CN114828510B - Wave glider control system with distributed layout - Google Patents
Wave glider control system with distributed layout Download PDFInfo
- Publication number
- CN114828510B CN114828510B CN202210700923.2A CN202210700923A CN114828510B CN 114828510 B CN114828510 B CN 114828510B CN 202210700923 A CN202210700923 A CN 202210700923A CN 114828510 B CN114828510 B CN 114828510B
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- bottom plate
- node
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- plate
- control system
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/005—Constructional details common to different types of electric apparatus arrangements of circuit components without supporting structure
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/0296—Conductive pattern lay-out details not covered by sub groups H05K1/02 - H05K1/0295
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/14—Structural association of two or more printed circuits
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/02—Arrangements of circuit components or wiring on supporting structure
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/14—Mounting supporting structure in casing or on frame or rack
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
The invention relates to a wave glider control system with a distributed layout, in particular to the technical field of wave glider motion control. The invention provides a wave glider control system with distributed layout, which comprises: the cabin comprises a cabin body, a cabin body cover plate, a bottom plate adapter plate, a sub-node bottom plate and a plurality of sub-node circuit boards; the cabin cover plate is provided with a watertight connector; the cabin cover plate and the cabin form a closed space; the bottom plate keysets son node bottom plate and a plurality of son node circuit board all sets up in the airtight space, it is a plurality of son node circuit board all sets up on the son node bottom plate, son node bottom plate sets up on the bottom plate keysets, the bottom plate keysets sets up on the cabin body apron and with the watertight connector is connected, through the watertight connector with the outside sensor of airtight space is connected. The invention is convenient for fault diagnosis of the circuit board.
Description
Technical Field
The invention relates to the technical field of wave glider motion control, in particular to a wave glider control system with a distributed layout.
Background
The wave glider is an ocean moving observation platform, which mainly comprises a floating body ship, an umbilical cable and a tractor. The wave energy is converted into forward power by using a multi-rigid-body structure consisting of the three parts, the solar cell panel on the floating body ship is used for providing energy supply for modules such as wave glider navigation, communication and motion control, and the wave glider can realize long-time autonomous navigation on the sea in a large range.
Wave glider control system control node is many, and the function diverse, prior art are to control through a control circuit board and make circuit board system too complicated and the connector is various, inconvenient failure diagnosis.
Disclosure of Invention
The invention aims to provide a wave glider control system with a distributed layout, which is convenient for fault diagnosis.
In order to achieve the purpose, the invention provides the following scheme:
a distributed wave glider control system comprising:
the cabin comprises a cabin body, a cabin body cover plate, a bottom plate adapter plate, a sub-node bottom plate and a plurality of sub-node circuit boards; the cabin cover plate is provided with a watertight connector; the cabin cover plate and the cabin form a closed space; the bottom plate keysets son node bottom plate and a plurality of son node circuit board all sets up in the airtight space, it is a plurality of son node circuit board all sets up on the son node bottom plate, son node bottom plate sets up on the bottom plate keysets, the bottom plate keysets sets up on the cabin body apron and with the watertight connector is connected, through the watertight connector with the outside sensor of airtight space is connected.
Optionally, the wave glider control system with a distributed layout further includes: the mushroom head is arranged on the cabin cover plate and located outside the closed space, and an antenna is arranged in the mushroom head.
Optionally, a child node backplane pin and a child node backplane mother board are arranged on the child node backplane, and the plurality of child node circuit boards are connected to the child node backplane through the child node backplane mother board; the child node bottom plate is connected with the bottom plate adapter plate through the child node bottom plate pin header.
Optionally, a bottom plate adapter plate row bus and a bottom plate adapter plate connector are arranged on the bottom plate adapter plate; the child node bottom plate row needle with female the connection is arranged to the bottom plate keysets, the bottom plate keysets connector with the watertight connector is connected.
Optionally, a sealing ring is arranged in the watertight connector.
Optionally, a sealing ring is arranged between the cabin cover plate and the cabin.
Optionally, the cabin and the cabin cover plate are fixedly connected by screws.
Optionally, the sizes of the sub-node circuit boards are the same or in a multiple relation.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1. the invention adopts a distributed layout, sub-circuit boards take their own roles, the sub-circuit boards integrate electrical wiring harnesses through a bottom board adapter board, the watertight connector wiring harnesses are changed to circuit board wiring, the sub-node bottom board and the bottom board adapter board are connected in an electrical attribute manner through pin arrangement and nut arrangement, the sub-node circuit boards are bridged to electrically connect sub-nodes and the watertight connector wiring harnesses, the sub-node bottom boards are functionally partitioned, the sizes of the sub-node circuit boards are matched with the sizes of the bottom board partitions, the use of cables is greatly reduced, the installation is convenient, and various compatibility tests are not convenient, The fault diagnosis and the research and development upgrade of the functional module centralize the electrical connection to the bottom plate, greatly reduce the use of cables, have beautiful layout, and are convenient to install and carry out various compatibility tests.
2. The wave glider control system with the distributed layout can also be expanded to aircrafts with other multi-body mechanisms similar to the wave glider structure.
3. The invention changes the original large system into a plurality of subsystems; the fault diagnosis of an original large system needs to find problems in a complicated circuit, and the problems are not conveniently found due to too much coupling; at present, a large system is decomposed into a plurality of subsystems, which sub-module has a problem can be quickly positioned according to the fault position, and the troubleshooting difficulty is reduced; and one large system finishes huge amount of codes of all tasks, is not suitable for manual programming and debugging, and can be used for each person or a plurality of persons to respectively take charge of research, development and iterative upgrade of the sub-modules after being decomposed into a plurality of subsystems, and finally, the integration is carried out, so that the research and development period is shortened, and the research and development difficulty is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a wave glider control system with a distributed layout according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an installation of a backplane adapter board according to an embodiment of the present invention;
fig. 3 is a schematic view of a sub-node backplane and a sub-node circuit board according to an embodiment of the present invention.
Description of the symbols:
1-cabin body, 2-child node circuit board, 3-child node base plate, 4-base plate adapter plate, 5-cabin body cover plate, 6-watertight connector, 7-mushroom head, 8-connector, 9-base plate adapter plate row bus, 10-child node base plate row bus, 11-child node circuit board row bus and 12-child node circuit board functional area.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 3, the wave glider control system of the distributed layout includes:
the cabin comprises a cabin body 1, a cabin body cover plate 5, a bottom plate adapter plate 4, a sub-node bottom plate 3 and a plurality of sub-node circuit boards 2; the cabin body 1 is mainly used for sealing and placing a control system hardware circuit and connecting an external sensor of the cabin body 1 with the control system for electrical interaction, the bottom plate adapter plate 4 is used for connecting a wiring harness of the watertight connector 6, and the cabin body cover plate 5 is provided with the watertight connector 6; the cabin cover plate 5 and the cabin 1 form a closed space; bottom plate keysets 4, sub-node bottom plate 3 and a plurality of sub-node circuit board 2 all sets up in the airtight space, it is a plurality of sub-node circuit board 2 all sets up on the sub-node bottom plate 3, sub-node bottom plate 3 sets up on the bottom plate keysets 4, bottom plate keysets 4 sets up on the cabin body apron 5 and with watertight connector 6 is connected, through watertight connector 6 with the outside sensor of airtight space is connected. The bottom plate pinboard 4 is mechanically fixed with a cabin cover plate 5 of the cabin body 1, and is used for carrying out electric wiring harness integration on wiring harnesses connected with a watertight connector 6, converting a wire harness into a circuit board for wiring, wherein each sub-node circuit board 2 is used for realizing each sub-function of a control system, the sub-node bottom plate 3 is used for bridging the electric connection between each sub-node circuit board 2 and the wiring harnesses of the watertight connector 6, and each sub-node circuit comprises a main control node circuit, an auxiliary communication node circuit, a power management node circuit, a communication positioning node circuit, a motion control node circuit and a sensor acquisition node circuit.
In practical application, the wave glider control system of distributed layout still includes: the mushroom head 7, the mushroom head 7 sets up on the cabin body cover plate 5, and be located the airtight space is outside, the built-in antenna of mushroom head 7 for place external various antennas.
In practical application, a child node bottom plate pin header and a child node bottom plate mother header 10 are arranged on the child node bottom plate 3, and the plurality of child node circuit boards 2 are connected with the child node bottom plate 3 through the child node bottom plate mother header 10; the child node circuit board 2 further comprises a child node circuit board row mother 11, and a child node circuit board functional area 12 is arranged between the child node circuit board row mother 11.
In practical application, the wave glider control system with a distributed layout comprises two bottom plate adapter plates 4.
In practical application, a bottom plate adapter plate row bus 9 and a bottom plate adapter plate connector 8 are arranged on the bottom plate adapter plate 4; the child node bottom plate row needle is connected with the bottom plate adapter plate row female connector 9, and the bottom plate adapter plate connector 8 is connected with the watertight connector 6. Child node bottom plate 3 and bottom plate keysets 4 arrange female 9 through the bottom plate keysets and carry out electrical property and be connected for between each child node circuit board 2 of bridging, the electrical connection of child node and watertight connector pencil, all watertight connector pencil are connected with bottom plate keysets 4 through bottom plate keysets connector 8 after advancing the cabin, carry out electric pencil integration through bottom plate keysets 4, change the wire pencil into the circuit board and walk the line, arrange female 9 and child node bottom plate 3 alternately through the bottom plate keysets.
In practical application, a sealing ring is arranged in the watertight connector 6, and the watertight connector is fixed on the cabin body 1 through a nut and is mainly used for connecting an electric wire outside the cabin to the inside of the cabin.
In practical application, a sealing ring is arranged between the cabin cover plate 5 and the cabin 1.
In practical application, the cabin 1 and the cabin cover plate 5 are fixedly connected through screws.
In practical application, the sizes of the child node circuit boards 2 are the same or multiple, the number of the child node circuit boards 2 can be 12, 6 and 10, specifically, when the child node base board 3 is divided into 12 equal parts according to the size of the child node base board 3, each part is used as a child node mounting area, a child node base board row mother 10 is arranged in each part, and the child node base board row mother 10 is connected with each child node circuit board 2. The installation positions of the sub-node circuit boards on the sub-node bottom plate are the same in size, and the sub-node circuit boards can be inserted into the circuit installation positions of the sub-node bottom plate.
In practical application, the sizes of the sub-node circuit boards and the layout of the connectors are unified, the standard size of each sub-node circuit board is the size of a sub-node installation area, the sizes of the sub-node circuit boards with the standard sizes incapable of meeting functional requirements are designed according to multiples of the sizes of the sub-node installation areas, and the sub-node circuit boards occupy a plurality of sub-node installation areas when being installed on a sub-node bottom plate.
The power signal link provided by the embodiment of the invention passes through a watertight connector, a cable and a connector, a bottom plate patch panel wire, a corresponding pin row motherboard to board plug, a sub-node bottom plate wire, a corresponding pin row motherboard to board plug, and a sub-node circuit board from outside to inside.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A distributed wave glider control system, comprising:
the cabin body, the cabin body cover plate, the bottom plate adapter plate, the sub-node bottom plate and the sub-node circuit boards are arranged in the cabin body; the cabin cover plate is provided with a watertight connector; the cabin cover plate and the cabin form a closed space; the bottom plate adapter plate, the sub-node bottom plate and the plurality of sub-node circuit boards are all arranged in the closed space, the plurality of sub-node circuit boards are all arranged on the sub-node bottom plate, the sub-node bottom plate is arranged on the bottom plate adapter plate, the bottom plate adapter plate is arranged on the cabin cover plate and is connected with the watertight connector, and the bottom plate adapter plate is connected with a sensor outside the closed space through the watertight connector; each sub-node circuit board is used for realizing each sub-function of the control system, one sub-node circuit board is used for realizing one sub-function of the control system, and the plurality of sub-node circuit boards are respectively a main control node circuit, an auxiliary communication node circuit, a power management node circuit, a communication positioning node circuit, a motion control node circuit and a sensor acquisition node circuit.
2. The distributed wave glider control system of claim 1 further comprising: the mushroom head is arranged on the cabin cover plate and located outside the closed space, and an antenna is arranged in the mushroom head.
3. The distributed wave glider control system according to claim 1, wherein the child node base plate is provided with child node base plate pins and child node base plate nuts, and a plurality of the child node circuit boards are connected to the child node base plate through the child node base plate nuts; the sub-node bottom plate is connected with the bottom plate adapter plate through the sub-node bottom plate pin header.
4. The distributed wave glider control system of claim 3 wherein the base plate adapter plate is provided with a base plate adapter plate row female and a base plate adapter plate connector; the child node bottom plate row needle with female the connection is arranged to the bottom plate keysets, the bottom plate keysets connector with the watertight connector is connected.
5. The distributed wave glider control system of claim 1, wherein a seal is disposed within the watertight connector.
6. The distributed wave glider control system of claim 1, wherein a seal is disposed between the nacelle cover and the nacelle.
7. The distributed wave glider control system of claim 1 wherein the nacelle and the nacelle cover are fixedly attached by screws.
8. The wave glider control system of claim 1 wherein each said sub-node circuit board is the same size or multiple size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210700923.2A CN114828510B (en) | 2022-06-21 | 2022-06-21 | Wave glider control system with distributed layout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210700923.2A CN114828510B (en) | 2022-06-21 | 2022-06-21 | Wave glider control system with distributed layout |
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| Publication Number | Publication Date |
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| CN114828510A CN114828510A (en) | 2022-07-29 |
| CN114828510B true CN114828510B (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210700923.2A Active CN114828510B (en) | 2022-06-21 | 2022-06-21 | Wave glider control system with distributed layout |
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| WO2017071844A1 (en) * | 2015-10-30 | 2017-05-04 | Siemens Aktiengesellschaft | Communication device, subsea communication system and monitoring method for a subsea application |
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4342174B2 (en) * | 2002-12-27 | 2009-10-14 | 新光電気工業株式会社 | Electronic device and manufacturing method thereof |
| US11598308B2 (en) * | 2020-05-12 | 2023-03-07 | Oscilla Power, Inc. | Extension spring and fairlead based power take-out for wave power systems |
| US11671916B2 (en) * | 2020-09-29 | 2023-06-06 | Schlumberder Technoloav Corporstion | Transitioning wireless nodes between reduced power stanby states and higher power detection states based on a triggering event |
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2022
- 2022-06-21 CN CN202210700923.2A patent/CN114828510B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017071844A1 (en) * | 2015-10-30 | 2017-05-04 | Siemens Aktiengesellschaft | Communication device, subsea communication system and monitoring method for a subsea application |
| CN107235130A (en) * | 2016-03-29 | 2017-10-10 | 武汉理工大学 | A kind of Wing oscillating Wave energy collecting device for small ocean ROV |
| CN108226229A (en) * | 2018-01-31 | 2018-06-29 | 江苏绿港现代农业发展有限公司 | A kind of water quality detection sensor self-cleaning device |
| CN109449562A (en) * | 2018-09-13 | 2019-03-08 | 中国海洋大学 | A kind of antenna structure with measurement seawater velocity function |
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Non-Patent Citations (1)
| Title |
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| CN114828510A (en) | 2022-07-29 |
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