CN113447864B - System and method for automatically retracting and releasing magnetometer for ocean surveying unmanned ship - Google Patents
System and method for automatically retracting and releasing magnetometer for ocean surveying unmanned ship Download PDFInfo
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- CN113447864B CN113447864B CN202110693017.XA CN202110693017A CN113447864B CN 113447864 B CN113447864 B CN 113447864B CN 202110693017 A CN202110693017 A CN 202110693017A CN 113447864 B CN113447864 B CN 113447864B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/032—Measuring direction or magnitude of magnetic fields or magnetic flux using magneto-optic devices, e.g. Faraday or Cotton-Mouton effect
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention relates to a system and a method for automatically retracting and releasing a magnetometer of an ocean surveying unmanned ship, which are used for acquiring position information, navigational speed information, course information and real-time navigation water depth information of the ocean surveying unmanned ship in real time through a GPS (global positioning system), a Beidou device, an optical fiber compass, a depth finder and a rudder angle sensor so as to decide the automatic retracting and releasing actions of the magnetometer, solve the problem that the magnetometer is damaged due to accidents of puncturing a submarine mud layer, colliding a navigation mark, colliding a fishing net and the like caused by the navigational speed mutation, the course mutation, the water depth mutation of a surveying operation water area and the communication interruption of the ocean surveying unmanned ship, reduce the manual operation intervention times of workers at a shore-based or mother ship control center and improve the working efficiency of the ocean surveying unmanned ship.
Description
Technical Field
The invention belongs to the technical field of unmanned ship control, and particularly relates to a system and a method for automatically collecting and releasing a magnetometer of an unmanned ship for marine survey.
Background
The sea condition near the cluster island reef is complex, the terrain is suddenly changed, the magnetic information is suddenly changed, large-scale measuring ships, manned island reef measuring ships or local fishing ships provided with single-beam depth sounders, multi-beam depth sounding systems, magnetometers and gravimeters have great potential safety hazards when going to the sea area for measurement and surveying, and the submarine terrain information near the island reef is difficult to obtain. The problem can be solved by adopting an unmanned ship to carry a single-beam depth sounder, a multi-beam depth sounding system, a magnetometer and a gravimeter to measure marine gravity, magnetic force and landform. The ocean magnetometer equipment carried on the ocean surveying unmanned ship is an expensive import surveying instrument, has a fish supporting structure and is hung on a fish towing bracket at the tail part of the ocean surveying unmanned ship through a cable as shown in figure 1. The ocean magnetic force is measured and is carried out through using the unmanned ship of ocean measurement to drag the earth magnetism measurement that electromagnetic force equipment goes on, in order to eliminate the fixed magnetic field of measuring the hull and the influence of induction field to magnetic force fish towing sensor, needs the length of extension trailing cable, and the general trailing cable length of standard requirement should be greater than 3 times of measuring the captain. The length of the unmanned ocean surveying boat (aluminum alloy boat body) is 7.5 meters, and the length of the cable of the magnetometer is more than 22.5 meters during the magnetic force testing. When the speed, course and water depth of the ocean survey unmanned ship suddenly change, accidents that magnetometer equipment pricks into a seabed mud layer or collides with nearby navigation marks, fishing nets, ships and the like easily occur, and expensive magnetometer equipment is damaged.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a system and a method for automatically retracting and releasing a magnetometer of an unmanned ocean surveying vessel, and can ensure the safety of magnetometer equipment and improve the efficiency of a magnetometer survey test.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a system for automatically retracting and releasing a magnetometer of an unmanned ocean surveying boat comprises a device and a control unit of the device, wherein the device comprises a retracting and releasing winch, a magnetometer cable, a fish towing bracket and a magnetometer, the retracting and releasing winch is installed on the unmanned boat, the fish towing bracket is installed at the stern of the unmanned boat, the retracting and releasing winch is connected with one end of the magnetometer cable, and the magnetometer cable is connected with the magnetometer through the fish towing bracket; the control unit comprises an unmanned boat main control unit, an automatic retractable magnetometer control unit, a magnetometer winch, a rudder angle sensor, a GPS (global position system), beidou equipment, a depth finder and an optical fiber compass, the unmanned boat main control unit and the magnetometer winch are respectively in two-way connection with the automatic retractable magnetometer control unit through RS422, the rudder angle sensor is in double-line connection with the automatic retractable magnetometer control unit and is used for transmitting acquired signals, and the GPS, the Beidou equipment, the depth finder and the optical fiber compass are respectively connected with the automatic retractable magnetometer control unit through RS 422.
Furthermore, the rudder angle sensor comprises a first bi-directional diode BAV99, a second bi-directional diode BAV99, a first electrostatic suppressor diode PESD15VL2BT, a second electrostatic suppressor diode PESD15VL2BT, an isolation transmitter T5555P, a three-terminal voltage stabilization chip LM78L09, an AD conversion chip AD8552, a transient suppressor diode SMBJ15A-TR, a resistor R79, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a capacitor C42, a capacitor C43, a capacitor C44 and a capacitor C45, wherein a Pin + Pin of the isolation transmitter T5555P is connected with a 12V power supply, a Pin-Pin of the isolation transmitter T5555P is grounded, ADC1_ IN is respectively connected with a third Pin of the first bi-directional diode BAV99, a second Pin of the first electrostatic suppressor diode PESD15VL2 and a Sin + Pin of the isolation transmitter T55P, a first Pin of the first bi-directional diode BAV99 is connected with ADC 551 _ GND, a second Pin of the first bi-directional diode BAV99 is connected with ADC 551 _ GND, the third Pin of the first ESD15VL2BT is connected with ADC1_ GND, the Sin-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Sout + Pin of the isolation transmitter T5555P is connected with the first Pin and ADC1_ OUT of the second ESD15VL2BT respectively, the third Pin of the second ESD15VL2BT is connected with ADC1_ GND, the Sout-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Pout + Pin of the isolation transmitter T5555P is connected with one end of a capacitor C45 and the VI + Pin of a three-terminal voltage stabilizing chip LM78L09 respectively, the VO + Pin of the three-terminal voltage stabilizing chip LM78L09 is connected with one end of a capacitor C42, the cathode of a transient suppression diode J15A-TR and ADC1_ VCC respectively, the Pout-Pin of the isolation transmitter T5555P is connected with the other end of the capacitor C45, the LM78L09, the other end of the capacitor C42 and the SMBR 1_ VCC respectively, and the other end of the capacitor C42 and the ADC1_ GND 84 are connected with ADC1_ GND conversion chip through AD 52, one end of a resistor R82, the other end of the resistor R82 is connected with one end of a resistor R83 and a first pin of an AD conversion chip AD8552, the other end of the resistor R83 is connected with ADC3_ IN and one end of a capacitor C44, the other end of the capacitor C44 is connected with ADC1_ GND, an eighth pin of the AD conversion chip AD8552 is connected with a 5V power supply and connected with an ADC1_ GND capacitor C43, a fourth pin of the AD conversion chip AD8552 is connected with ADC1_ GND, a third pin of the AD conversion chip AD8552 is connected with an ADC1_ OUT resistor R79, connected with an ADC1_ GND resistor R80 and a third pin of a second bidirectional diode BAV99, a second pin of the second bidirectional diode BAV99 is connected with a 5V power supply, and a first pin of the second bidirectional diode BAV99 is connected with ADC1_ GND.
And the magnetometer winch comprises a winch controller, a rotating speed measuring module, a brake driver, a variable frequency driver, a winding and unwinding drum, a speed reducing motor cable arrangement device, a steering wheel, a tension sensor, a locking mechanism and a guide port, wherein the winch controller is connected with the tension sensor through an electrical slip ring, the winch controller is respectively connected with the locking mechanism, the rotating speed measuring module, the brake driver and the variable frequency driver, the brake driver is connected with a brake in the speed reducing motor, the variable frequency driver is connected with a driving motor in the speed reducing motor, the brake is connected with the winding and unwinding drum, the tension sensor is fixed on the steering wheel, the guide port is arranged at the cable outlet of the magnetometer in the steering wheel, and the guide port is provided with the locking mechanism.
A control method for an automatic retraction magnetometer system of an unmanned ocean surveying vessel comprises the following steps:
step 1, entering a main program;
step 2, defining constants and variables in the main program and initializing the constants and the variables;
step 3, declaring and defining the functions of each module in the control unit;
step 4, initializing an ARM;
step 5, enabling the Timer, the AD and the interruption of the serial port equipment;
step 6, waiting for interruption, and judging which equipment is interrupted;
step 7, if the Timer is interrupted, performing step 8; if the serial port receives the interrupt, performing step 9; if AD is interrupted, performing step 10;
step 8, interrupting the processing function by the Timer to obtain a time marker bit which is used for collecting a rudder angle at regular time and analyzing a serial port instruction at regular time;
step 9, a serial port interrupt processing function is used for receiving state and position information sent by an optical fiber compass, a Beidou, a detector, a GPS, an unmanned ship main control unit and a magnetometer winch;
step 10, processing a function in an AD (analog-to-digital) mode to obtain rudder angle information;
step 11, the magnetometer control unit gives a control decision according to the rudder angle information, the optical fiber compass, the detector and other state and position information;
and step 12, sending a control command of the magnetometer control unit to the magnetometer winch through the 422 serial port for execution.
Moreover, the specific implementation method of the serial port interrupt processing function in the step 9 is as follows: the control unit receives the position information, the navigational speed information, the course information and the real-time navigation depth information of the ocean surveying unmanned ship through the serial port, the GPS, the Beidou equipment, the optical fiber compass, the depth finder and the rudder angle sensor, so that the automatic retraction and extension actions of the magnetometer are decided.
Moreover, the specific implementation method of the automatic retraction and extension action of the decision magnetometer is as follows: the method comprises the steps of reading position information, navigational speed information, course information and real-time navigation water depth information of an oceanographic unmanned ship measured at the previous time and the next time, comparing the position information, the navigational speed information and the course information of the oceanographic unmanned ship measured at the next time twice, sending a magnetic force rapid-withdrawing instruction to an automatic retracting and releasing winch when data suddenly changes, executing rapid recovery of a magnetometer after the winch receives the instruction information, and simultaneously monitoring the operation state of the winch, the length of a retracting and releasing mooring rope, the retracting and releasing speed of the mooring rope and the tension value of the mooring rope in the retracting and releasing process of the magnetometer.
The invention has the advantages and positive effects that:
1. the invention collects the position information, the navigational speed information, the course information and the real-time navigation water depth information of the marine surveying unmanned ship in real time through the GPS, the Beidou equipment, the optical fiber compass, the depth finder and the rudder angle sensor, so as to decide the automatic retraction and release actions of the magnetometer, solve the problem that the magnetometer is damaged due to the accidents of the marine surveying unmanned ship, such as navigational speed mutation, course mutation, water depth mutation of a surveying operation water area and communication interruption of the marine surveying unmanned ship, the magnetometer equipment is stuck into a seabed mud layer, collides with a navigation mark, collides with a fishing net and the like, simultaneously reduce the manual operation intervention times of workers at a shore-based or mother ship control center and improve the working efficiency of the marine surveying unmanned ship.
2. The automatic magnetometer retracting and releasing system disclosed by the invention is used for reading the positioning information, the course information and the navigation speed information of the unmanned ship through the GPS, the Beidou equipment and the optical fiber compass on the unmanned ship in real time through the serial port, deciding the retracting and releasing of the magnetometer equipment according to the real-time positioning information, the course information and the navigation speed information, and simultaneously monitoring the running state of a winch for retracting and releasing the magnetometer, the length of a cable, the speed of the cable, the tension value of the cable and the like through the serial port. The invention solves the problems that when the GPS, the Beidou equipment and the optical fiber compass of the marine unmanned ship are lost or the wireless communication is interrupted, the unmanned ship can be stopped emergently, the navigation speed is suddenly changed, the navigation speed is suddenly reduced, and the magnetometer equipment continues to slide due to inertia, so that the magnetometer equipment is easy to sink and prick into a seabed mud layer, and the magnetometer equipment is damaged. When the course of the unmanned ocean surveying vessel is changed at a large angle, the unmanned vessel drags the magnetometer to steer at a large angle, so that the magnetometer is easy to collide with nearby navigation marks, ships, fishing nets and the like, and the damage of magnetometer equipment is caused, the expensive magnetometer equipment is prevented from being damaged, and the surveying and testing efficiency of the magnetometer is improved.
3. The automatic magnetometer retracting and releasing system disclosed by the invention outputs real-time test sea water depth information of the unmanned ship by reading the depth finder equipment on the unmanned ship in real time, and decides the retracting and releasing of the magnetometer equipment according to the real-time water depth information. The marine landform and the geomorphic appearance are complex and changeable, the problem that the magnetometer equipment is damaged due to the fact that the magnetometer equipment is easy to collide with a mud layer or a submerged reef protruding from the sea bottom when the water depth of a sea area for magnetic measurement test is suddenly reduced is solved, the magnetometer equipment can be automatically collected and released, the expensive magnetometer equipment is prevented from being damaged, and the measurement test efficiency of the magnetometer is improved.
4. The invention is used on the unmanned ship for marine survey, can be applied to a manned large marine comprehensive survey ship carrying a magnetometer, is suitable for the measuring working process of various fish towing type measuring equipment, ensures the safety of the fish towing type measuring equipment and greatly improves the measuring working efficiency.
Drawings
FIG. 1 is a block diagram of the apparatus of the present invention;
FIG. 2 is a block diagram of a control unit of the present invention;
FIG. 3 is a circuit diagram of a rudder angle sensor according to the present invention;
FIG. 4 is a schematic diagram of the magnetometer retracting winch of the present invention;
FIG. 5 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A system for automatically retracting and releasing a magnetometer of an unmanned ocean surveying vessel comprises a device and a control unit thereof, wherein the device comprises a retracting and releasing winch, a magnetometer cable, a fish towing bracket, a pulley and a magnetometer, the retracting and releasing winch is installed on the unmanned vessel, the fish towing bracket is installed at the stern of the unmanned vessel, the retracting and releasing winch is connected with one end of the magnetometer cable, and the magnetometer cable is connected with the magnetometer through the fish towing bracket; the control unit comprises an unmanned boat main control unit, an automatic retractable magnetometer control unit, a magnetometer winch, a rudder angle sensor, a GPS (global position system), beidou equipment, a depth finder and an optical fiber compass, the unmanned boat main control unit and the magnetometer winch are respectively in two-way connection with the automatic retractable magnetometer control unit through RS422, the rudder angle sensor is in double-line connection with the automatic retractable magnetometer control unit and is used for transmitting acquired signals, and the GPS, the Beidou equipment, the depth finder and the optical fiber compass are respectively connected with the automatic retractable magnetometer control unit through RS 422.
The magnetometer cable is a special ocean cable-Kevlar cable for the magnetometer. When a magnetometric test needs to be carried out, the winch rotates to unwind the Kevlar cable, the magnetometer is lowered into the water at the fish towing bracket, the Kevlar cable continues to be unwound, the magnetometer is submerged under the sea surface, and the unmanned boat to be measured drags a navigation mode to carry out an ocean magnetometric test.
The system is respectively connected with a GPS, a Beidou device and an optical fiber compass through 3 paths of RS422 serial ports, and collects position information, navigational speed information and course information of the unmanned ocean surveying boat in real time. The automatic take-up and pay-off system of the magnetometer is connected with a take-up and pay-off winch of the magnetometer through 1 path of RS422 serial ports, information such as the take-up and pay-off state of the winch, the length of a take-up and pay-off cable, the tension value of the cable, the speed of the take-up and pay-off cable and the like is read, a rudder angle sensor is used as supplement of real-time course measurement, when course has large-amplitude mutation, the automatic take-up and pay-off system of the magnetometer quickly recovers magnetometer equipment, and damage to the magnetometer equipment is avoided. Meanwhile, the system uploads information to the unmanned ship main control unit through 1 RS422 serial port, and the unmanned ship main control unit transmits the information through a data transmission radio station and finally displays the information in a shore-based monitoring center. The invention mainly solves the problem that the magnetometer is damaged due to accidents such as the magnetometer equipment pricking into a seabed mud layer, colliding with a navigation mark, colliding with a fishing net and the like caused by the sudden change of the speed and the course of the marine unmanned ship, the sudden change of the water depth of a measurement operation water area and the communication interruption of the marine unmanned ship, reduces the manual operation intervention times of workers at a shore-based or mother ship control center and improves the working efficiency of the marine unmanned ship. When the unmanned ship of marine survey goes to appointed sea area and carries out magnetic force information measurement, test staff set up the ocean depth of water information that the beginning magnetometer experiment should possess in advance and measure unmanned ship speed information, and automatic release magnetometer equipment begins to carry out marine magnetometric survey experiment when the condition possesses, guarantee magnetometer equipment safety reduces the manual operation number of times, improves test efficiency.
As shown IN fig. 3, the rudder angle sensor includes a first bi-directional diode BAV99, a second bi-directional diode BAV99, a first electrostatic suppressor diode PESD15VL2BT, a second electrostatic suppressor diode PESD15VL2BT, an isolation transmitter T5555P, a three-terminal regulator chip LM78L09, an AD conversion chip AD8552, a transient suppressor diode SMBJ15A-TR, a resistor R79, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a capacitor C42, a capacitor C43, a capacitor C44, and a capacitor C45, wherein a Pin + Pin of the isolation transmitter T5555P is connected to a 12V power supply, a Pin-ground of the isolation transmitter T5555P, an ADC1_ IN is connected to a third Pin of the first bi-directional diode BAV99, a second Pin of the first electrostatic suppressor diode PESD15VL2 and a Sin + Pin of the isolation transmitter T55P, a first Pin of the first bi-directional diode BAV99 is connected to an ADC1_ VCC, a second Pin of the first bi-directional diode BAV 5599 is connected to a GND 1, the third Pin of the first electrostatic suppression diode PESD15VL2BT is connected with ADC1_ GND, the Sin-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Sout + Pin of the isolation transmitter T5555P is respectively connected with the first Pin and ADC1_ OUT of the second electrostatic suppression diode PESD15VL2BT, the third Pin of the second electrostatic suppression diode PESD15VL2BT is connected with ADC1_ GND, the Sout-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Pout + Pin of the isolation transmitter T5555P is respectively connected with one end of a capacitor C45 and the VI + Pin of a three-terminal voltage stabilization chip LM78L09, the VO + Pin of the three-terminal voltage stabilization chip LM78L09 is respectively connected with one end of a capacitor C42, the negative electrode of a transient suppression diode J15A-TR and ADC1_ VCC, the Pout-Pin of the isolation transmitter T5555P is respectively connected with the other end of the capacitor C45, the other end of the three-terminal voltage stabilization chip L09, the other end of the capacitor C42, the capacitor C42 and the ADC1_ GND, the ADC1_ R84R _ GND through ADC 85R 52 AD-GND conversion resistors AD 52, and ADC, one end of a resistor R82, the other end of the resistor R82 is connected with one end of a resistor R83 and a first pin of an AD conversion chip AD8552, the other end of the resistor R83 is connected with ADC3_ IN and one end of a capacitor C44, the other end of the capacitor C44 is connected with ADC1_ GND, an eighth pin of the AD conversion chip AD8552 is connected with a 5V power supply and connected with an ADC1_ GND capacitor C43, a fourth pin of the AD conversion chip AD8552 is connected with ADC1_ GND, a third pin of the AD conversion chip AD8552 is connected with an ADC1_ OUT resistor R79, connected with an ADC1_ GND resistor R80 and a third pin of a second bidirectional diode BAV99, a second pin of the second bidirectional diode BAV99 is connected with a 5V power supply, and a first pin of the second bidirectional diode BAV99 is connected with ADC1_ GND.
The hardware of the magnetometer deploying and retracting system adopts an STM32F767 chip, analog signals collected by ADC1_ IN are transmitted to 11 pins (Sin +) of an isolation transmitter T5555P, and are output to an AD conversion chip AD8552 by 11 pins 3 pins (Sout) of the isolation transmitter T5555P. And transmitting the signals to a PF3 pin of an STM32F767 chip after AD conversion. And the 3 paths of RS422 are used for data communication between the data acquisition board card and the data distribution board card.
As shown in fig. 4, the magnetometer reeling and unreeling winch comprises a winch controller, a rotating speed measuring module, a brake driver, a variable frequency driver, a reeling and unreeling reel, a speed reducing motor cable arrangement device, a steering wheel, a tension sensor, a locking mechanism and a guide port, wherein the winch controller is connected with the tension sensor through an electric slip ring, the winch controller is respectively connected with the locking mechanism, the rotating speed measuring module, the brake driver and the variable frequency driver, the brake driver is connected with a brake in the speed reducing motor, the variable frequency driver is connected with a driving motor in the speed reducing motor, the brake is connected with the reeling and unreeling reel, the tension sensor is fixed on the steering wheel, the guide port is arranged at the cable outlet of the magnetometer in the steering wheel, and the guide port outlet is provided with the locking mechanism.
The winch control part adopts variable frequency drive, the brake driver controls the winch motor to drive the winding and unwinding drum to realize the winding and unwinding actions of the cable rope, the tension sensor is adopted to measure the tension value of the cable rope in the process of winding and unwinding the cable rope, and the rotating speed measuring part is adopted to measure the rotating speed of the motor in the winch to obtain the speed of winding and unwinding the cable rope. The automatic winch winding and unwinding device has the characteristics of self-adaptive control of a dynamic environment, high speed, low load, quick unwinding and the like, and achieves the safe and reliable winding and unwinding effects of the unmanned automatic operation winch. The winch adopts a free wheel scheme, the winding drum is separated from the motor in the releasing process, the cable freely rotates under the acting force of the magnetometer and the fish towing retracting and releasing device, when the acting force of the magnetometer and the fish towing retracting and releasing device is insufficient, the winding drum stops rotating, the safety of cable releasing is guaranteed, and therefore the safety of the magnetometer in the retracting and releasing process is guaranteed.
A control method for an automatic retraction magnetometer system of an unmanned ocean surveying vessel is shown in figure 5 and comprises the following steps:
step 1, entering a main program;
step 2, defining constants and variables in the main program and initializing the constants and the variables;
step 3, declaring and defining the functions of each module in the control unit;
step 4, initializing an ARM;
step 5, enabling the Timer, the AD and the interruption of the serial port equipment;
step 6, waiting for interruption and judging which equipment is interrupted;
step 7, if the timer 3 is interrupted, performing step 8; if the serial port receives the interrupt, the step 9 is carried out; if AD is interrupted, performing step 10;
step 8, the timer 3 interrupts the processing function to obtain a time marker bit which is used for collecting the rudder angle at regular time and analyzing the serial port instruction at regular time;
step 9, a serial port interrupt processing function is used for receiving state and position information sent by an optical fiber compass, a Beidou, a detector, a GPS, an unmanned ship main control unit and a magnetometer winch;
step 10, processing a function in an AD (analog-to-digital) mode to obtain rudder angle information;
step 11, a magnetometer control unit gives a control decision according to the rudder angle information, the states and position information of an optical fiber compass, a detector and the like;
and step 12, sending a control command of the magnetometer control unit to the magnetometer winch through the 422 serial port for execution.
The specific implementation method of the serial port interrupt processing function comprises the following steps: the control unit receives the position information, the navigation speed information, the course information and the real-time navigation water depth information of the ocean surveying unmanned ship through the serial port receiving GPS, the Beidou equipment, the optical fiber compass, the depth finder and the rudder angle sensor, so that the automatic retraction and release action of the magnetometer is decided.
The specific implementation method for deciding the automatic retraction and extension actions of the magnetometer comprises the following steps: the method comprises the steps of reading position information, navigational speed information, course information and real-time navigation water depth information of an oceanographic unmanned ship measured at the previous time and the next time, comparing data for many times, sending a magnetic force rapid-withdrawing instruction to an automatic retracting and releasing winch when the data suddenly changes, executing rapid recovery of a magnetometer after the winch receives the instruction information, and simultaneously monitoring the operation state of the winch, the length of a retracting and releasing cable, the retracting and releasing speed of the cable and the tension value of the cable in the retracting and releasing process of the magnetometer.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, the embodiments described in the detailed description, as well as other embodiments that can be derived by one skilled in the art from the teachings herein.
Claims (1)
1. A method for automatically deploying and retracting a magnetometer system of an unmanned ocean surveying vessel is characterized by comprising the following steps: the system comprises a device and a control unit thereof, wherein the device comprises a retracting winch, a magnetometer cable, a fish towing bracket and a magnetometer, the retracting winch is installed on an unmanned boat, the fish towing bracket is installed at the stern of the unmanned boat, the retracting winch is connected with one end of the magnetometer cable, and the magnetometer cable is connected with the magnetometer through the fish towing bracket; the control unit comprises an unmanned boat main control unit, an automatic retraction magnetometer control unit, a magnetometer winch, a rudder angle sensor, a GPS, a Beidou device, a depth finder and an optical fiber compass, the unmanned boat main control unit and the magnetometer winch are respectively connected with the automatic retraction magnetometer control unit in a bidirectional mode through RS422, the rudder angle sensor is connected with the automatic retraction magnetometer control unit in a double-line mode and used for transmitting acquired signals, and the GPS, the Beidou device, the depth finder and the optical fiber compass are respectively connected with the automatic retraction magnetometer control unit through RS 422;
the rudder angle sensor comprises a first bidirectional diode BAV99, a second bidirectional diode BAV99, a first electrostatic suppressor diode PESD15VL2BT, a second electrostatic suppressor diode PESD15VL2BT, an isolation transmitter T5555P, a three-terminal voltage stabilization chip LM78L09, an AD conversion chip AD8552, a transient suppressor diode SMBJ15A-TR, a resistor R79, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a capacitor C42, a capacitor C43, a capacitor C44 and a capacitor C45, wherein a Pin + Pin of the isolation transmitter T5555P is connected with a 12V power supply, a Pin-Pin of the isolation transmitter T5555P is grounded, ADC1_ IN is respectively connected with a third Pin of the first bidirectional diode BAV99, a second Pin of the first electrostatic suppressor diode PESD15VL2 transmitter and a Sin + Pin of the isolation transmitter T5555P, a first Pin of the first bidirectional diode BAV99 is connected with ADC1_ BAV99, a second Pin of the first bidirectional diode PESD15VL2 is connected with a first GND 1_ GND of the first bidirectional diode BAV99, and a second Pin of the first ESD 2BT 2 is connected with a GND of the first diode ADC 15VL 1_ GND, the Sin-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Sout + Pin of the isolation transmitter T5555P is respectively connected with the first Pin of the second electrostatic suppression diode PESD15VL2BT and ADC1_ OUT, the third tube of the second electrostatic suppression diode PESD15VL2BT is connected with ADC1_ GND, the Sout-Pin of the isolation transmitter T5555P is connected with ADC1_ GND, the Pout + Pin of the isolation transmitter T5555P is respectively connected with one end of a capacitor C45 and the VI + Pin of a three-terminal voltage stabilization chip LM78L09, the VO + Pin of the three-terminal voltage stabilization chip LM78L09 is respectively connected with one end of a capacitor C42, the cathode of a transient suppression diode J15A-TR and ADC1_ VCC, the Pout-Pin of the isolation transmitter T5555P is respectively connected with the other end of the capacitor C45, the GND Pin of the three-terminal voltage stabilization chip LM78L09, the other end of the capacitor C42 and ADC1_ GND, the ADC1_ GND is respectively connected with the second Pin AD 52 and the resistor AD 85R 82 of the conversion chip AD 8584 through resistors R84, the other end of the resistor R82 is connected with one end of a resistor R83 and a first pin of an AD conversion chip AD8552, the other end of the resistor R83 is connected with one end of an ADC3_ IN and one end of a capacitor C44, the other end of the capacitor C44 is connected with an ADC1_ GND, an eighth pin of the AD conversion chip AD8552 is connected with a 5V power supply and connected with an ADC1_ GND capacitor C43, a fourth pin of the AD conversion chip AD8552 is connected with an ADC1_ GND, a third pin of the AD conversion chip AD8552 is connected with an ADC1_ OUT resistor R79, an ADC1_ GND resistor R80 and a third pin of a second diode BAV99, a second pin of the second diode BAV99 is connected with a 5V power supply, and a first pin of the second diode BAV99 is connected with the ADC1_ GND;
the magnetometer winch comprises a winch controller, a rotating speed measuring module, a brake driver, a variable frequency driver, a winding and unwinding drum, a speed reducing motor cable arrangement device, a steering wheel, a tension sensor, a locking mechanism and a guide port, wherein the winch controller is connected with the tension sensor through an electric slip ring, the winch controller is respectively connected with the locking mechanism, the rotating speed measuring module, the brake driver and the variable frequency driver, the brake driver is connected with a brake in the speed reducing motor, the variable frequency driver is connected with a driving motor in the speed reducing motor, the brake is connected with the winding and unwinding drum, the tension sensor is fixed on the steering wheel, the guide port is arranged at the cable outlet of the magnetometer in the steering wheel, and the guide port is provided with the locking mechanism;
the automatic retraction magnetometer control unit comprises an ARM;
the method comprises the following steps:
step 1, entering a main program;
step 2, defining constants and variables in the main program and initializing the constants and the variables;
step 3, declaring and defining functions of each module in the control unit;
step 4, initializing ARM;
step 5, enabling the interruption of the Timer, the AD and the serial port equipment in the ARM;
step 6, waiting for interruption and judging which equipment is interrupted;
step 7, if the Timer is interrupted, performing step 8; if the serial port receives the interrupt, performing step 9; if AD is interrupted, performing step 10;
step 8, interrupting the processing function by the Timer to obtain a time marker bit which is used for collecting a rudder angle at regular time and analyzing a serial port instruction at regular time;
step 9, a serial port interrupt processing function is used for receiving state and position information sent by an optical fiber compass, a Beidou, a detector, a GPS, an unmanned ship main control unit and a magnetometer winch;
the specific implementation method of the serial port interrupt processing function comprises the following steps: the control unit receives the position information, the navigation speed information, the course information and the real-time navigation water depth information of the ocean surveying unmanned ship through the serial port to decide the automatic retraction and release action of the magnetometer;
the specific implementation method for deciding the automatic retraction and release actions of the magnetometer comprises the following steps: reading position information, navigational speed information, course information and real-time navigation water depth information of the ocean surveying unmanned ship measured at the previous time and the next time, comparing for two times, comparing data for many times, sending a magnetic force rapid-retracting instruction to an automatic retracting and releasing winch if the data suddenly changes, executing rapid recovery of a magnetometer after the winch receives the instruction information, and monitoring the operation state of the winch, the length of a retracting and releasing cable, the speed of retracting and releasing the cable and the tension value of the cable in the retracting and releasing process of the magnetometer;
step 10, processing a function in an AD (analog-to-digital) mode to obtain rudder angle information;
step 11, the magnetometer control unit gives a control decision according to the rudder angle information, the optical fiber compass, the Beidou, the detector, the GPS, the unmanned ship main control unit and the state and position information of the magnetometer winch;
and step 12, sending a control command of the magnetometer control unit to the magnetometer winch through the 422 serial port for execution.
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