CN113238713B - AUV-based centralized portable storage system - Google Patents
AUV-based centralized portable storage system Download PDFInfo
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- CN113238713B CN113238713B CN202110472075.XA CN202110472075A CN113238713B CN 113238713 B CN113238713 B CN 113238713B CN 202110472075 A CN202110472075 A CN 202110472075A CN 113238713 B CN113238713 B CN 113238713B
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- underwater robot
- autonomous underwater
- storage system
- interface
- auv
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0602—Interfaces specially adapted for storage systems specifically adapted to achieve a particular effect
- G06F3/0614—Improving the reliability of storage systems
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
- G06F11/2053—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where persistent mass storage functionality or persistent mass storage control functionality is redundant
- G06F11/2094—Redundant storage or storage space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0629—Configuration or reconfiguration of storage systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
- G06F3/067—Distributed or networked storage systems, e.g. storage area networks [SAN], network attached storage [NAS]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
- G06F3/0671—In-line storage system
- G06F3/0683—Plurality of storage devices
- G06F3/0685—Hybrid storage combining heterogeneous device types, e.g. hierarchical storage, hybrid arrays
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
- G06F3/0671—In-line storage system
- G06F3/0683—Plurality of storage devices
- G06F3/0689—Disk arrays, e.g. RAID, JBOD
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/40—Constructional details, e.g. power supply, mechanical construction or backplane
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Abstract
The invention discloses an AUV-based centralized portable storage system, which comprises an autonomous underwater robot and a storage device, wherein a pressure-resistant cabin body is arranged in the autonomous underwater robot, a dorsal fin is arranged on one side, close to the pressure-resistant cabin body, of the autonomous underwater robot and is fixedly welded at the top of the autonomous underwater robot, a tail fin is movably connected to the tail end of the autonomous underwater robot, a watertight plug is arranged on the outer side of the pressure-resistant cabin body, a fixing frame is fixedly connected to the inside of the watertight plug, a fixing plate is fixedly welded at the bottom of the fixing frame, the top of the fixing plate is fixedly welded with the storage device, a front side cover is arranged at the front end of the front side cover, a top cover is arranged at the top of the storage device, a bottom cover is arranged at the bottom of the storage device, a right side cover and a left side cover are respectively connected to the two ends of the storage device through bolts, and a control carrier plate is arranged in the storage device.
Description
Technical Field
The invention relates to the technical field of autonomous underwater robots (AUVs), in particular to a centralized portable storage system based on an AUV.
Background
Autonomous underwater robots (Autonomous Underwater Vehicle, AUV) are complex unmanned systems integrating the functions of environmental awareness, dynamic decision and planning, behavior control, energy adaptation and the like, and are important tools for submarine detection, development and search. With the rapid development and the continuous expansion of the application range of the AUV technology, the functions of the AUV technology are also continuously enriched, so that a large amount of precious data to be stored can be generated in the working process of the AUV.
The memories of the various on-load function sensors of the traditional AUV are distributed in different watertight cabins or watertight tanks and are integrated in the carrier covered by the non-watertight outer shell, so that the data storage of each computer and the function sensor of the AUV is excessively distributed, the data unloading process is complicated, the disassembly workload is large, the consumed time is long, the problem can be solved by adopting a centralized storage strategy to realize effective storage, but in an underwater unmanned system, the requirement of the function sensor on the storage equipment is higher, the requirements on the low power consumption, miniaturization, reliability and usability of the system are stricter, and a general storage system is still difficult to ensure reliable and uninterrupted long-time operation under the related environment. We have therefore made improvements to this and have proposed a centralized portable storage system based on AUV.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
the invention discloses an AUV-based centralized portable storage system, which comprises an autonomous underwater robot and a storage, wherein a pressure-resistant cabin body is arranged in the autonomous underwater robot, a dorsal fin is arranged on one side close to the pressure-resistant cabin body and fixedly welded in the autonomous underwater robot, a tail fin is movably connected to the tail end of the autonomous underwater robot, a watertight plug is arranged on the outer side of the pressure-resistant cabin body, a fixed frame is fixedly connected to the inside of the watertight plug, a fixed plate is fixedly welded to the bottom of the fixed frame, a storage is fixedly welded to the top of the fixed plate, a front side cover is arranged at the front end of the front side cover, a top cover is arranged at the top of the storage, a bottom cover is arranged at the bottom of the storage, a right side cover and a left side cover are respectively connected to the two ends of the storage, a control carrier plate is arranged in the storage, a connector is arranged at the front end of the front side cover, a 10-way gigabit network port and a control interface are arranged in the connector, the 10-way gigabit network port is connected with a function sensor, the function sensor is formed by a sensor 1, a sensor 2, a sensor 3 and a control carrier plate, a data acquisition system is arranged in the storage area is connected with a RAID (Internet protocol) -based on a RAID (Internet protocol) and a data storage system, and a data storage system is formed by a portable storage system, and a storage network is provided with a data storage and a storage method.
As a preferable technical scheme of the invention, one side of the pressure-resistant cabin body is provided with an external interface, and the external interface is designed to be downward by adopting the interface and is in clamping connection with the surface of the autonomous underwater robot.
As a preferable technical scheme of the invention, an embedded system module is arranged in the control carrier plate, and the embedded system module adopts an SATA3.0 integrated interface and an on-board SATA SSD storage.
As a preferable technical scheme of the invention, a switch module is arranged in the control carrier plate, the switch module is provided with a main board, the main board adopts a circular design, and an RJ45 interface with an upward interface is arranged.
As a preferable technical scheme of the invention, the heat radiating fin is arranged in the storage, and the heat radiating fin is made of aluminum magnesium alloy material.
The beneficial effects of the invention are as follows: the method is characterized in that a centralized portable storage system is arranged in the control carrier plate, the hybrid storage method based on the RAID of the disk array is used, a RAID hierarchical model of the disk array is built based on overall storage requirements, task load characteristics are analyzed, popular weight data classification is built, the concept of hot disks/cold disks is provided in combination with the load percentages of different disk areas of the disk array, the concept of hot disks/cold disks is provided, the hot disks are combined with the characteristic that the hot disks consume higher energy cost and operate in a higher speed mode and the cold disks consume lower energy cost and operate in a lower speed mode, an embedded system module is arranged in the control carrier plate, an SATA3.0 integrated interface and an on-board SATA (serial advanced technology) are adopted by the embedded system module, a network additional storage technology is adopted by the embedded system module, a software system is independently arranged, a switch module is arranged in the control carrier plate, a main board is arranged, an RJ45 interface with an upward interface is arranged in the control carrier plate, and the switch module is enabled to have low standby power consumption and only has average power consumption of 10 when the control carrier plate is fully designed. The system can be operated for a long time with low consumption.
Drawings
FIG. 1 is a schematic diagram of an AUV-based centralized portable storage system;
FIG. 2 is a schematic diagram of a pressure resistant cabin of the AUV-based centralized portable storage system of the present invention;
FIG. 3 is a schematic diagram of a storage structure of an AUV-based centralized portable storage system according to the present invention;
FIG. 4 is a schematic diagram of the internal structure of a storage of an AUV-based centralized portable storage system according to the present invention;
fig. 5 is a system schematic diagram of an AUV-based centralized portable storage system according to the present invention.
In the figure: 1. an autonomous underwater robot; 2. a pressure-resistant cabin; 3. dorsal fin; 4. tail fins; 5. a watertight plug; 6. a fixing frame; 7. a storage; 8. an external interface; 9. a front side cover; 10. a top cover; 11. a bottom cover; 12. a right cover; 13. a left cover; 14. controlling a carrier plate; 15. a connector lug.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Examples: as shown in fig. 1 to 5, the centralized portable storage system based on AUV of the present invention comprises an autonomous underwater robot 1 and a storage 7, wherein a pressure-resistant cabin 2 is provided inside the autonomous underwater robot 1, a dorsal fin 3 is provided on one side close to the pressure-resistant cabin 2 and fixedly welded on the top of the autonomous underwater robot 1, a tail fin 4 is movably connected to the tail end of the autonomous underwater robot 1, a watertight plug 5 is provided on the outer side of the pressure-resistant cabin 2, a fixing frame 6 is fixedly connected inside the watertight plug 5, a fixing plate is fixedly welded on the bottom of the fixing frame 6, the top of the fixing plate is fixedly welded with the storage 7, a front side cover 9 is provided at the front end of the front side cover 9, a top cover 10 is provided at the top of the storage 7, a bottom cover 11 is provided at the bottom of the storage 7, a right side cover 12 and a left side cover 13 are respectively bolted to both ends of the storage 7, a control carrier plate 14 is provided inside the storage 7, the front end of the front side cover 9 is provided with a connector lug 15, the inside of the connector lug 15 is provided with 10 paths of kilomega network ports and a control interface, the 10 paths of kilomega network ports are connected with functional sensors, the functional sensors are composed of a sensor 1, a sensor 2, a sensor 3 and a sensor 4, the control interface is connected with a control cabin, the control cabin is composed of a main control computer and a current and voltage acquisition unit, a data server is arranged in the control carrier plate 14, the data server adopts an IP-SAN dual-redundancy data server method, adopts the IP-SAN dual-redundancy data server method, namely, a high-availability dual-redundancy server system in a main/standby mode is adopted to ensure the reliability and the stability of a hardware system, a centralized portable storage system is arranged in the control carrier plate 14 and is based on a disk array RAID hybrid storage method, a hybrid storage method based on a disk array RAID is used, a disk array RAID hierarchical model is built based on overall storage requirements, task load characteristics are analyzed, data classification of popular weights is established, the concept of hot disks/cold disks is provided by combining the load percentages of different disk areas of a disk array, and the characteristics that the hot disks are operated at the cost of consuming higher energy cost and in a higher speed mode and the cold disks are operated at the cost of consuming lower energy cost and in a lower speed mode are combined.
The pressure-resistant cabin body 2 is provided with an external interface 8 on one side, the external interface 8 is designed to be downwards connected with the surface of the autonomous underwater robot 1 in a clamping mode, the external interface 8 is arranged on one side of the pressure-resistant cabin body 2, the pressure-resistant cabin body is designed to be downwards, the pressure-resistant cabin body can be conveniently taken out from the autonomous underwater robot, and data can be unloaded by connecting a special watertight cable.
Wherein, the embedded system module is arranged in the control carrier plate 14, the embedded system module adopts SATA3.0 integrated interface and onboard SATA SSD storage, the embedded system module is arranged in the control carrier plate 14, adopts network additional storage technology, and independently sets a software system, thereby having RAID array storage function.
Wherein, the inside of control carrier plate 14 is equipped with the switch module, and the switch module is equipped with the mainboard, and the mainboard adopts circular design, and is equipped with the RJ45 interface that the interface upwards, is equipped with the switch module in the inside of control carrier plate 14 and makes its low-power consumption, miniaturized design, and the average consumption is only 10W when standby and full load. The system can be operated for a long time with low consumption.
Wherein, the inside of the storage 7 is provided with radiating fins which are made of aluminum magnesium alloy material, and the inside of the storage 7 is provided with radiating fins which can quicken the heat dissipation of the inside.
Working principle: firstly checking whether the device is normal or not, when the device is checked, the device comprises an autonomous underwater robot 1 and a storage 7, wherein the two ends of the storage 7 are respectively connected with a right side cover 12 and a left side cover 13 through bolts, a control carrier plate 14 is arranged in the storage 7, a connector lug 15 is arranged at the front end of a front side cover 9, 10 kilomega network ports and a control interface are arranged in the connector lug 15, the 10 kilomega network ports are connected with functional sensors, the functional sensors are composed of a sensor 1, a sensor 2, a sensor 3 and a sensor 4, the control interface is connected with a control cabin, the control cabin is composed of a main control computer and a current and voltage acquisition unit, a data server is arranged in the control carrier plate 14, the data server adopts an IP-SAN dual-redundancy data server method, the dual-redundancy data server method of the IP-SAN is adopted, namely, based on a high-availability dual-redundancy server system in a main/standby mode, ensuring the reliability and stability of a hardware system, arranging a centralized portable storage system in the control carrier plate 14, wherein the centralized portable storage system is based on a hybrid storage method of a disk array RAID, constructing a disk array RAID hierarchical model based on overall storage requirements by using the hybrid storage method based on the disk array RAID, analyzing task load characteristics, establishing data classification of popular weights, combining load percentages of different disk areas of the disk array, providing a concept of hot disk/cold disk, combining the characteristics that the hot disk is operated at a higher energy cost and in a higher speed mode and the cold disk is operated at a lower energy cost and in a lower speed mode, arranging an external interface 8 on one side of the pressure-resistant cabin body 2, adopting an interface downward design, the embedded system module is connected with the surface of the autonomous underwater robot 1 in a clamping way, an external interface 8 is arranged on one side of the pressure-resistant cabin body 2, the interface is downwards designed to be convenient to take out from the autonomous underwater robot, a special watertight cable is connected to unload data, an embedded system module is arranged in the control carrier plate 14, the embedded system module adopts an SATA3.0 integrated interface and an onboard SATA SSD for storage, an embedded system module is arranged in the control carrier plate 14, a network additional storage technology is adopted, a software system is independently arranged, a RAID array storage function is realized, a switch module is arranged in the control carrier plate 14, a main board is arranged on the switch module, the main board adopts a circular design and is provided with RJ45 with an upwards interface, the switch module is arranged in the control carrier plate 14 to enable the control carrier plate 14 to have low power consumption and small-sized design, and average power consumption is only 10W during standby and full loading. The system can meet the long-time low-consumption operation, the radiating fins are arranged in the storage 7 and made of aluminum magnesium alloy materials, and the radiating fins are arranged in the storage 7 to accelerate the internal heat dissipation.
Finally, it should be noted that: in the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a centralized portable storage system based on AUV, includes autonomous underwater robot (1) and storer (7), its characterized in that, the top of autonomous underwater robot (1) is equipped with withstand voltage cabin (2), is close to one side of withstand voltage cabin (2) is equipped with dorsal fin (3) to fixed welding is in the top of autonomous underwater robot (1), the tail end swing joint of autonomous underwater robot (1) has caudal fin (4), the inside of withstand voltage cabin (2) is equipped with watertight plug (5), watertight plug (5)'s inside fixedly connected with mount (6), fixed plate is welded in the bottom of mount (6), fixed plate's top fixedly welded has storer (7), the front end of storer (7) is equipped with preceding side cap (9), the top of storer (7) is equipped with top cap (10), the bottom of storer (7) is equipped with bottom cap (11), the both ends of storer (7) are bolted connection respectively has right side cap (12) and left side cap (13), the inside of storer (7) is equipped with mount (6), the bottom of mount (6) is equipped with junction box (10), the front end (15) is equipped with the gate of giga-port, the network port (15 is equipped with, the function sensor consists of four sensors, the control interface is connected with a control cabin, the control cabin consists of a main control computer and a current and voltage acquisition unit, a data server is arranged in the control carrier plate (14), the data server adopts a double-redundancy data server method of an IP-SAN, a centralized portable storage system is arranged in the control carrier plate (14), the centralized portable storage system is based on a hybrid storage method of a disk array RAID, one side of the pressure-resistant cabin body (2) is provided with an external interface (8), and the external interface (8) is designed downwards by adopting an interface and is connected with the surface of the autonomous underwater robot (1) in a clamping mode.
2. The AUV-based centralized portable storage system of claim 1, wherein an embedded system module is disposed inside the control carrier (14), and the embedded system module uses SATA3.0 integrated interface and on-board SATA SSD storage.
3. The AUV-based centralized portable storage system of claim 1, wherein a switch module is disposed inside the control carrier (14), the switch module is provided with a motherboard, and the motherboard is of a circular design and is provided with an RJ45 interface with an upward interface.
4. The AUV-based centralized portable storage system of claim 1, wherein the interior of the reservoir (7) is provided with a heat sink, and wherein the heat sink is made of an aluminum magnesium alloy material.
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| ITMI20110859A1 (en) * | 2011-05-17 | 2012-11-18 | Eni Spa | INDEPENDENT SUBMARINE SYSTEM FOR 4D ENVIRONMENTAL MONITORING |
| WO2016205415A1 (en) * | 2015-06-15 | 2016-12-22 | ImageKeeper LLC | Unmanned aerial vehicle management |
| CN105824581A (en) * | 2016-03-22 | 2016-08-03 | 山东超越数控电子有限公司 | IP (Internet Protocol) SAN (Storage Area Network) storage device and storage method thereof |
| CN108107483B (en) * | 2017-12-27 | 2023-08-11 | 国家海洋局第一海洋研究所 | Seismic prospecting system based on underwater mobile platform |
| US11148284B2 (en) * | 2018-11-15 | 2021-10-19 | International Business Machines Corporation | Controlling moveable robot blocks to dynamically form a barrier |
| CN110261932A (en) * | 2019-06-10 | 2019-09-20 | 哈尔滨工程大学 | A kind of polar region AUV acousto-optic detection system |
| CN110673615A (en) * | 2019-08-28 | 2020-01-10 | 浙江工业大学 | Autonomous underwater unmanned vehicle control system |
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| JP2010285013A (en) * | 2009-06-10 | 2010-12-24 | Yukio Ota | Bilge-ballast pipe device of vessel |
| CN108639286A (en) * | 2018-05-12 | 2018-10-12 | 浙江大学 | A kind of control method of the spherical underwater robot of quadrotor |
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