CN209225368U - Light source-guide system applied to underwater robot voluntary recall - Google Patents
Light source-guide system applied to underwater robot voluntary recall Download PDFInfo
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- CN209225368U CN209225368U CN201822059889.7U CN201822059889U CN209225368U CN 209225368 U CN209225368 U CN 209225368U CN 201822059889 U CN201822059889 U CN 201822059889U CN 209225368 U CN209225368 U CN 209225368U
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- 230000002747 voluntary effect Effects 0.000 title claims abstract description 15
- 238000004064 recycling Methods 0.000 claims abstract description 12
- 208000005392 Spasm Diseases 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 23
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 208000033748 Device issues Diseases 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
The utility model relates to a kind of light source-guide systems applied to underwater robot voluntary recall, including light source-guide device, it is set on recycling directing base station, and connection light source control module, guidance light source is provided on the light source-guide device, light source-guide device receives the control command of light source control module, and guidance light source is adjusted according to control command；Light source control module, connects back to spasm and leads base station and light source-guide device, is received back the control instruction that spasm leads base station by serial ports, issues control command to light source-guide device, adjusts guidance light-source brightness and control guidance light source light on and off arrangement.The utility model realizes the intelligent control of recycling guidance light source, improves the reliability of voluntary recall；The work intensity for reducing manual adjustment light-source brightness improves test efficiency, support personnel's safety；Recovery system is accessed in the form of communication bus, improves system level of intelligence.
Description
Technical field
The utility model relates to underwater robot voluntary recall fields, specifically a kind of to be applied to underwater robot certainly
The light source-guide system of main recycling.
Background technique
In recent years, marine economy was developed to have obtained the attention of countries in the world man, and autonomous type underwater robot (AUV) has
The advantages that operating efficiency is high, and intelligent level is high, voyage is remote, detects in ocean development, geological prospecting, oil and gas detection and military affairs
Equal fields are more and more widely used, and the developmental research object of various countries is increasingly becoming.It is limited to current energy technology, leads to
The factors such as letter level restrict, and autonomous type underwater robot still needs to periodically in operation process to progress energy recharge, number on lash ship
According to the operation such as transmission and instruction downloading, thus it is encountered by recycling and lays problem, under severe sea condition, be unable to complete underwater machine
Device people lay and recovery operation.Various countries fall over each other to develop the voluntary recall technology of underwater robot in this way, so that robot is in water
Lower completion energy recharge, mission downloading and data upload etc., improves the operating efficiency and work capacity of underwater robot, is water
The industrialization of lower robot technology and large-scale lay the foundation.
Countries in the world underwater robot voluntary recall mode multiplicity at present, with acoustics guidance+optical guidance hot spot the most,
In removal process, at a distance using acoustics guide, guidance AUV enter in optical guidance effective distance, using optical close from
Guidance improves underwater robot docking probability of recycling success.However, light-source brightness directly influences during optical guidance
The accuracy of optics docking algorithm.Light source is too bright, and guide housing will form aperture, proposes higher want to optical navigation algorithm
It asks, light source is too dark, and AUV needs closer distance that could differentiate docking mechanism position, both increases the difficulty in docking removal process in this way
Degree.And multiple manual adjustment light-source brightness, also unrealistic, there is autonomous adjustable light supply apparatus to become a kind of for exploitation in this way
It may.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of light source applied to underwater robot voluntary recall and draws
Guiding systems solve the problems, such as that existing AUV needs artificial repeatedly adjusting light source in docking removal process.
The utility model technical solution used for the above purpose is:
A kind of light source-guide system applied to underwater robot voluntary recall, including
Light source-guide device is set on recycling directing base station, and connects light source control module, the light source-guide device
On be provided with guidance light source, light source-guide device receives the control command of light source control module, according to control command to guidance light
Source is adjusted；
Light source control module connects back to spasm and leads base station and light source-guide device, is received back spasm by serial ports and leads base station
Control instruction, to light source-guide device issue control command, adjust guidance light-source brightness and control guidance light source light on and off row
Column.
The light source-guide device is round guide housing, is evenly distributed with several LED light sources at round guide housing edge.
The LED light source is blue-light source.
The light source control module includes control chip, BUCK chopper circuit, fault detection circuit and relay；
The control chip by PWM drive pin connect BUCK chopper circuit, control chip export pwm pulse signal to
The switching tube of BUCK chopper circuit controls its on-off；Fault detection circuit series connection access BUCK chopper circuit, acquires BUCK copped wave
Current value in circuit, and current value is converted into voltage value, return to control chip；The output end of fault detection circuit passes through
Relay connects light source-guide device, output voltage；Chip is controlled by AD detection circuit connecting fault detection circuit, receives event
Hinder the voltage value of detection circuit passback；Control chip by IO control pin connect relay, output switch control signal to after
Electric appliance controls the switch of relay.
The switching tube of the BUCK chopper circuit uses switch mosfet device, passes through the on/off of regulating switch pipe
Duty ratio adjusts output voltage values, control guidance light-source brightness.
The utility model has the advantages that and advantage:
1. the utility model realizes the intelligent control of recycling guidance light source, the reliability of voluntary recall is improved；
2. the utility model reduces the work intensity of manual adjustment light-source brightness, test efficiency, support personnel are improved
Safety；
3. the utility model accesses recovery system in the form of communication bus, system level of intelligence is improved.
Detailed description of the invention
Fig. 1 is the system construction drawing of the utility model；
Fig. 2 is the fault detection circuit schematic diagram of the utility model；
Fig. 3 is the light source-guide Installation practice figure of the utility model；Wherein 1 is LED light source；
Fig. 4 is the guidance light source schematic diagram that the whole of the utility model is lighted；
Fig. 5 is the guidance light source schematic diagram for extinguishing two LED light sources；
Fig. 6 is the guidance light source schematic diagram for extinguishing three LED light sources；
Fig. 7 is the guidance light source schematic diagram for extinguishing four LED light sources.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented in many other ways than those described herein, this field skill
Art personnel can do similar improvement without prejudice to utility model intension, therefore the utility model is not by following public
The limitation of specific implementation.
It should be noted that be referred to as " being set to " another element when element, it may directly on the other element,
Or there may also be elements placed in the middle.When an element is known as " connection " another element, it be can be directly connected to separately
One element may be simultaneously present centering elements.It is used herein to belong to "front", "rear", "left", "right" and similar
Statement for illustrative purposes only, be not offered as unique embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.It is intended merely to herein in the term used in the description of utility model
The purpose of specific embodiment is described, it is not intended that in limitation the utility model.
The control chip being related in the utility model be conventional selection, and the utility model on software and programming simultaneously
Without innovation, the structure technologies feature such as hardware annexation and positional relationship is only protected, those skilled in the art are practical by this
The structure feature of novel record can be realized the utility model function in conjunction with conventional programming logic, solve the utility model technology
Problem.
Light source-guide system includes light source-guide device and light source control module；
Light source-guide device is oriented to hood shape using circular cone, whole to be rigidly connected using structural member, on rounded outer profiles
The even guidance light source for being equipped with label docking recovery position；Light source-guide device need to be rigidly attached on recycling directing base station；
Light source control module is controlled using single-chip microcontroller, is received back spasm by serial ports and is led base station control instruction information, is used
Voltage loop closed loop PID control adjusts eight light-source brightness and control light source spread geometry, is provided simultaneously with light source failure information prison
Light source information is fed back and is uploaded by brake.
Light source control module uses BUCK topological structure, Voltage loop closed loop PID control.Using STM32F103RBT6 series
Single-chip microcontroller is control chip, using ST3232EBTR series serial port chip.Light-source control system can pass through the electricity of each LED of detection
Stream, judges its fault message.
Fig. 1 is the system construction drawing of the utility model.
Light source-guide system, including
Light source-guide device is set on recycling directing base station, and connects light source control module, the light source-guide device
On be provided with guidance light source, light source-guide device receives the control command of light source control module, according to control command to guidance light
Source is adjusted；
Light source control module connects back to spasm and leads base station and light source-guide device, is received back spasm by serial ports and leads base station
Control instruction, to light source-guide device issue control command, adjust guidance light-source brightness and control guidance light source light on and off row
Column.
The light source control module includes control chip, BUCK chopper circuit, fault detection circuit and relay；Control core
Piece drives pin to connect BUCK chopper circuit by PWM, and control chip exports pwm pulse signal to the switch of BUCK chopper circuit
Pipe, controls its on-off；Fault detection circuit series connection access BUCK chopper circuit, acquires the current value in BUCK chopper circuit, and
Current value is converted into voltage value, returns to control chip；The output end of fault detection circuit connects light source by relay and draws
Lead device, output voltage；Chip is controlled by AD detection circuit connecting fault detection circuit, receives fault detection circuit passback
Voltage value；It controls chip and pin connection relay is controlled by IO, output switch control signal controls relay to relay
Switch.Chopper circuit switching tube uses switch mosfet device, the duty of the on/off by controlling switch mosfet device
Than reaching the output voltage for adjusting chopper circuit.The UART pin of the serial communication circuit connection control chip, for connecting
The communication bus that spasm leads base station is taken back, control instruction and feedback LED light source fault message that spasm leads base station are received back.
Relay, the I/O control circuitry by controlling chip control turning on and off for relay, can freely control and appoint
What guidance light source light on and off.
Fig. 2 is the fault detection circuit schematic diagram of the utility model.
Electric current IA value is converted to by comparing amplifying circuit by the current value IA that detection flows through each LED light source
Voltage value CU_A is linked into the AD detection circuit of light source control module, converts by AD, judges whether current value IA is normal, according to
It is secondary, judge the working condition of light source led.
Fig. 3 is the light source-guide Installation practice figure of the utility model.
Light source-guide device uses circular cone guide housing, and drawing for label docking recovery position is uniformly equipped on rounded outer profiles
Guide-lighting source, light source-guide device need to be rigidly attached on recycling directing base station；Light source is eight rounded evenly arranged blues
LED light source.
System default light source figure is eight LED all lights, 8 volts of control circuit output voltage default value；Take office not receiving
In the case of the instruction of what serial ports, main program detects output voltage and output total current value, judges the working condition of eight light sources, and on
Pass result.
After receiving control instruction, by analysis judgment, if light source arrangement figure need to be changed, every is controlled by IO
The branch of LED exports, and changes its light source figure, and upload result；If lamp source brightness need to be changed, by analytical plan, change electricity
Pressure output is as a result, change its light-source brightness, and upload result.
Fig. 4 is the LED light source light on and off state presented when guiding light source whole illuminating state；Fig. 5 is to extinguish two LED light sources
When guidance light source present LED light source light on and off state；Fig. 6 is the LED light that guidance light source when extinguishing three LED light sources is presented
Source light on and off state；Fig. 7 is the LED light source light on and off state that guidance light source when extinguishing four LED light sources is presented.
Working principle are as follows:
It after light source control module receives the control instruction of recycling guidance base station, is parsed, judgement is if necessary to change
Light source arrangement, then the guidance light source on light source-guide device issues control command, controls the light on and off of every LED light source, changes
Light source light on and off arrangement is guided, and uploads result；If necessary to change light-source brightness, then change the output voltage of corresponding LED light source,
The brightness of corresponding LED light source is adjusted, and uploads result.
Claims (5)
1. a kind of light source-guide system applied to underwater robot voluntary recall, which is characterized in that including
Light source-guide device is set on recycling directing base station, and connects light source control module, sets on the light source-guide device
Be equipped with guidance light source, light source-guide device receives the control command of light source control module, according to control command to guidance light source into
Row is adjusted；
Light source control module, connects back to spasm and leads base station and light source-guide device, is received back the control that spasm leads base station by serial ports
System instruction issues control command to light source-guide device, adjusts guidance light-source brightness and control guidance light source light on and off arrangement.
2. the light source-guide system according to claim 1 applied to underwater robot voluntary recall, it is characterised in that: institute
Light source-guide device is stated as round guide housing, is evenly distributed with several LED light sources at round guide housing edge.
3. the light source-guide system according to claim 2 applied to underwater robot voluntary recall, it is characterised in that: institute
Stating LED light source is blue-light source.
4. the light source-guide system according to claim 1 applied to underwater robot voluntary recall, it is characterised in that: institute
Stating light source control module includes control chip, BUCK chopper circuit, fault detection circuit and relay；
The control chip drives pin to connect BUCK chopper circuit by PWM, and control chip exports pwm pulse signal to BUCK
The switching tube of chopper circuit controls its on-off；Fault detection circuit series connection access BUCK chopper circuit, acquires BUCK chopper circuit
In current value, and current value is converted into voltage value, returns to control chip；The output end of fault detection circuit passes through relay
Device connects light source-guide device, output voltage；Chip is controlled by AD detection circuit connecting fault detection circuit, receives failure inspection
The voltage value of slowdown monitoring circuit passback；Control chip and pin connection relay controlled by IO, output switch control signal to relay,
Control the switch of relay.
5. the light source-guide system according to claim 4 applied to underwater robot voluntary recall, it is characterised in that: institute
The switching tube for stating BUCK chopper circuit is adjusted using switch mosfet device by the on/off duty ratio of regulating switch pipe
Output voltage values, control guidance light-source brightness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822059889.7U CN209225368U (en) | 2018-12-07 | 2018-12-07 | Light source-guide system applied to underwater robot voluntary recall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822059889.7U CN209225368U (en) | 2018-12-07 | 2018-12-07 | Light source-guide system applied to underwater robot voluntary recall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209225368U true CN209225368U (en) | 2019-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822059889.7U Expired - Fee Related CN209225368U (en) | 2018-12-07 | 2018-12-07 | Light source-guide system applied to underwater robot voluntary recall |
Country Status (1)
| Country | Link |
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| CN (1) | CN209225368U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284662A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Light source guiding system applied to autonomous recovery of underwater robot |
-
2018
- 2018-12-07 CN CN201822059889.7U patent/CN209225368U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284662A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Light source guiding system applied to autonomous recovery of underwater robot |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190809 |