CN214566043U

CN214566043U - Unmanned ship and unmanned aerial vehicle warm vortex information acquisition device in coordination

Info

Publication number: CN214566043U
Application number: CN202023311165.0U
Authority: CN
Inventors: 邓志良; 陈�胜; 丁明明; 朱涵智; 王方召
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-11-02
Anticipated expiration: 2030-12-31

Abstract

The utility model relates to an unmanned ship and unmanned aerial vehicle warm whirlpool information acquisition device in coordination, including marine data acquisition device and high altitude data acquisition device, marine data acquisition device includes the first collection body that internally mounted has first controller, first information acquisition device, location label device, and grabbing device is installed respectively to first collection body both sides; the high-altitude data acquisition device comprises a second acquisition body, a second controller, a second information acquisition device, a GPS positioning module, a visual module and a UWB positioning module, wherein the second acquisition body is fixed on the first acquisition body through a grabbing device, the top of the second acquisition body is provided with the second controller, the second information acquisition device and the GPS positioning module, and the bottom of the second acquisition body is provided with the visual module; the UWB positioning module is arranged on the arm of the second acquisition body. The utility model discloses can not receive complicated marine environment and the influence of the warm whirlpool that needs to survey, carry out data acquisition and avoid taking place the situation of losing of data acquisition to warm whirlpool each item parameter.

Description

Unmanned ship and unmanned aerial vehicle warm vortex information acquisition device in coordination

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to warm whirlpool information acquisition device in coordination of unmanned ship and unmanned aerial vehicle.

Background

At present, the medium-scale warm vortex is a ubiquitous rotating water body in the ocean. The medium-scale warm vortex is also called a natural gas type ocean vortex, and has large horizontal scale and longer lasting life. Although a plurality of unmanned ships are cooperatively detected, the cruising ability is strong, and the detection of the temperature, salinity, wave field, flow field and other data of the sea surface can be completed. However, in a complex and changeable marine environment, as the mesoscale warm vortexes rotate and move forwards, the unmanned ship detects warm vortex data, and the situations that the unmanned ship falls into the warm vortexes and data is lost inevitably occur. Unmanned aerial vehicle can realize the detection to warm whirlwind air, temperature, humidity, atmospheric pressure value data, but unmanned aerial vehicle's duration is relatively weak, can not realize long-time marine data detection work.

SUMMERY OF THE UTILITY MODEL

The utility model provides an unmanned ship and unmanned aerial vehicle warm whirlpool information acquisition device in coordination, in order to realize not receiving complicated marine environment and the influence of the warm whirlpool that needs to survey, carry out data acquisition and avoid taking place the situation of losing of data acquisition to warm whirlpool each item parameter.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides an unmanned ship and unmanned aerial vehicle warm up whirlpool information acquisition device in coordination, includes marine data acquisition device and high altitude data acquisition device, wherein:

the marine data acquisition device comprises a first acquisition body taking an unmanned ship as a base body, a first controller, a charging device, a first information acquisition device, a positioning label device, a gripping device and a driving device, wherein the first acquisition body is internally provided with the first controller, the first information acquisition device, the positioning label device and the charging device, the gripping devices are respectively arranged on two sides of the first acquisition body, and the driving device for driving the first acquisition body to advance is arranged at the tail part of the first acquisition body;

the high-altitude data acquisition device comprises a second acquisition body taking an unmanned aerial vehicle as a base body, a second controller, a second information acquisition device, a GPS positioning module, a vision module, a UWB positioning module and a driving module, wherein the second acquisition body is provided with a plurality of arms, the second acquisition body is fixed on the first acquisition body through the gripping device, the top of the second acquisition body is provided with the second controller, the second information acquisition device and the GPS positioning module, the bottom of the second acquisition body is provided with the vision module close to the advancing direction, and the vision module adopts a high-definition camera; the middle of the horn is provided with the UWB positioning module, and the end part of the horn is provided with the driving module.

As the utility model discloses a further preferred, charging device includes charger, conveyer belt and battery delivery board, the charger set up in first collection body under-deck bottom, the conveyer belt is followed first collection body length direction sets up, conveyer belt one end with the charger links up, and the other end top is provided with the battery delivery board.

As the utility model discloses a further preferred, first information acquisition device is the meteorological hydrology observation sensor of measuring sea table each item parameter, meteorological hydrology observation sensor set up in first collection body is under-deck.

As the utility model discloses a further preferred, grabbing device adopts the arm, the arm has two joints, first joint is for being close to first collection body stiff end, the second joint is connected with the grabhook, and the tie point is the rotation center, can realize closed function.

As the utility model discloses a further preferred, second information acquisition device is including the baroceptor that is used for gathering each item parameter of sea and the meteorological hydrology observation sensor that is used for acquireing high space-time resolution, the baroceptor with meteorological hydrology observation sensor install in body top is gathered to the second.

As the utility model discloses a further preferred, location label device with UWB positioning module all adopts the UWB chip, drive module adopts the motor.

As a further preference of the present invention, the GPS positioning module has two, set up in the second is gathered the body top and is close to direction of advance department.

As a further preference of the utility model, still including being used for vision module free rotation's cloud platform rotating device, vision module passes through cloud platform rotating device with body bottom connection is gathered to the second.

As a further preferred aspect of the present invention, the battery pod is further provided with a retractable battery pod, and the battery pod is disposed at the bottom of the second collecting body and is engaged with the battery conveying plate.

As the utility model discloses a further preferred, still including the Nano control panel that is used for handling high definition video stream data, the Nano control panel install in the body top is gathered to the second.

Through above technical scheme, for prior art, the utility model discloses following beneficial effect has:

1. the utility model can measure and collect the mesoscale warm vortex data through the cooperative working mode of the first acquisition device body and the second acquisition device body, can realize a set of fully intelligent warm vortex detection system, and greatly reduces the labor cost;

2. the utility model discloses can reverse use UWB technique and big dipper GPS data fusion, the mode that reuse grabbing device snatched is accomplished under complicated marine environment, and the accurate stopping of second collection system body is on first collection system body to realize the effect of indirectness continuation of the journey, improved the availability factor of second collection system body greatly.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of the marine data acquisition device of the present invention;

fig. 2 is a top view of the overhead data collection system of the present invention;

FIG. 3 is a schematic structural diagram of the overhead data collection system of the present invention;

fig. 4 is a top view of the overall structure of the present invention;

fig. 5 is a schematic view of the overall structure of the present invention.

In the figure: 1. a gripping device; 2. a charger; 3. a conveyor belt; 4. a battery transport plate; 5. positioning a label device; 6. a first controller; 7. a first information acquisition device; 8. a drive device; 9. a UWB positioning module; 10. a horn; 11. a first joint; 12. a second joint; 13. a first acquisition body; 14. a second acquisition body; 15. an air pressure sensor; 16. a Nano control panel; 17. a second controller; 18. a meteorological hydrological observation sensor; 19. a holder rotating device; 20. a vision module; 21. a battery pod; 22. a GPS positioning module; 23. a charging device.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Example 1

The embodiment provides a preferred embodiment, a warm whirlpool information acquisition device in coordination with unmanned ship and unmanned aerial vehicle, including marine data acquisition device and high altitude data acquisition device, this embodiment mainly utilizes marine data acquisition device with high altitude data acquisition device's collaborative work mode realizes gathering warm whirlpool information. The high-altitude data acquisition device gives the ocean data acquisition device warm vortex advancing direction data, the ocean data acquisition device carries out autonomous flight line planning after fusing the data transmitted by the high-altitude data acquisition device and satellite cloud picture data, and meanwhile, the ocean data acquisition device is responsible for carrying out data acquisition around the warm vortex side face and comprises the step of measuring data such as sea surface temperature, salinity, wave field and flow field.

As shown in fig. 1, the marine data acquisition device includes a first acquisition body 13 (the same structure as that of an existing unmanned ship is not described in detail), which uses an unmanned ship as a base, a first controller 6, a charging device 23, a first information acquisition device 7, a positioning tag device 5, a gripping device 1, and a driving device 8, and the first acquisition body 13 is internally provided with the first controller 6, the first information acquisition device 7, the positioning tag device 5, and the charging device 23. The first controller 6 is used for regulating and controlling the movement of the first acquisition body 13, and the first information acquisition device 7 is a meteorological hydrological observation sensor; the meteorological hydrological observation sensor is arranged in the first acquisition body 13 cabin; the positioning label device 5 adopts a UWB chip, the charging device 23 comprises a charger 2, a conveyor belt 3 and a battery conveying plate 4, the charger 2 is arranged at the bottom of the first acquisition body 13 cabin, the conveyor belt 4 is arranged along the length direction of the first acquisition body 13, one end of the conveyor belt 4 is connected with the charger 2, and the battery conveying plate 4 is arranged above the other end of the conveyor belt. First collection body 13 both sides are installed respectively grabbing device 1, grabbing device 1 adopts the arm, arm one end is first joint 11 one end and is second joint 12, first joint 11 is for being close to first collection body 13 stiff end can realize the front and back free rotation, second joint 12 is connected with the gripper, has the tie point for rotation center, can realize the closure function. The tail of the first collecting body 13 is provided with the driving device 8 for driving the first collecting body 13 to advance. The driving device 8 comprises a motor and a steering engine, energy is provided for the motor by mainly depending on fuel oil on the principle, the energy is transmitted to the steering engine through the motor, and the forward movement, turning, cruising and other actions of the first acquisition body 13 are realized by the rotation of the steering engine and the rotation speed adjustment of the left steering engine and the right steering engine.

As shown in fig. 2 to 5, the high altitude data acquisition device includes a second acquisition body 14 (the same structure as that of the existing unmanned aerial vehicle is not described in detail), which uses a six-wing unmanned aerial vehicle as a base, a second controller 17, a second information acquisition device, a GPS positioning module 22, a vision module 20, a UWB positioning module 9, and a driving module. The second collecting body 14 has six arms 10, and the second collecting body 14 grips two arms 10 by the gripping device 1 so that the second collecting body 14 is fixed on the first collecting body 13; the second controller 17, the second information acquisition device and the GPS positioning module 22 are arranged on the top of the second acquisition body 14, and the second controller 17 is used for processing the posture information of the second acquisition body 14; the second information acquisition device comprises a barometric sensor 15 for acquiring various parameters of the sea surface and a meteorological hydrographic observation sensor 18 for acquiring high space-time resolution, wherein the barometric sensor 15 and the meteorological hydrographic observation sensor 18 are arranged on the top of the second acquisition body 14; the two GPS positioning modules 22 are disposed on the top of the second collecting body 14 near the forward direction. The bottom of the second acquisition body 14 is provided with the vision module 20 near the advancing direction, the vision module 20 adopts a high-definition camera, and the vision module is connected with the bottom of the second acquisition body 14 through a holder rotating device 19. Six horn 10 middle part all is provided with UWB positioning module 9, UWB positioning module 9 adopts the UWB chip. Six horn 10 tip all is provided with drive module, drive module adopts the motor. The embodiment further comprises a freely retractable battery pod 21, wherein the battery pod 21 is arranged at the bottom of the second collecting body 14, and when the second collecting body 14 is fixed on the first collecting body 13, the battery pod 21 is connected with the battery conveying plate 4. The embodiment further comprises a Nano control board 16 for processing high definition video stream data, wherein the Nano control board 16 is installed on the top of the second acquisition body 14.

Six UWB positioning module 9 that sets up on horn 10 utilizes UWB technique in the opposite direction, and accurate will second acquisition body 14 stops to fall in near grabbing device 1. When the second collecting body 14 is dropped near the grasping apparatus 1, the second collecting body 14 is grasped by the grasping apparatus 1, and then is effectively stopped at a designated position. When the second collecting body 14 is stopped on the first collecting body 13, the battery pod 21 automatically contracts to release the batteries inside the second collecting body 14 to the battery conveying plate 4, then the batteries are conveyed to the moving conveyor belt 3, and the conveyor belt 3 brings the batteries with insufficient electric quantity to the position of the charger 2 for electric quantity supplement, so that multiple times of high endurance use of the second collecting body 14 are achieved.

When the second collecting body 14 is provided with a high definition camera, the moving track of the medium-sized warm vortex is continuously shot and transmitted to the first collecting body 13 mainly for high altitude inspection. And the first acquisition body 13 replans the air route after the satellite cloud picture and the real-time high-definition camera data are fused, and continues to acquire the data. Can solve like this first collection body 13 is in data acquisition process, and the mistake is gone into the situation that causes data loss in the warm whirlpool and is appeared, very big assurance moreover first collection body 13's navigation security.

The second controller 17 in the high-altitude data acquisition device selects Pixhawk4 as a control unit of the second acquisition body 14, is internally provided with components such as an Inertial Measurement Unit (IMU), a barometer and a magnetic compass, performs data fusion through an Extended Kalman Filter (EKF), then calculates data, subscribes and releases data through a MAVLINK protocol, and sends a control instruction to the second acquisition body 14 so as to adjust and control the posture of the second acquisition body 14. The driving modules adopt motors, six groups of driving modules are distributed around the second controller 17 in a shape of a Chinese character 'xing' and are connected with the PWM wave output ports of the second controller 17, the second controller 17 controls different rotating speeds of the driving modules by controlling the range of the output PWM waves, and therefore the rotating speed of the second acquisition body 17 is controlled to adjust the posture of the second acquisition body 17. The GPS positioning module 22 adopts a GPS M8N, the GPS M8N module supports a GPS + Beidou + SBAS or a GPS + GLONASS + SBAS, the power consumption is lower, the precision is higher, the positioning limit precision is about 0.5M, and the limit return precision can reach 40 CM; the GPS positioning module 22 is connected to the GPS moudlet port of Pixhawk4 and connected to the second acquisition body 14 through the IIC protocol, thereby implementing the autonomous positioning function of the second acquisition body 14. The high-altitude data acquisition device further comprises a wireless communication module, the wireless communication module is connected with a TELEM1 port on Pixhawk4 through a Zigbee3.0 data transmission module, and a distributed communication mode is adopted, so that multipoint communication data transmission in a broadcasting room can be realized, that is, data can be received by any node sending data and other nodes, and accordingly data receiving and sending processing between the second acquisition body 14 and the first acquisition body 13 is realized. The UWB positioning module 9 is connected to the TELEM2 port of Pixhawk4, and performs data transmission using an ultra-wideband protocol.

In the embodiment, the Nano control board 16 is a Nano embedded development board, which is used as an embedded processing platform and performs data exchange with the second controller 17 through a UART serial port; the high-definition camera is an Intel RealSense D435i depth camera, is connected with a Nano embedded development board through a USB3.0 and is fixed below the second acquisition body 14, and the direction of the high-definition camera is consistent with the direction of the machine head of the second acquisition body 14. After the high-definition camera is powered on, the shot information can be sent to the Nano control panel 16, and the Nano control panel 16 converts a video stream into an image stream for image recognition processing. When the designated target is identified, the Nano control board 16 sends an instruction to the Pixhawk4 port, the first controller 6 performs a series of data calculation, and transmits the calculated position coordinates of the target to the first collection body 13 through the wireless communication module zigbee 3.0.

The first controller 6 in the marine data acquisition device selects Pixhawk4 as a control unit of the marine data acquisition device, embeds components such as an Inertial Measurement Unit (IMU), a barometer and a magnetic compass, performs data fusion through an Extended Kalman Filter (EKF), calculates data, subscribes and releases data through a MAVLINK protocol, and sends a control instruction to the marine data acquisition device so as to regulate and control the motion of the first acquisition body 13; the driving device 8 is connected with an I/O PWM OUT port on Pixhawk4, and the rotating speed is adjusted through PWM waves transmitted by the first controller 6. The meteorological hydrological observation sensor serving as the first information acquisition device 7 is powered by a TELEM1 port, and is mainly used for acquiring parameters such as sea surface wind, temperature, humidity, pressure, ocean current and waves, so as to be used for researching medium-scale warm vortexes. The positioning tag device 5 is connected with a TELEM2 port of Pixhawk4, the positioning tag device 5 emits UWB signals according to a certain frequency, continuously carries out distance measurement with six base stations with 6 known positions on the horn, and the position reaching the UWB positioning module 9 is determined in a TDOA mode. The grabbing device 1 adopts a mechanical arm, the control of the mechanical arm is controlled by a Pixhawk4 board, after the Pixhawk4 obtains a target pose through the positioning label device 5, the pose of the tail end of the mechanical arm under a base coordinate system is obtained through kinematics forward solution, the motion speed of the tail end of the mechanical arm is calculated through the control of a Pixhawk4 controller according to the error between the expected pose and the pose of the tail end of the mechanical arm, the motion speed is transmitted to the first controller 6, and the joint motion track of the mechanical arm is planned by the first controller 6, so that the grabbing task is realized.

In order to solve the problem that the endurance of an unmanned aerial vehicle is poor in the process of sailing, the unmanned aerial vehicle is guaranteed to be endurance by a method that the unmanned ship charges the unmanned aerial vehicle at regular time, and in order to enable the unmanned aerial vehicle to be capable of accurately stopping on the unmanned ship, the unmanned aerial vehicle is achieved through a mode that a Beidou satellite and a reverse UWB technology are combined. Firstly, a Beidou satellite is adopted to enable the second acquisition body 14 to reach the position near the first acquisition body 13, and then the UWB technology is reversely utilized to accurately position. In addition, because the intensity of ocean wind is great, the phenomenon that the second acquisition body 14 turns over when stopping and falling is prevented, and we can pick the body 14 and accurately stop and fall by carrying the grabbing device 1 on the first acquisition body 13, and the grabbing device 1 is used for grabbing and stopping and falling, so that the use efficiency of the second acquisition body 14 is greatly improved.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" as used herein is intended to include both the individual components or both.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides an unmanned ship and unmanned aerial vehicle warm whirlpool information acquisition device in coordination, its characterized in that: including marine data acquisition device and high altitude data acquisition device, wherein:

the high-altitude data acquisition device comprises a second acquisition body taking an unmanned aerial vehicle as a base body, a second controller, a second information acquisition device, a GPS positioning module, a vision module, a UWB positioning module and a driving module, wherein the second acquisition body is provided with a plurality of arms, the second acquisition body is fixed on the first acquisition body through the gripping device, the top of the second acquisition body is provided with the second controller, the second information acquisition device and the GPS positioning module, the bottom of the second acquisition body is provided with the vision module close to the advancing direction, and the vision module adopts a high-definition camera; a plurality of horn middle part all is provided with UWB orientation module, its tip all is provided with drive module.

2. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 1, wherein: the charging device comprises a charger, a conveyor belt and a battery conveying plate, the charger is arranged at the bottom of the first collection body cabin, the conveyor belt is arranged along the length direction of the first collection body, one end of the conveyor belt is connected with the charger, and the battery conveying plate is arranged above the other end of the conveyor belt.

3. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 2, wherein: first information acquisition device is the meteorological hydrology observation sensor of measuring each item parameter of sea table, meteorological hydrology observation sensor set up in first collection body under-deck.

4. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 3, wherein: the grabbing device adopts a mechanical arm, the mechanical arm is provided with two joints, the first joint is close to the fixed end of the first acquisition body, the second joint is connected with the grabbing claw, and the connected point is a rotation center.

5. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 4, wherein: the second information acquisition device comprises a barometric sensor for acquiring various sea surface parameters and a meteorological hydrographic observation sensor for acquiring high space-time resolution, and the barometric sensor and the meteorological hydrographic observation sensor are mounted on the top of the second acquisition body.

6. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 5, wherein: the positioning tag device and the UWB positioning module both adopt UWB chips, and the driving module adopts a motor.

7. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 6, wherein: the two GPS positioning modules are arranged at the position, close to the advancing direction, of the top of the second acquisition body.

8. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 7, wherein: the visual module is connected with the bottom of the second acquisition body through the cradle head rotating device.

9. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 8, wherein: the battery pod is arranged at the bottom of the second acquisition body and is connected with the battery conveying plate.

10. The unmanned ship and unmanned aerial vehicle cooperative warm vortex information acquisition device according to claim 9, wherein: the high-definition video stream data acquisition system further comprises a Nano control panel used for processing high-definition video stream data, and the Nano control panel is installed at the top of the second acquisition body.