CN112249277B - Underwater cluster behavior experiment platform - Google Patents
Underwater cluster behavior experiment platform Download PDFInfo
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- CN112249277B CN112249277B CN202011115437.1A CN202011115437A CN112249277B CN 112249277 B CN112249277 B CN 112249277B CN 202011115437 A CN202011115437 A CN 202011115437A CN 112249277 B CN112249277 B CN 112249277B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
Abstract
The invention provides an underwater cluster behavior experiment platform, wherein a main control module and a sensing module are arranged in an electronic cabin, a communication module is arranged in an antenna cabin, a power supply module is arranged in a battery cabin, a propeller module comprises two main propellers and a vertical propeller, the two main propellers are respectively arranged at two sides of an AUV tail mounting plate, the vertical propeller is arranged in a gap between the battery cabin and the electronic cabin and is vertically arranged in a duct penetrating through an upper panel and a lower panel of a navigation device, and equipment in the electronic cabin and the antenna cabin are connected through an RS232 serial universal interface. The invention has the advantages of low energy consumption, strong flexibility, real-time monitoring and low cost, can change the detection equipment from high-power-consumption sonar into low-power-consumption LED lamp belts and underwater cameras, reduces the power consumption, can realize the real-time monitoring of the experiment platform on the shore, and is convenient for observing the experiment phenomenon. Meanwhile, the platform also realizes the enhancement of the flexibility of the AUV through reasonable propeller layout.
Description
Technical Field
The invention relates to an integrated design of an Autonomous Underwater Vehicle (AUV) platform, in particular to a novel AUV design and a set of multi-AUV cluster interaction platform.
Background
The AUV is an unmanned, untethered and completely autonomous underwater vehicle, and plays an important role in ocean engineering tasks such as ocean exploration, resource investigation and the like, and military tasks such as enemy reconnaissance, target positioning and the like. The AUV cluster is characterized in that a plurality of AUVs are used, and a certain macroscopic form, such as large-area coverage, target capture and the like, is realized through simple interaction among AUV individuals and simple rule setting. Compared with a conventional single AUV working mode and a multi-AUV collaborative formation mode, the AUV cluster has great advantages. Compared with a single AUV working mode, the AUV cluster has higher observation efficiency and higher speed on large-scale sea areas, does not need a single AUV to carry out large-scale navigation, and has lower requirement on individual endurance. Compared with a multi-AUV collaborative formation mode, the number of AUV cluster individuals is larger, and an underwater observation network with higher reliability and fault tolerance can be formed; and the AUV cluster does not need to strictly form individuals into a team through detailed information interaction and perception, and the AUV individuals can form a group form required by a designer in a self-organizing way through simple interaction rules and less information. Therefore, research on the AUV cluster has important significance for developing ocean detection and observation technology and improving the perception capability of our navy on ocean safety. However, the conventional AUV has a large size, requires enough activity space, and is inconvenient for performing a principle experiment of a clustering theory and a clustering behavior in an experimental water pool; meanwhile, the conventional AUV adopts underwater acoustic communication, so that the communication module has high power consumption and high cost, cannot perform on-shore real-time monitoring and is not suitable for being used as an AUV cluster experiment platform.
Disclosure of Invention
Aiming at the problems that in an underwater clustering experiment, a conventional AUV has poor navigation flexibility under laboratory conditions, high communication power consumption, incapability of monitoring in real time on shore and high cost, the invention improves the working capacity of the AUV in a narrow experimental water area, reduces the power consumption and complexity of AUV clustering underwater communication and controls the cost.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an underwater cluster behavior experiment platform adopts a modularized frame type structure and comprises a main control module, a sensing module, a communication module, a power supply module and a propeller module; the main control module and the sensing module are placed in the electronic cabin, the communication module is placed in the antenna cabin, the power supply module is placed in the battery cabin, the propeller module comprises two main propellers and a vertical propeller, the two main propellers are respectively installed on two sides of the AUV tail installation plate, the vertical propeller is placed in a gap between the battery cabin and the electronic cabin and is vertically installed in a duct penetrating through an upper panel and a lower panel of an aircraft, and the electronic cabin and the equipment in the antenna cabin are connected through an RS232 serial universal interface.
The main control module comprises a microcontroller and a PWM (pulse-width modulation) driving module, the microcontroller is used for collecting, processing and feeding back data of a sensor in the electronic cabin, adjusting the steering and rotating speed of each propeller and controlling the color and frequency of the LED lamp strip communication module; the PWM driving module is communicated with the microcontroller through an integrated circuit bus communication protocol, and sends out a PWM control signal according to an instruction of the microcontroller to control the propeller module so as to control the navigation attitude of the AUV;
the sensing module comprises an IMU sensor, a depth sensor and an underwater camera, and different sensors including a salinity sensor, an underwater pH value sensor and the like can be carried as required, the IMU sensor is used for sensing the course, the posture and the acceleration of the AUV, the depth sensor is used for sensing the navigation depth of the AUV, and the IMU sensor and the depth sensor jointly send a feedback signal to the main control module to assist the control system in controlling the AUV; the underwater camera performs visual acquisition and perception on an underwater environment and performs visual positioning on an underwater target and other individuals in the cluster; meanwhile, the underwater camera serves as a receiving device of LED underwater optical communication, the color and the flicker frequency of the LED lamp strip are judged, and then low-power-consumption interaction is carried out on the LED lamp strip and other individuals in the cluster.
The communication module comprises a low-frequency wireless communication module, an antenna and an LED colored lamp strip communication module, and the low-frequency wireless communication module is matched with the antenna to send back real-time navigation data to the onshore monitoring system, so that the experimental effect can be analyzed in real time conveniently; the method comprises the following steps that an LED colored lamp belt communication module is used as an information carrier of LED optical communication between aircrafts, the LED colored lamp belt communication module is a colored LED lamp belt with adjustable color, the communication mode of the LED colored lamp belt communication module is explicit coding communication, a main control module converts state information (such as whether a target is seen or not, whether a cluster task is started or not) of the aircrafts into combinations of different colors and flashing frequency through coding, the different colors represent different states of the aircrafts, and the flashing frequency further divides the current state into sub-states so as to improve the coded information amount of LED lamp belt communication; the colored LED lamp strip firstly displays colors representing the state of the aircraft according to the coded information of the main control module, and flickers at a fixed frequency on the basis of the colors, so that more accurate state information of the aircraft is transmitted; meanwhile, the vehicle identifies the flashing states of the lamp strips carried by other isomorphic vehicles through the underwater camera to acquire the state information of the other vehicles.
The power module is arranged in the battery cabin, comprises a 12V lithium battery and a voltage conversion module, and is used for supplying power to a sensor, a controller, communication equipment and a propeller module in the electronic cabin;
the propeller module comprises two main propellers, a vertical propeller and an electronic speed regulator, wherein the two main propellers are respectively arranged on two sides of the AUV tail mounting plate, and the forward and backward translation and the steering of the aircraft are realized by adjusting the steering and the rotating speed of the two main propellers; the vertical propeller is placed in a gap between the battery compartment and the electronic compartment, is vertically arranged in a duct penetrating through upper and lower panels of the aircraft, and realizes the floating and submerging of the AUV by adjusting the steering and rotating speed of the vertical propeller; the electronic speed regulator is placed in the battery compartment, and the electronic speed regulator regulates the rotating speed of the propeller according to the control signal sent by the main control module, and the layout of the propeller increases the flexibility of the AUV in terms of depth and steering.
The underwater cluster behavior experiment platform has the advantages of being low in energy consumption, strong in flexibility, capable of monitoring in real time and low in cost. Being different from the conventional AUV, the detection and communication are carried out by using sonar, the characteristics of small underwater cluster test field, clear water quality and shallow water depth are fully considered by the platform, and LED light and low-frequency radio waves are used as double communication media, so that the detection equipment can be changed into an LED lamp strip with low power consumption and an underwater camera from the sonar with high power consumption, the power consumption is reduced, the real-time monitoring of the experiment platform on the bank can be realized, and the experiment phenomenon can be observed conveniently. Meanwhile, the platform also realizes the enhancement of the flexibility of the AUV through reasonable propeller layout. Therefore, the underwater cluster behavior experiment platform has good engineering application value.
Drawings
FIG. 1 is a mechanical structure diagram of an underwater cluster behavior experiment platform.
FIG. 2 is a structural diagram of an underwater cluster behavior experiment platform system.
Wherein, 1-side panel, 2-main propeller mounting plate, 3-lower panel, 4-electronic cabin, 5-antenna cabin internal support, 6-antenna cabin, 7-vertical propeller bypass hole, 8-electronic cabin internal support, 9-battery cabin internal support, 10-upper panel, 11-vertical propeller fixing frame and 12-battery cabin.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
A main control module: the main control module is placed in an AUV electronic cabin, and the position of the electronic cabin is shown in figure 1. The main control module comprises a raspberry pi 3 microcontroller and a 16-path PWM driving module, as shown in FIG. 2. And the raspberry pie runs a Linux system and is used for collecting, processing and feeding back the sensor information. The raspberry section calculates control output, namely the rotating speed and the steering of the propeller according to the state of the AUV and a control algorithm set in advance, and passes parameters through I according to a protocol format 2 And the C bus is sent to a PWM driving module, and the PWM driving module adjusts the steering and rotating speed of each propeller according to the parameters transmitted by the raspberry group. Similarly, the raspberry pie encodes the self state and parameters, controls the color and frequency of the LED lamp strip communication module, and broadcasts the self state information to other platforms through color information and flicker frequency information.
A perception module: the perception module is arranged in the AUV electronic cabin and comprises a GY-85 nine-axis IMU sensor, a depth sensor and an underwater camera. The nine-axis IMU senses course, attitude and acceleration of the AUV, the depth sensor senses navigation depth of the AUV, and the data are used as feedback information necessary for closed-loop control of the AUV main control system on the aircraft and are sent to the raspberry. The underwater camera performs visual acquisition and perception on the underwater environment and performs visual positioning on the underwater target and other individuals in the cluster. Meanwhile, the underwater camera judges the colors and the flicker frequencies of the LED lamp belts of other aircrafts through machine vision, and determines the states of other individuals to carry out low-power-consumption interaction. In addition, the AUV can be provided with different types of sensors according to requirements to complete various underwater environment detection tasks, such as detection of water quality by a pH value sensor or detection of ocean parameters by a thermohaline depth sensor, and can be used as a general platform.
A communication module: the communication module comprises an EBYTE 170MHz wireless communication module, a 3db antenna and an LED lamp strip communication module, wherein the wireless communication module and the antenna are placed in an antenna cabin, and the LED lamp strip is arranged on the edge of the aircraft shell. The experiment shows that the effective communication distance of the 170MHz wireless communication module can reach more than 4m underwater in cooperation with a 3db antenna, and the effective communication distance in the air is more than 2km. Therefore, the module is used for real-time monitoring of AUV navigation data by the shore system in a laboratory environment (the depth of a water pool is less than 4 m), and the experimental effect can be analyzed in real time conveniently. The LED colored lamp strip communication module consists of a colored LED lamp strip with adjustable color, the main control module converts self state information (such as whether a target is seen or not, whether a cluster task is started or not and the like) into combinations of different colors and flicker frequencies through coding, and the LED lamp strip is controlled to work according to rules; meanwhile, the flashing states of the lamp strips carried by other targets are judged through the underwater camera, and states of other individuals are obtained.
A power supply module: the power module is placed in the battery compartment, comprises a 6S 12V lithium battery and a voltage conversion module and is responsible for supplying power to other electronic equipment and the propeller module. The battery outputs 12V voltage and is directly supplied to the propeller through electric regulation, and the voltage conversion module converts the battery outputs 12V voltage into 5V voltage and supplies the 5V voltage to the electronic cabin.
A thruster module: the propeller module comprises two main propellers, a vertical propeller and an electric controller, wherein the two main propellers are respectively arranged on the left and the right of the AUV tail mounting plate, and the front and back translation and the steering of the propeller can be realized through the adjustment of the steering and the rotating speed; the vertical propeller is placed in a duct penetrating through upper and lower panels of the aircraft, and the AUV floats upwards and submerges downwards through steering and rotation speed adjustment; the electric regulation is placed in the battery compartment. This propeller arrangement increases the flexibility of the AUV in terms of depth and steering.
Claims (5)
1. An underwater cluster behavior experiment platform is characterized in that:
the underwater cluster behavior experiment platform comprises a plurality of underwater vehicles AUVs, wherein each AUV adopts a modular frame structure and comprises a main control module, a sensing module, a communication module, a power supply module and a propeller module; the main control module and the sensing module are placed in the electronic cabin, the communication module is placed in the antenna cabin, the power supply module is placed in the battery cabin, the propeller module comprises two main propellers and a vertical propeller, the two main propellers are respectively installed on two sides of the AUV tail installation plate, the vertical propeller is placed in a gap between the battery cabin and the electronic cabin and is vertically installed in a duct penetrating through an upper panel and a lower panel of the aircraft, and the electronic cabin is connected with equipment in the antenna cabin through an RS232 serial universal interface; the communication module comprises a low-frequency wireless communication module, an antenna and an LED colored lamp strip communication module, and the low-frequency wireless communication module is matched with the antenna to send back real-time navigation data to the onshore monitoring system, so that the experimental effect can be analyzed in real time conveniently; the method comprises the following steps that an LED colored lamp belt communication module is used as an information carrier for LED lamp belt communication between aircrafts, the LED colored lamp belt communication module is a colored LED lamp belt with adjustable color, the communication mode of the LED colored lamp belt communication module is explicit coding communication, a main control module converts state information of the aircrafts into combinations of different colors and flashing frequencies through coding, the different colors represent different states of the aircrafts, and the flashing frequencies divide the current state into sub-states so as to improve the coded information content of the LED lamp belt communication; the colored LED lamp strip firstly displays the color representing the state of the aircraft according to the coded information of the main control module, and enables the colored LED lamp strip to flash at a fixed frequency on the basis of the color, so that more accurate state information of the aircraft is transmitted;
the sensing module comprises an underwater camera, the underwater camera is used for visually acquiring and sensing an underwater environment and visually positioning an underwater target and other individuals in the cluster; meanwhile, the underwater camera is used as a receiving device for LED lamp strip communication, the color and the flicker frequency of the colored LED lamp strip are judged, and then low-power-consumption interaction is carried out on the colored LED lamp strip and other individuals in the cluster; the vehicle identifies the flashing states of the colored LED lamp belts carried by other isomorphic vehicles through the underwater camera, and obtains the state information of other vehicles.
2. The underwater cluster behavior experiment platform of claim 1, wherein:
the main control module comprises a microcontroller and a PWM (pulse-width modulation) driving module, wherein the microcontroller is used for collecting, processing and feeding back data of a sensor in the electronic cabin, regulating the steering and rotating speed of each propeller and controlling the color and frequency of the LED colored lamp strip communication module; the PWM driving module is communicated with the microcontroller through an integrated circuit bus communication protocol, and sends out a PWM control signal according to an instruction of the microcontroller to control the propeller module so as to control the navigation attitude of the AUV.
3. The underwater cluster behavior experiment platform of claim 1, wherein:
the perception module further comprises an IMU sensor and a depth sensor, the IMU sensor is used for perceiving the course, the posture and the acceleration of the AUV, the depth sensor is used for perceiving the navigation depth of the AUV, and the IMU sensor and the depth sensor jointly send feedback signals to the main control module to assist the main control module in controlling the AUV.
4. The underwater cluster behavior experiment platform of claim 1, wherein:
the power module is arranged in the battery cabin and comprises a 12V lithium battery and a voltage conversion module for supplying power to the sensor, the controller and the communication equipment and the propeller module in the electronic cabin.
5. The underwater cluster behavior experiment platform of claim 1, wherein:
the propeller module also comprises an electronic speed regulator, and the forward and backward translation and the steering of the aircraft are realized by regulating the steering and the rotating speed of the two main propellers; the floating and submerging of the AUV are realized by adjusting the steering and rotating speed of the vertical propeller; the electronic speed regulator is placed in the battery cabin and adjusts the rotating speed of the propeller according to the control signal sent by the main control module.
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| CN113911307A (en) * | 2021-08-29 | 2022-01-11 | 西北工业大学 | Isolatable portable charging and discharging device based on autonomous remote control underwater vehicle (ARV) |
| CN114475989B (en) * | 2022-04-15 | 2022-07-12 | 山东科技大学 | Ocean cluster observation method |
| CN115230918B (en) * | 2022-06-08 | 2023-05-23 | 西北工业大学 | Full-drive autonomous underwater robot based on BlueROV2 and cable removing method |
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