CN201532580U - Low power consumption control system for underwater glider - Google Patents
Low power consumption control system for underwater glider Download PDFInfo
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- CN201532580U CN201532580U CN2009202489322U CN200920248932U CN201532580U CN 201532580 U CN201532580 U CN 201532580U CN 2009202489322 U CN2009202489322 U CN 2009202489322U CN 200920248932 U CN200920248932 U CN 200920248932U CN 201532580 U CN201532580 U CN 201532580U
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Abstract
The utility model relates to a low power consumption control system for an underwater glider, which comprises an embedded type control device, a communication position device, a data acquisition device, an energy management device and a servo control device, and uses the embedded type control device as a control core, and communicates and interacts data with the data acquisition device and the communication position device through a serial bus. The control output end of the embedded type control device is connected with the servo control device, and the embedded type control device is connected with the energy management device through an IO interface. The low power consumption control system achieves the functions of the underwater glider, which are motion control, operation process data acquisition, water surface communication position, condition monitoring and emergency ejection and the like, reduces the power consumption of the system, increases the cruising ability of the underwater glider, is convenient to connect equipment, and is steady and reliable.
Description
Technical field
The utility model relates to low-power consumption, embedded Control technology, is a kind of underwater glider power-consumption control system that is applicable to long working specifically.
Background technology
Underwater glider is a kind of buoy, subsurface buoy technology are combined with the underwater robot technology and a kind ofly not having plug-in propulsion plant, relying on the novel underwater measurement system of self buoyancy-driven of developing, marine environment data collection and storage, path planning, athletic posture control, communication link foundation, data transmission, the reception of mission task and explanation, system state monitoring and the system emergency processing etc. that makes mistakes when mainly being responsible for underwater glider dive operation.Underwater glider has that scope of work is wide, the activity duration long, motor-driven controlled, characteristics such as can reuse, be a kind of underwater measurement platform that carries the energy, its maximum uninterrupted working time can reach the several months.Because the long activity duration of underwater glider, make the underwater glider control system consumption major part carry the energy, therefore need the design low-power consumption, be applicable to the control system of underwater glider, be necessary to reduce underwater glider control system power consumption, can directly improve the flying power of underwater glider.Current most of underwater robot control system all adopts based on the embedded computer of PC104 and corresponding expansion board clamping and constitutes, as AD change-over panel, data I plate and serial ports plate etc.This control system based on the PC104 characteristics such as maturation, exploitation is convenient, processing power is strong that possess skills are applicable to short underwater robot system of most of activity durations.But, since bigger based on the power consumption of PC104 control system, be not suitable for therefore need developing a kind of power-consumption control system that is applicable to underwater glider again as this underwater robot system that carries the energy, activity duration length of underwater glider.Underwater glider control system with low-power consumption is not appeared in the newspapers as yet.
The utility model content
At weak point such as the power consumption of the control system that exists in the prior art is bigger, the technical problems to be solved in the utility model provides a kind of underwater glider power-consumption control system of dependable performance.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
A kind of underwater glider of the utility model has device for embedded control, communication locating device, data collector, energy management device and Servocontrol device with power-consumption control system, with the device for embedded control is the control core, and it is mutual to carry out data communication via serial bus and the data collector and the locating device of communicating by letter; The control output end of device for embedded control is connected to Servocontrol device; Device for embedded control connects the energy management device through the IO interface.
Described device for embedded control comprises multi-functional calendaring module, SRAM, FLASH and the SD storage card of core processing module, serial ports expansion module, AD expansion module, DA expansion module, IO interface and extremely low power dissipation; Core processing module connects the serial ports expansion module by the spi bus interface, connects the data collector and the locating device of communicating by letter via serial bus again; Core processing module connects data collector by the spi bus interface via the AD expansion module; Core processing module is passed through I
2The C bus links to each other with Servocontrol device via the DA expansion module; Core processing module links to each other with the energy management device through the IO interface, and core processing module is connected the communication locating device by first serial with second serial; Core processing module provides temporal information by the multi-functional calendaring module of extremely low power dissipation, by SRAM, FLASH and SD storage card storage data and embedded Control program.
Described energy management device comprises power conversion module and energy supply control module, wherein (link to each other with the IO interface of device for embedded control by the power conversion module, the output terminal of energy supply control module is connected to the working power of soarer with power-consumption control system by light coupling relay to energy supply control module.
Described communication locating device comprises satellite communication module, wireless communication module and locating module, the core processing module of device for embedded control is connected satellite communication module, wireless communication module by first serial respectively with second serial, obtains the absolute physical position of current soarer carrier by locating device and delivers to core processing module.
Described data collector comprises pose acquisition module and sensor measurement module, and it delivers to core processing module with pressing in the underwater glider working depth, operating voltage, working current and the carrier that collect by the AD expansion module of device for embedded control.
Described Servocontrol device comprises buoyancy adjustment module, pitch regulation module and roll adjustment module unit, and the adjusting of soarer attitude of carrier is luffing angle, roll angle, course heading and realizes that underwater glider rises and dive.
The utility model also has emergency treatment device, it comprises the collision prevention module and throws a year module, the collision prevention module is with the system works electric current of underwater glider, operating voltage, battery remaining power, state leaks, press in the underwater glider carrier, sensor states, electric machine operation state, the collision prevention state, file system state, all kinds of detection signals of speed state link to each other with core processing module with the serial ports expansion module via the serial bus of device for embedded control, throw year output signal of module reception device for embedded control and implement security of system status monitoring and emergent throwing year control.
The utlity model has following beneficial effect and advantage:
1. the utility model has realized that underwater glider motion control, operation process data acquisition, water surface communication location, status monitoring, the emergent throwing function such as carry, and can also reduce system power dissipation, improves the underwater glider flying power.
2. the utility model employing is low in energy consumption, performance is high, the arm processor of technical grade is the control core, with the real time operating system of preemptive kernel as the system operation system, high efficiency power management, abundant expansion interface, make things convenient for equipment to connect, system stability is reliable.
3. adopt the FAT32 form to carry out file and read and store, transfer mode, make communication more reliable by radio communication and two kinds of data of satellite communication.
The Figure of description explanation
Fig. 1 is the utility model composition frame chart;
Fig. 2 is a device for embedded control structured flowchart in the utility model;
Fig. 3 is an energy management apparatus structure block diagram in the utility model;
The control method software flow pattern that Fig. 4 adopts for the utility model;
Fig. 5 is the control flow chart of the utility model from the dormant state to the wake-up states.
Embodiment
As shown in Figure 1, the utility model underwater glider comprises device for embedded control 1, communication locating device 2, data collector 3, energy management device 4 and Servocontrol device 6 with power-consumption control system, with device for embedded control 1 is the control core, and it is mutual to carry out data communication via serial bus and the data collector 3 and the locating device 2 of communicating by letter; The control output end of device for embedded control 1 is connected to Servocontrol device 6; Device for embedded control 1 connects energy management device 4 through IO interface 21.
As shown in Figure 2, described device for embedded control 1 comprises multi-functional calendaring module 22, SRAM23, FLASH24 and the SD storage card 25 of core processing module 17, serial ports expansion module 18, AD expansion module 19, DA expansion module 20, IO interface and extremely low power dissipation; Core processing module 17 connects serial ports expansion module 18 by the spi bus interface, connects the data collector 3 and the locating device 2 of communicating by letter via serial bus again; Core processing module 17 connects data collector 3 by the spi bus interface by AD expansion module 19; Core processing module 17 is passed through I
2The C bus is linked to each other with Servocontrol device 6 by DA expansion module 20; Core processing module 17 links to each other with energy management device 4 through IO interface 21, and core processing module 17 is connected communication locating device 2 by first serial 26 with second serial 27; Core processing module 17 provides temporal information by the multi-functional calendaring module 22 of extremely low power dissipation, provide storage space by SRAM23, FLASH24 for the embedded Control program, system data is stored and read with the FAT32 file system format by SD storage card 25 etc.
Described as shown in Figure 3 energy management device 4 comprises power conversion module 28 and energy supply control module 29, wherein energy supply control module 29 links to each other with the IO interface 21 of device for embedded control 1 by power conversion module 28, and the output terminal of energy supply control module 29 is connected to the working power of soarer with power-consumption control system.
Described communication locating device 2 comprises satellite communication module 7, wireless communication module 8 and locating module 9, the core processing module 17 of device for embedded control 1 is connected satellite communication module 7, wireless communication module 8 respectively by first serial 26 and second serial 27, obtains the absolute physical position of current soarer carrier by locating device 9 and delivers to core processing module 17.
Described data collector 3 comprises pose module 10 and measurement module 11 (adopting model is the sensor of SBE49FASTCAT), and it delivers to core processing module 17 with pressing in the underwater glider working depth, operating voltage, working current and the carrier that collect by the AD expansion module 19 of device for embedded control 1.
Described Servocontrol device 6 comprises that the adjusting that the output signal of buoyancy adjustment module 16,14, three modules of pitch regulation module 15 and roll adjustment module unit is connected to respectively the soarer attitude of carrier is in the servo control loop of luffing angle, roll angle, course heading and rising and dive.
The utility model also has emergency treatment device 5, comprise collision prevention module 12 and throw and carry module 13, collision prevention module 12 is with the system works electric current of underwater glider, operating voltage, battery remaining power, state leaks, press in the underwater glider carrier, sensor states, electric machine operation state, the collision prevention state, file system state, all kinds of detection signals of speed state link to each other with core processing module 17 with serial ports expansion module 18 via the serial bus of device for embedded control 1, throw the output signal of year module 13 reception device for embedded control 1 and implement security of system status monitoring and emergent throwing year control.
Embedded controller 1 is the core of underwater glider control system, and core processing module 17 is core processors of total system, is equivalent to cerebral function, moves control program thereon and realizes systemic-function.Core processing module 17 adopt rich interface, low in energy consumption, performance is high, volume is little and be widely used in arm processor in the industrial control system, core processing module 17 by serial ports expansion module 18 via serial bus realize with data acquisition system (DAS) 3 in pose module 10 and the collision prevention module 12 in the measurement module 11, emergent treatment system 5 and throw the locating module 9 that carries in module 13 and the communications localization system 2 to carry out data communication mutual.Core processing module 17 is connected with AD expansion module 19 by the spi bus interface, realizes the measurement module in the data harvester 3 11 is extracted reading of data messages such as pressing in underwater glider working depth, voltage and current and the carrier by A/D interface.Core processing module 17 is passed through I
2The C bus connects the digital-to-analog conversion interface that DA expansion module 20 comes expanding system, realizes the roll module 14 in the Servocontrol device 6, bows and press down module 15 and buoyant module 16 is controlled speed governing by digital-to-analog conversion interface DA expansion module 20.The control that IO interface 21 is realized energy management device 4 reduces system power dissipation with the control that reaches the underwater glider power devices.The multi-functional calendaring module 22 that adopts technical grade to have extremely low power dissipation provides temporal information for control system.Extended out SRAM23, FLASH24 and SD storage card 25 and satisfied of the requirement of underwater glider control system program and data space.Core processing module 17 realizes the satellite communication module 7 in the communication locating device 2 is connected with wireless communication module 8 by first serial 26 and second serial 27, by these two kinds of communication links, can realize communicating to connect of far and near two kinds of different modes, to communicate by letter in the realization global range.
The control method that the utility model adopts as shown in Figure 4, to underwater glider with power-consumption control system under water the control procedure of soarer in duty cycle may further comprise the steps:
Beginning, system initialization starts all driving tasks;
Judged whether uncompleted instruction,, then entered low-power consumption and wait for the instruction message state if do not finish instruction;
When instruction message, system is in wake-up states, the decision instruction type;
If when instructing, then carry out corresponding dive instruction for dive; If be teletype command on the measurement data, carry out teletype command on the measurement data; If be teletype command on the system data, the instruction of executive system data upload; If when instructing, then carry out the job parameter instruction for job parameter; If be other instructions, as when being the viewing files system directive, then instruction is checked by the execute file system, as for the instruction of inquiry carrier state, then carries out the carrier state query statement, as querying positioning information instruction, then executive system locating information query statement.
Judge whether the finishing control process, if then finish the control procedure in the duty cycle.
As shown in Figure 5, system may further comprise the steps from the dormant state to the wake-up states:
When system is in wait instruction message state, judge whether to receive instruction message by communication locating device 2;
If do not receive instruction message, then system is in dormant state, and device for embedded control (1) enters dormant state after forbidding pose module 10 and measurement module 11 in servomechanism installation 6, the data collector 3;
If receive instruction message, then system changes wake-up states into by dormant state, then device for embedded control 1 is a wake-up states, enables measurement module, enables the pose module, enables to carry out behind the servomechanism installation command information and judges and resolve and according to its command information execution command.
In actual applications, the utility model underwater glider receives with power-consumption control system and supports lash ship instruction and resolve command, adjusts accordingly according to resolve command.Underwater glider receives job parameter instruction that the water surface support lash ship to underwater glider send at the water surface by communications localization system 2 with power-consumption control system, the homework type (spiral, sawtooth etc.) that comprises this duty cycle, submerged depth, the operation attitude of carrier of the underwater glider in the operation process (roll angle, the angle of depression, course), sensor acquisition cycle data and dive come-up drive information such as buoyancy.Underwater glider receives with power-consumption control system supports lash ship to carry out job instruction, and carries out operation according to instruction.
Operation is initial, underwater glider instructs according to the job parameter of supporting lash ship with the low power consumption control device, control roll module 14 and bow by the sensing data that reads pose module 10 and press down the attitude that module 15 realizes underwater glider and regulate, reach job parameter and instruct desired operation attitude.Underwater glider reaches underwater glider with low power consumption control device adjusting buoyant module 16 and specifies the dive negative buoyancy force then, and so far the underwater gliding machine operation begins.
Underwater glider comes with the operation attitude of carrier (roll angle, the angle of depression, course) of low power consumption control device according to the job parameter instruction in soarer dive and the floating-upward process under water, read the data of pose module 10, to be the feedback information data by control adjust roll module 14 and bow presses down module 15 and in real time the underwater glider attitude of carrier is carried out closed-loop control with current underwater glider attitude of carrier information, realize the vectoring angle, decide roll angle, decide State Control such as the angle of depression.Underwater glider carries out data acquisition with the sensor sample cycle control data harvester 3 that the low power consumption control device instructs according to job parameter, and the data that data harvester 3 is collected are resolved compression storage, so that support lash ship that the sampled data of underwater gliding machine operation is reclaimed during the end of job.
Underwater glider is also analyzed with the data of the real-time image data harvester 3 of power-consumption control system, if the underwater glider dive is when supporting the specified depth of implements of lash ship, underwater glider will finish the dive state with power-consumption control system, and carries out state exchange and make underwater glider come-up; This moment, underwater glider by regulating the buoyancy that buoyant module 16 changes underwater glider, made underwater glider reach the positive buoyancy state with the low power consumption control device, began come-up.
Underwater glider uses the low power consumption control device in the process of come-up and dive, monitor the integrality of underwater glider in real time by emergency treatment device 5 always, comprise the system works electric current, operating voltage, battery remaining power, state leaks, the interior pressure, sensor states, electric machine operation state, the collision prevention state, file system state, information such as speed state, in case note abnormalities then underwater glider carries out corresponding error handling processing with the low power consumption control device at unusual situation occurring, for example stop operation, processing etc. is carried in underwater glider emergency ascent or throwing, ensures the normal safe and reliable work of underwater glider.
Underwater glider is also analyzed with the data of the real-time image data harvester 3 of power-consumption control system, when if underwater glider floats to the water surface on being, this moment, underwater glider finished this subjob with the low power consumption control device, regulate the underwater glider attitude of carrier and reach communications status, set up and support communicating to connect of lash ship by communication locating device 2.After communicating to connect foundation, underwater glider sends to the support lash ship to the data of underwater gliding machine operation institute image data harvester 3 with the low power consumption control device by communication link; Underwater glider is located the current absolute physical of underwater glider position with the low power consumption control device by locating module 9 after data transmission is finished, this positional information is sent to the support lash ship, support lash ship to get access to carry out carrier recovery again after the locating information or carry out operation such as next operation that so far underwater glider is controlled underwater glider with the low power consumption control device and finished a duty cycle.
Claims (7)
1. underwater glider power-consumption control system, it is characterized in that: have device for embedded control (1), communication locating device (2), data collector (3), energy management device (4) and Servocontrol device (6), with device for embedded control (1) is the control core, and it is mutual to carry out data communication via serial bus and data collector (3) and the locating device of communicating by letter (2); The control output end of device for embedded control (1) is connected to Servocontrol device (6); Device for embedded control (1) connects energy management device (4) through IO interface (21).
2. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: described device for embedded control (1) comprises multi-functional calendaring module (22), SRAM (23), FLASH (24) and the SD storage card (25) of core processing module (17), serial ports expansion module (18), AD expansion module (19), DA expansion module (20), IO interface and extremely low power dissipation; Core processing module (17) connects serial ports expansion module (18) by the spi bus interface, connects data collector (3) and the locating device of communicating by letter (2) via serial bus again; Core processing module (17) connects data collector (3) by the spi bus interface via AD expansion module (19); Core processing module (17) links to each other with Servocontrol device (6) via DA expansion module (20) by the I2C bus; Core processing module (17) links to each other with energy management device (4) through IO interface (21), and core processing module (17) is connected communication locating device (2) by first serial (26) with second serial (27); Core processing module (17) provides temporal information by the multi-functional calendaring module (22) of extremely low power dissipation, by SRAM (23), FLASH (24) and SD storage card (25) storage data and embedded Control program.
3. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: described energy management device (4) comprises power conversion module (28) and energy supply control module (29), wherein energy supply control module (29) links to each other with the IO interface (21) of device for embedded control (1) by power conversion module (28), and the output terminal of energy supply control module (29) is connected to the working power of soarer with power-consumption control system by light coupling relay.
4. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: described communication locating device (2) comprises satellite communication module (7), wireless communication module (8) and locating module (9), the core processing module (17) of device for embedded control (1) is connected satellite communication module (7), wireless communication module (8) respectively by first serial (26) and second serial (27), obtains the absolute physical position of current soarer carrier by locating device (9) and delivers to core processing module (17).
5. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: described data collector (3) comprises pose acquisition module (10) and sensor measurement module (11), and it delivers to core processing module (17) with pressing in the underwater glider working depth, operating voltage, working current and the carrier that collect by the AD expansion module (19) of device for embedded control (1).
6. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: described Servocontrol device (6) comprises buoyancy adjustment module (16), pitch regulation module (15) and roll adjustment module unit (14), and the adjusting of soarer attitude of carrier is luffing angle, roll angle, course heading and realizes that underwater glider rises and dive.
7. by the described underwater glider power-consumption control system of claim 1, it is characterized in that: also have emergency treatment device (5), comprise collision prevention module (12) and throw and carry module (13), collision prevention module (12) is with the system works electric current of underwater glider, operating voltage, battery remaining power, state leaks, press in the underwater glider carrier, sensor states, electric machine operation state, the collision prevention state, file system state, all kinds of detection signals of speed state link to each other with core processing module (17) with serial ports expansion module (18) via the serial bus of device for embedded control (1), throw year output signal of module (13) reception device for embedded control (1) and implement security of system status monitoring and emergent throwing year control.
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| CN2009202489322U CN201532580U (en) | 2009-11-27 | 2009-11-27 | Low power consumption control system for underwater glider |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN102486633A (en) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN104215986A (en) * | 2014-09-23 | 2014-12-17 | 南京大学 | Seaborne remote iridium bidirectional communication/location system of underwater glider |
| CN105529574A (en) * | 2015-12-30 | 2016-04-27 | 中国船舶重工集团公司第七○二研究所 | Low power consumption power supply management apparatus and power supply management method for underwater glider |
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN107147410A (en) * | 2017-04-06 | 2017-09-08 | 无锡职业技术学院 | A kind of underwater robot communication means |
| CN108132617A (en) * | 2016-11-30 | 2018-06-08 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN113126645A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Light long-range AUV control system |
| CN118131290A (en) * | 2024-05-08 | 2024-06-04 | 齐鲁空天信息研究院 | Embedded real-time system and interaction method |
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2009
- 2009-11-27 CN CN2009202489322U patent/CN201532580U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN102486633A (en) * | 2010-12-04 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN102486633B (en) * | 2010-12-04 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN104215986A (en) * | 2014-09-23 | 2014-12-17 | 南京大学 | Seaborne remote iridium bidirectional communication/location system of underwater glider |
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN105529574B (en) * | 2015-12-30 | 2017-11-10 | 中国船舶重工集团公司第七○二研究所 | Underwater glider low-power dissipation power supply managing device and method for managing power supply |
| CN105529574A (en) * | 2015-12-30 | 2016-04-27 | 中国船舶重工集团公司第七○二研究所 | Low power consumption power supply management apparatus and power supply management method for underwater glider |
| CN108132617B (en) * | 2016-11-30 | 2019-09-24 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
| CN108132617A (en) * | 2016-11-30 | 2018-06-08 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
| CN107147410A (en) * | 2017-04-06 | 2017-09-08 | 无锡职业技术学院 | A kind of underwater robot communication means |
| CN113126645A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Light long-range AUV control system |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN118131290A (en) * | 2024-05-08 | 2024-06-04 | 齐鲁空天信息研究院 | Embedded real-time system and interaction method |
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