing a feedback collected signal.
5. The system of claim 1, wherein the detection system function interface board comprises: serial bus interface, 1553B bus interface, CAN bus interface, AD/DA interface, digital switching value interface and PCI bus interface.
6. The system for calibrating and automatically detecting the underwater glider according to claim 1, wherein the system is in communication with a CPCI bus.
7. A method for calibrating and automatically detecting a system for an underwater glider, which is implemented based on the calibrating and automatically detecting system for an underwater glider according to any one of claims 1 to 6, and comprises the following steps: signals of each control circuit board of the underwater glider and signals of each sensor carried on the underwater glider are calibrated and automatically detected, and whether each device works normally or not is judged.
8. The system of claim 7, wherein the calibration step comprises: the method comprises the steps of measuring and calibrating the maximum value, the minimum value and the middle value of the measuring range of a pitching angle sensor, a buoyancy meter and a rudder potentiometer of the underwater robot, adjusting and calibrating the measuring range of each sensor, and calibrating the detected values of the pitching angle sensor, the buoyancy meter and the rudder potentiometer into the corresponding measuring range middle value when the underwater glider is in an underwater hovering state.
9. The system of claim 7, wherein the step of automatically detecting comprises: the upper computer processor is communicated with the lower computer processor, the lower computer processor receives instructions of the upper computer to control the signal generation and conditioning circuit board to generate a test excitation signal module to generate a test excitation signal, the test excitation signal is sent to the equipment to be detected through the detection system functional interface board, and the lower computer processor also controls the signal generation and conditioning circuit board to acquire a test response signal module and process a feedback signal of the equipment to be detected and send the feedback signal to the upper computer processor to complete an automatic detection process.
CN202011071397.5A 2020-10-09 2020-10-09 Calibration and automatic detection system and method for underwater glider Withdrawn CN112214004A (en)

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Application publication date: 20210112