KR101188630B1 - Intelligent Unmanned Underwater Autonomous Cruising System of Submarine and Method for Controlling Unmanned Underwater Autonomous Cruising of Submarine - Google Patents

Abstract

The present invention relates to an intelligent unmanned underwater automatic navigation system for controlling a small submarine composed of a head part, a fuselage part divided into three parts, and a stern part generating thrust, and an operation control method of the submarine. A main control printed circuit board comprising a GPS receiver comprising components, a sound wave object sensing unit, a wireless communication unit performing wireless communication with an external console, and a first CPU configured to communicate with an external console to control the system; Hull speed detection unit for detecting the speed of the hull composed of independent control modules, a data processing unit for collecting and processing information of various sensors required for unmanned navigation of the hull, the direction of the hull, underwater or on the surface A first sub-control printed circuit board having an attitude control unit for controlling the attitude of the vehicle, a thrust unit for generating thrust of the hull, and a second CPU for data communication with the first CPU; Camera control unit for controlling the operation of one or more cameras composed of independent control module, proximity monitoring to detect the proximity object with a plurality of proximity sensors fixed to the left and right outer surface of the submarine to detect whether the object is near the side of the submarine And a power supply unit for supplying power to the entire system including a power supply control unit, a charging unit connected to the power supply unit to enable external charging, and a second unit having a third CPU connected to an external console and in data communication with the first CPU. Control printed circuit boards are used to perform submarine water surface navigation, diving and underwater navigation, return navigation and dock entry.

Description

Intelligent Unmanned Underwater Autonomous Cruising System of Submarine and Method for Controlling Unmanned Underwater Autonomous Cruising of Submarine}

The present invention is a small automatic submarine (hereinafter referred to as a submarine) is automatically active, freely diving and injured, and performs autonomous navigation according to the surrounding environment, and by installing a short-wing wing in the athlete to enable power generation during underwater navigation extended An intelligent unmanned underwater navigation system for a submarine that automatically returns to take time and perform commercial or military missions.

As a representative of the prior art, Japanese Unexamined Patent Publication No. 2010137800 discloses an unmanned underwater vehicle which detects an enemy submarine in a submarine without indicating its existence and position. Submerged in the subsurface of the enemy submarine, the contact device is in close contact with the lower surface of the enemy submarine to maintain the close state of the main body, and the automatic transmitter generates sound waves or electromagnetic waves at a predetermined frequency in the water of a predetermined depth, The presence and location of the ship is not indicated by the enemy submarine, but the sonar is detected by the sonar during underwater navigation.

Such an unmanned underwater vehicle of the prior art is not commercially available and does not allow a return, and is an autonomous type that performs energy supply and data exchange in water to request assistance from a mother ship as disclosed in Japanese Patent Laid-Open No. 2000-272583. Japanese Unexamined Patent Application Publication No. 2005-239027 for improving the accuracy of captured images by means of a technique in which the underwater docking device of an unmanned submersible device is coupled between the submersible device 50 and the underwater station 51 and the sonar of the autonomous underwater vehicle. Underwater navigation system and its control method, such as the base material is installed and controlled in each of the front, bottom, left and right of the autonomous underwater navigational body, so as not to be affected by the algae to all the hull, to maintain the orientation and change course Techniques to maintain and submerged shorthand, such as described in Japanese Patent Laid-Open No. 2006-298288 Road chinjasik a combination of Autonomous Systems and freestyle jamsugi jamsugi technique of connection such as by Hangzhou.

Therefore, the automatic unmanned underwater automatic navigation system performs the mission according to the initial purpose and is for the purpose of automatic return, so commercially, underwater exploration with depth of 100 ~ 600m or more, biological resource exploration in sea area, deep sea resource exploration It is necessary to check the location of ships, to make charts and seabeds for military use, to make patrols such as DLLs and border areas such as DLLs. It is highly desirable to detect enemy submarines in the area to enable preemptive strikes, preemptive strikes and bypass strikes against enemy submarines and battleships, and to eliminate obstacles for mines and military operations. .

Therefore, the main purpose of the present invention is an automatic unmanned submarine, which is an automatic active submarine, which is free of diving and injuries, and performs autonomous sailing according to the surrounding environment, and performs a commercial or military mission, and automatically returns to an autonomous submarine under any conditions. The present invention provides a method for controlling the submarine automatic navigation system and the automatic submarine navigation of the submarine.

Another object of the present invention is an automatic active function, automatic depth and distance detection, automatic return, autonomous attitude control and obstacle avoidance due to environmental changes, manual, automatic conversion of the ground center, recharging the power consumed by its own generator, underwater sound waves And ground propagation, remote control of submersibles from the ground and air, underwater and terrestrial radio communications, object and object recognition, checking surface conditions in submerged conditions, sending and receiving video and submarine data in submerged depths of 5 meters underwater It is to provide an autonomous submarine intelligent unmanned underwater navigation system and a method for controlling the submarine's unmanned automatic navigation.

It is another object of the present invention to check the surface state in the submerged state by the automatic active special function, for example, autonomous surface injury and diving by adopting the automatic ballast, image and submarine data transmission at a predetermined depth, for example, 5m underwater In addition, the present invention provides a method for controlling the submarine's intelligent unmanned underwater navigation system and the unmanned automatic navigation of the submarine, which autonomously copes with emergency situations and minimizes the price and process by modularizing each part.

According to the present invention, a power generation unit having a short wing is divided into three parts, a head part installed in a bow, and a fuselage part and rear key having a plurality of sensors, a plurality of driving means, and one or more control printed circuit boards arranged in each part. And an unmanned underwater navigation system for controlling a submarine consisting of a stern part such as a horizontal key, a brushless direct current motor and a screw connected to the motor shaft, the GPS receiver comprising a first MCU to perform a GPS reception function. 2 MCU and the sonar sound transmitter and the underwater sound receiver and the third MCU and the sound wave object detection unit, a wireless communication unit for wireless communication with the external console, the first storage device for storing and temporarily storing the system programming and Main printed circuit board comprising a first CPU having a second SD and the like to communicate with an external console for system control: a hull with a fourth MCU Hull speed detection unit for detecting the speed, a data processing unit for collecting and processing information of various sensors required for unmanned navigation of the hull with a fifth MCU, the direction of the hull, attitude of underwater or surface with a sixth MCU A thruster for generating thrust of the hull with a posture control unit and a seventh MCU for controlling the controller; and a second CPU for data communication with the first CPU, and third and fourth SDs to independently control each module. A first sub control printed circuit board; MMP (Multi-Media Processor), or collectively referred to as “MMP” for controlling the operation of one or more cameras, and a microcontroller for detecting the proximity of objects to the side of the submarine. Proximity monitoring unit for detecting proximity objects with a plurality of proximity sensors fixed to the left and right outer surface of the submarine, a power supply unit for supplying power to the entire system with a power control unit, charging unit connected to this power supply to enable external charging Second sub-control printed circuit boards having an internal communication unit connected to an external console serving as a system management unit for the external management of the submarine, and a third CPU for independently controlling each module by including fifth and sixth SDs and the like. It consists of.

The GPS receiver processes the external GPS signals received by the first MCU through the GPS antenna by the first GPS module and the second GPS module under the control of the first CPU, generates GPS data, calculates the current coordinates, Store in memory and supply to the first CPU.

Underwater acoustic transmitter is a first digital signal processor (DSP) which the second MCU processes a digital signal having a certain frequency in order to transmit data on the navigation route of the submarine to an external console under the control of the first CPU. A first digital analog converter (hereinafter referred to as a “DAC”) for converting a digital data signal via the first DSP into an analog signal and a second antenna for transmitting the navigation data through the second antenna. 1 consists of data sound transmission modules for transmitting signals from the DAC.

The underwater acoustic receiver receives a signal from a high frequency acoustic receiver microphone for receiving an analog data signal received through a third antenna, a front, left and right sides, an upper and a lower acoustic receiver module for receiving an amplified signal from an acoustic receiver microphone, and signals from these modules. Analog-to-digital converter (Analog Digital Converter, hereinafter referred to as "ADC") buffer that is applied to the second MCU by converting the analog.

The sound wave object detection unit has its own memory to generate and receive a signal from the front, rear, left, and right side scan sonar under the control of the third MCU and the third MCU to generate data on the surrounding objects of the automatic underwater navigation submarine. Image generation that generates an image corresponding to digital data from a third DSP (Digital Signal Processor; referred to as a digital signal processor or hereinafter referred to as a "DSP") that applies data to an image generator and processes digital signals therefrom. Consists of parts to identify and store surrounding objects.

The wireless communication unit applies a reception signal and a transmission data signal to these antennas from an ultra high frequency antenna and an ultra low frequency antenna, an ultra high frequency antenna and an ultra low frequency antenna, which receive a wireless high frequency signal and an ultra low frequency signal constituting a "data signal" loaded on a predetermined frequency. A wideband dual band filter unit, a transmission data coding unit for coding data received from the first CPU, a radio frequency amplifier / switch unit and a radio frequency amplifier for amplifying a received signal from the dual band filter unit and outputting the amplified frequency signals, respectively Ultra-high frequency transmitting and receiving module and ultra-low frequency processing the ultra-high frequency signal and the ultra-low frequency signal from the switch unit and supplying it to the first CPU, receiving the data-coded signal from the first CPU, and supplying it to the RF amplifier / switch unit for transmission. Consists of transmission and reception modules.

The speed detection unit is composed of a fourth MCU and a fourth DSP composed of a speed calculation unit of the hull, a memory connected between them, and a Doppler Velocity Log (hereinafter referred to as DVL) connected to the fourth DSP.

The data processing unit includes a fifth MCU having its own memory and configured as a fifth DSP, first and second gyro sensors detecting a torsional state of the submarine connected to the fifth MCU via an analog / digital conversion buffer unit; It consists of an acceleration sensor that detects the current speed of the submarine and an inclination sensor that detects the inclination angle according to the inclination of the submarine to generate reference data of the attitude and navigation of the submarine.

The attitude control unit includes a sixth MCU having its own memory, a first drive control unit connected to the sixth MCU to operate and operate the tail actuator, and an actuator of a horizontal keyboard to keep the submarine horizontal according to control signals of the sixth MCU; It consists of a GPS antenna actuator to operate the GPS antenna, a wireless antenna actuator to operate the wireless antenna, a right ballast actuator to operate the pump for the right ballast tank, and a left ballast actuator to operate the pump of the left ballast tank. Only one right ballast actuator can be used. Rudder actuators for operating the rudder motors on the upper and lower sides of the submarine, elevator actuators for operating the lateral rudder motors of the submarine, and horizontal and vertical counterweight actuators for operating the counterweights to control the posture of the horizontal and vertical positions of the submarine. It consists of two drive controllers.

The thrust unit has a seventh MCU having its own memory, a switching unit connected to the seventh MCU to generate one or more thrust of the submarine, and one or both brushless DC motors on the right and left sides depending on the selection of the switching unit. The detection signal is transmitted to the seventh MCU by sensing the operating states of the right and left driving units which control the operation, and the first and second brushless DC motors coupled to the left and right screws operating in accordance with the control of these right and left driving units. It consists of supplying detection parts, and according to the structure of the hull, the thrust part can use only one structured thrust part such as left and right.

The camera control unit receives image data from the front and bridge cameras under the control of MMP and MMP with its own memory and corrects the color and sharpness of the image (HIR). In this case, MMP installs high-intensity infrared sensor to identify object shape in the dark in front camera and bridge camera to increase identification distance, and form image coordinates in the center of image sensor by forming coordinates of their image sensors. With the center cursor, the objects up, down, left, and right in the surrounding object cursor are compared, and the distance between them is compared and the distance is increased by a predetermined distance based on the distance reference at 1X using the zoom function of the camera. Calculate the distance between and.

Proximity detectors are MSS (Micro Switching Sensor) which detects obstacles near the left and right outer walls of the submarine, or ADCs for converting analog signals from these MSSs into digital signals. A buffer and a microcomputer for processing the digital signal from the ADC buffer to generate the data of the proximity object are provided to apply the data about the proximity of the external object to the third CPU.

The power supply unit includes a power control unit having its own memory, a power distribution unit receiving power under the control of the power control unit, and distributing power to components consisting of independent modules of the entire system, a main battery storing power from the charging unit, From the first and second auxiliary batteries, the first, second and third abnormality detection parts and the main battery and the first and second auxiliary batteries, respectively, connected to detect a power supply fault condition from the main and auxiliary batteries. And first, second, and third switching units which apply power to the system power distribution unit under control of the power control unit.

The method of controlling the submarine's unmanned automatic navigation is to turn on the power and install the first, second and third CPUs into their own memory, which are programmed for the respective systems, so that the first CPU can start GPS module, various sensors and Performing initialization routines to test the DVL, check the camera and power status,

Performing a sensor operation routine for comparing the current coordinate values and azimuth sensor values of GPS and adding the DVL values to check the current status of the submarine;

Performing a hydroacoustic transmission / reception routine for checking external consoles and underwater acoustics for data such as travel path distance, power status, and object discovery point according to the underwater acoustic transmission;

Performing a sound wave object detection routine that detects the presence or absence of an object, distance from the object, shape and type of the object by operating a sound wave scan sonar on the front, left, and right sides,

Performing a wireless antenna transmit / receive routine for operating one or more wireless antennas and a camera and generating a current state and position, an image of an underwater object, and performing data communication with an external console;

Performing a proximity navigation routine to operate a plurality of MSSs to perform a near distance navigation of an object when the object is detected from a sound wave or a sound wave.

The attitude control routine calculates the gyro sensor, DVL, acceleration sensor, tilt sensor, azimuth sensor and pressure sensor and calculates the horizontal vertical angle of the submarine by operating the actuator of the horizontal key and counterweight according to the submarine status. Performing the step,

Performing a ballast operation to full and drain the tank of the ballast since the operation of the valves, the piston motor, and the DC pump motor is controlled according to a predetermined algorithm to start one or more ballasts for the diving operation;

  Adjusting the speed of the submarine by monitoring the current amount of electricity, the amount of power supplied or consumed, and performing a power supply routine to calculate the starting point, the distance traveled to the present, and the maximum distance traveled thereafter,

Depending on whether the submarine is superficial or underwater to open all the functions of the system, the first CPU is called and the first CPU calls the second and third CPUs to determine the current position coordinates, each sensor state, attitude state, and power state of the submarine. Performing a system operation preparation routine for transmitting data for a second and waiting for processing of a command state;

Operating a ballast in an independent module of the system to maintain the horizontal at the surface of the submarine's hull and to maintain the horizontal vertical even when submerging underwater to perform the navigation routine on the surface of the submarine ready to sail;

Check the values and speed of each sensor underwater, navigate at a certain speed, and check the obstacles detected by the scanning sound wave sensors, their distance, and the type and size of the obstacles. Steps to perform,

Controlling the operation of the ballast to dive, maintaining a horizontal and vertical navigation at a predetermined speed, and performing a diving operation routine for storing navigation data on the current position, terrain, etc. based on the data of each sensor;

Performing a floating air waiting routine to control the operation of the ballast in order to float in the submarine to float at a predetermined speed to maintain a horizontal vertical state,

In order to return, operate power check, route search, all scan sound wave sensor, communicate with external console, transmit estimated arrival time, calculate return coordinates based on destination arrival route, current position and coordinate conversion data Performing a feedback routine to correct the error, navigate at a predetermined thrust speed, and switch to a water surface mode near the destination;

As the distance from the dock nears the destination, the speed is reduced and the dock entry routine that executes the dock by calculating the RF signal strength, camera image distance measurement data, GPS data and azimuth angle when receiving the wireless beacon signal from the external console. It consists of steps to be performed.

The present invention is an automatic active function, automatic depth and distance detection, automatic return, autonomous attitude control and obstacle avoidance according to environmental change, manual, automatic conversion of ground center, recharging power consumed by its own generator, underwater sound wave and ground propagation It enables autonomous remote control of submersibles, above ground and in the air, underwater and terrestrial radio communications, object and object recognition, surface status in submerged conditions, and submarine data transmission and reception.

1 is a side view briefly showing the structure of a submarine to which the present invention is applied;
2 is a block diagram of a main printed circuit board configured to function as a separate module by connecting functional units to a first CPU according to the present invention;
FIG. 3 is a block diagram of a first sub-control printed circuit board configured to function as a separate module by connecting functional units to a second CPU according to the present invention; FIG.
4 is a block diagram of a second sub-control printed circuit board configured to function as a separate module by connecting functional units to a third CPU according to the present invention;
5 is a flowchart showing an operation of performing an initialization routine to automatically control each component configured as a function according to the present invention;
6 is a flowchart showing an operation of performing a sensor operation routine to automatically control each component configured as a function according to the present invention;
7 is a flowchart showing an operation of performing an underwater acoustic transmission / reception routine to automatically control each component configured as a function according to the present invention;
8 is a flowchart showing an operation of performing a sound wave object sensing routine to automatically control each component configured as a function according to the present invention.
9 is a flowchart showing an operation of performing a wireless data transmission / reception routine to automatically control each component configured as a function according to the present invention;
10 is a flowchart showing an operation of performing a camera object distance measuring routine to automatically control each component configured as a function according to the present invention;
11 is a flowchart showing an operation of performing a proximity navigation routine to automatically control each component configured as a function according to the present invention;
12 is a flowchart showing an operation of performing a posture control routine to automatically control each component configured as a function according to the present invention;
FIG. 13 is a flowchart showing an operation of performing a ballast operation routine to automatically control a component part configured for each function according to the present invention with each independent module; FIG.
14 is a flowchart showing an operation of performing a power supply routine to automatically control each component configured as a function according to the present invention;
15 is a flowchart showing an operation of performing a system operation preparation routine to automatically control each component configured as a function according to the present invention;
FIG. 16 is a flowchart showing an operation of performing a hull horizontal maintenance routine to automatically control each component configured as a function according to the present invention.
FIG. 17 is a flowchart showing an operation of performing a diving routine to automatically control each component configured as a function according to the present invention; FIG.
18 is a flowchart showing an operation of performing an underwater obstacle detection routine to automatically control each component configured as a function according to the present invention;
19 is a flowchart showing an operation of performing an obstacle detecting routine to automatically control each component configured as a function according to the present invention;
20 is a flowchart showing an operation of performing a diving operation routine to automatically control each component configured as a function according to the present invention;
FIG. 21 is a flowchart showing an operation of performing a submarine navigation routine to automatically control each component configured as a function according to the present invention.
FIG. 22 is a flowchart showing an operation of performing a floating standby routine so as to automatically control each component configured as a function according to the present invention.
FIG. 23 is a flowchart showing an operation of performing a feedback routine to automatically control each component configured as a function according to the present invention.
24 is a flowchart showing an operation of performing a feedback routing routine to automatically control each component configured as a function according to the present invention;
25 is a flowchart showing an operation of performing a dock entry routine to automatically control each component configured as a function according to the present invention.

The present invention will be described in detail with reference to the accompanying drawings as follows.

As shown in FIG. 1, the unmanned underwater automatic submarine 1 according to the present invention includes a head portion 10, a trunk portion 20 divided into three parts, and a stern portion 30. The head unit 10 is provided with a power generation unit 11 manufactured in accordance with the principles of the present invention in the bow. The power generation unit 11 has a short wing 12 is rotatably installed at the tip, so that when the submarine 1 moves at a speed of 5 knots, it generates power by generating power simultaneously with the rotation.

Here, the wing portion 12 has a structure in which the rotational direction is the same as the forward direction of the enclosure to minimize the resistance caused by the forward movement of the enclosure so as to increase the rotational speed and minimize the cavitation of the bubble phenomenon generated in each wing thereof. That is, the wing portion 12 has a circular protrusion which maintains a constant scattering and flow of water at the end thereof, and a gap for speeding up the flow of water between the protrusions is formed to have a Bernoulli effect, and the head portion 10 It is configured to separate from the body portion 20.

In addition, the head part 10 has its own wing part for the case where it is necessary to reach the destination at a high speed to cope with the emergency situation of the submarine 1 and when the injured and the diving need for a quick time, etc. It is designed to act as a propellant for forward movement by applying high-speed switching technology to (12), and it is used as a propellant for the amount of charged electric power in case of emergency, so that it can move at an average speed of 5 knots, for example, over 15 knots. Have a function

The fuselage 20 is an inertial sensor not shown in the drawing on the front end 21, such as azimuth sensor, gyro sensor and tilt sensor, acceleration (G) sensor, Doppler logic log (DVL: abbreviated Doppler) sensor, pressure sensor Ultrasonic sensors, multiple micro switching sensors, etc. are installed.

The stop 22 includes ballast actuators, various drives, e.g., ballast drives, elevators and rudder drives, thrust drives (for brushless motors), rolling drives for cameras and antennas, main and secondary batteries, chargers, which are described in detail below. A power switching box, an equilibrium weight, and the like, a bridge 25 is positioned on the upper part of the periscope 24, a wireless antenna, a GPS antenna and a rolling antenna, a periscope, and the like.

In the rear end 23, each part of the submarine 10 composed of a main board and an independent module composed of a part of the system, for example, driving parts, main and secondary parts, which have main control functions for the entire operation of the submarine 1 to be embedded. One or more sub-boards are installed to control the charging and discharging of the battery and a power supply unit including a power switching box and a power separation box.

The stern portion 30 is provided with a rear key and horizontal keys adjacent to the stern, a reduction gear portion (not shown), a brushless DC motor coupled thereto, a screw 32 connected to the motor shaft, a brushless driving portion, and a control unit. .

The unmanned underwater automatic submarine (1) configured as described above is optionally equipped with a MCU (Microcomputer Unit or microcomputer unit or hereinafter referred to as “MCU”), which is composed of one main control board and one or more sub-control printed circuit boards. Underwater automatic navigation control system 100 is provided.

That is, as shown in FIG. 2, the main print circuit board 101 includes a first CPU 110. The first CPU 110 communicates with the second and third CPUs 210 and 310 mounted on the sub-control printed circuit boards 102 and 103 to control the system while simultaneously controlling a plurality of parts or components. It is equipped with a micro control unit to perform a specific function independently according to each distributed control.

The first CPU 110 is provided with a first MCU 121 to perform a GPS receiving function 120, a second MCU 131, the underwater acoustic transmitter 130 and the underwater acoustic receiver 140 And a third MCU 151 to control the sound wave object detecting unit 150. In addition, the first sub-control printed circuit board 102 and the second sub-control printed circuit board 103, which will be described in detail later, communicate with each other and enable wireless operation of the wireless communication unit 160, and the first and second USB terminals ( 171, 172, the MCU interrupt terminal 173, the real-time click timer 174, the NAND 178, the flash unit 176 and the first memory device which is a self storage device for storing and temporarily storing system programming The SD 177 and the second SD 178 and the external memories 179 are connected to the CAM and the Ethernet through internal communication terminals.

According to the present invention, each part of the system is individually controlled as an independent module. In the GPS receiver 120 constituting the main printed circuit board 101, the first MCU 121 controls the GPS antenna (under the control of the first CPU). GPS reception data is generated by the first GPS module 123 and the second GPS module 124 received through 122, the current coordinates are calculated, and the GPS coordinates are stored in the memory 125.

The underwater sound receiver 130 and the transmitter 140 operate under the control of the second MCU 131 connected to the first CPU 110. That is, these hydroacoustic transmission receivers 140 and 130 are to communicate with an external system management unit or a remote control unit (not shown) to control the navigation of the submersible 1, the second MCU 131 submarine It exchanges data on navigation generated on the movement route (coordinate) of (1) and at the same time transfers this data to the first CPU 110 for system control.

The underwater acoustic transmitter 130 is connected to the second MCU 131 connected to the first CPU and the second MCU 121 having its own memory 133 to transmit data about a navigation route of the submarine 1, and the like. Through the first DSP 132 for processing a digital signal having a predetermined frequency, the first DAC 134 and the second antenna 137 for converting the digital data signal via the first DSP 132 into an analog signal It is composed of a hydroacoustic transmission module 135 for transmitting a data signal from the transmitting first DAC (134).

 The underwater acoustic receiver 140 is an acoustic receiver microphone 141 for receiving an analog data signal received through the third antenna 148, and a front, left and right sides, an upper portion and a bottom portion for receiving a signal from the acoustic receiver microphone 141. Acoustic Receive Modules 142 to 146 and Analog Digital Converters for converting analog signals from the Acoustic Receive Modules 142 to 146 and applying them to the second MCU 131 (hereinafter referred to as " ADC ") It consists of buffers 147.

The sound wave object detecting unit 150 has its own memory 152 to generate data about the surrounding objects of the automatic submarine 1, and the third MCU 151 and the front, rear, left, right side scan sonars 153 to 156. To generate and receive an image corresponding to digital data from the third DSP 159 and the third DSP 159 which apply the received data to the image generating unit 157 and process the digital signal therefrom. The image generating unit 157 is configured to identify and store surrounding objects.

 The wireless communication unit 160 is a high frequency antenna (162) for receiving a handheld health (2.4 GHz) and tens to hundreds of kilos of "data signal" and an ultra low frequency antenna (163) for receiving an ultra low frequency signal, an ultra high frequency and an ultra low frequency signal. Amplifying a received signal from the wideband dual band filter unit 167 for filtering the signal, the transmission data coding unit 166 for coding the data signal from the first CPU 110, and the dual band filter unit 167, respectively, The high frequency signal and the low frequency signal from the radio frequency amplifier / switch unit 161 and the radio frequency amplifier / switch unit 161 for selectively outputting the signals to the first CPU 110 and supply them to the first CPU 110 and from the first CPU 110. Ultra-high frequency transmission / reception module 164 and ultra-low frequency transmission / reception module 165 for receiving a signal encoded with transmission data via transmission data coding unit 166 and supplying it to radio frequency amplifier / switch unit 161 for transmission. mode It is made up of antenna 167.

Here, the broadband dual band filter unit 167 may receive and transmit broadband ultra high frequency and ultra low frequency signals by providing only one antenna instead of the ultra high frequency antenna 162 and the ultra low frequency antenna 163.

In addition, the first CPU 110 has a JTAG terminal 182 and an internal communication terminal 183 of CAM and Ethernet for internal communication, as well as the second CPU 210 described later. And bus terminals connected to the third CPU 310 to perform data communication with the other second and third CPUs 210 and 310.

As shown in FIG. 3, the first sub control printed circuit board 102 includes a second CPU 210. The second CPU 210 is provided with a hull speed detector 220 and a fifth MCU 231 for controlling the fourth MCU 221 to detect the speed of the hull, and information on various sensors necessary for unmanned navigation of the hull. It is provided with a data processing unit 230 for collecting and processing the sixth MCU 241, the attitude control unit 240 and seventh MCU (261) for controlling the attitude of the hull, underwater or on the surface of the hull Thrust parts 260 for generating thrust are provided.

The speed detector 220 includes a fourth MCU 221 and a fourth DSP 222 configured as a speed calculator of the hull, a Doppler tachometer connected to a memory 223 and a fourth DSP 222 connected therebetween. Velocity Log, hereinafter referred to as “DVL”). The DVL 224 is a measuring instrument using the Doppler principle to measure the absolute relative speed of the submarine 1 sailing underwater using ultrasonic sound signals.

The data processor 230 includes a fifth MCU 231 having its own memory 232 and configured as a fifth DSP, and is connected to the fifth MCU 231 with an analog / digital conversion buffer unit 233 interposed therebetween. It consists of a variety of sensors (235 ~ 239, 229), these sensors to generate the reference data of the attitude and navigation of the submarine (1) and the first and second gyro sensors that detect the torsional state of the submarine ( 235 and 236, the acceleration sensor 236 for detecting the current speed of the submarine, and the inclination sensor 237 for detecting the inclination angle according to the inclination of the submarine (1).

In addition, the pressure sensor 238 measures the depth of the submarine, the depth sensor 239 is to measure the depth of the sea with the pressure sensor 238. The azimuth sensor 229 detects the traveling direction of the submarine 1. Here, the torsion correction values are calculated by comparing the torsion values obtained from the first and second gyroscope sensors 234 and 235 with the values obtained from the inclination sensor 237, and as described in detail below, the left and right ballast actuators ( 248 and 249 and rudder and elevator actuators 251 and 252.

The attitude controller 240 is connected to a sixth MCU 241 having a memory 242, a sixth MCU 241, and a first drive controller 245 and a sixth MCU that operate the tail actuator 244 therefrom. The second drive control unit 250 for controlling the operation of the submarine 1 in accordance with the control signal of the (241). The second drive controller 250 includes an actuator 245 of a horizontal keyboard that keeps the submarine 1 horizontal, a GPS antenna actuator 246 for operating a GPS antenna, a wireless antenna actuator 247 for operating a wireless antenna, and a right side. The right ballast actuator 248 to operate the pump for ballast tanks, the left ballast actuator 249 to operate the pump of the left ballast tank, the rudder actuator 251 to operate the rudder motors up and down of the submarine 1 and the submarine (1). And horizontal and vertical weight balance actuators 253 and 254 for operating the counterweight to control the horizontal and vertical posture of the submarine 1 and the elevator actuator 252 for operating the left and right rudder motor.

Thrust unit 260 is connected to the seventh MCU (261) having a self-memory memory 262, the seventh MCU (261) switching unit 263 for generating one or more thrust of the submarine (1), Depending on the selection of the switching unit 263, the right and left driving units 264 and 265 for controlling one or both brushless DC motors to be operated simultaneously, and the right and left driving units 264 and ( 265 detects an operating state of the first and second brushless DC motors 266 and 267 coupled to the right screw 268 and the left screw 269 axially operated under the control of the control unit 265. The detectors 271 are provided to the MCU 261.

The second CPU 210 also stores a third SD 272, a fourth SD 273, and a second NAND 274 that store and store the system programming to complete the subsystem of the sub-control printed circuit board 102. ), A second SRAM 275, a second flash 276, and a second external memory 279. In order to control the specific operation of the subsystem composed of the second CPU 210, data communication is performed with the first and third CPUs 110 and 310, and the second interrupt terminal 280 and the second monitoring terminal. 281, a third USB terminal 282, a fourth USB terminal 283, a second serial terminal 284, and a second real-time click terminal 285.

As shown in FIG. 4, the second sub control printed circuit board 103 includes a third CPU 310. The third CPU 310 is provided with a MMP 321 to control the operation of one or more cameras, the camera control unit 320, and a microcomputer 331 to detect the proximity of the object to the side of the submarine (1) For example, six proximity sensors (MSS 1 to N: Micro Switch Sensors (hereinafter, referred to as “MSS”)) are provided on the left and right outer surfaces of the submarine 1 to provide a proximity monitoring unit 330 for detecting a nearby object. And a power supply unit 340 having a power supply control unit 341 to supply power to the entire system, and a system for external management of the charging unit 360 and the submarine 1 connected to the power supply unit 340 to enable external charging. Internal communication unit 370 connected to the management unit or the PC control unit is provided.

The camera controller 320 receives image data from the MMP 321 having the own memory 322, the front camera 324, and the bridge camera 325 to correct the color and sharpness of the image. Or “HIR” collectively) (323). Here, the image data from the camera's image sensor is encoded by the codec of MPEP4 to make an image for each frame, and the generated image is subjected to a kind of video processing process of capturing and connecting the still image of 30 frames.

In particular, according to the present invention, the MMP 321 is installed on the front camera 324 and the bridge cameras 325 high-intensity infrared sensor (IR) for identifying the object shape in the dark, the maximum identification distance, for example, an object 50m away Identifies In addition, the MMP 321 may calculate the distance from the object by using the image sensors of the front camera 324 and the bridge camera 325 as a coordinate, for this purpose set a plurality of partitions on the surface of the image sensor For each scale formed, set a predetermined distance, for example, 5m, and place the image data at the center cursor of the image sensor and place the objects up, down, left, and right in the surrounding object cursor to compare the distance between them and calculate the distance. By using the zoom function of the camera, the distance reference is set to a predetermined distance, for example, 2 km when the distance is 1 K, to calculate the increased distance from the object.

Proximity sensing unit 330 is a MSS (1 ~ N) for detecting the obstacles in close proximity to the left and right outer walls of the submarine (1), ADC (Analog to convert the analog signal from these MSS (1 ~ N) to a digital signal) Digital Converter: Means analog to digital converter or hereinafter referred to collectively as “ADC”) External object including a buffer 332 and a microcomputer 331 that processes digital signals from the ADC buffer 332 to generate data of nearby objects. The data on the proximity of the to the third CPU 310 to be applied.

The power supply unit 340 generates power and supplies power under the control of the power control unit 341 and the power control unit 341 having its own memory 346 so as to generate power and control charging. In addition to the second drive unit 264 and 265 and the left and right ballast actuators 248 and 249, a component part composed of independent modules of all predetermined systems, for example, a CPU, a MCU, a GPS transceiver, and an underwater acoustic transmitter and receiver Power distribution unit 342 for distributing power, main batteries 352 for storing power from the charging unit 360, first and second auxiliary batteries 353 and 354, and main and auxiliary batteries 352 to 354. First, second, and third abnormality detectors 348, 347, and 351, the main battery 352, and the first and second auxiliary batteries 353, respectively, connected to detect a power failure condition. ), And the first, second, and third switches for applying the power from 354 to the power control unit 342 under the control of the power control unit 341. Touching portion 343, consists of the 344 and 345.

The charging unit 360 divides and distributes power from a charger 361 having a charging terminal (not shown) connected to an external power source and the charger 361 to the main battery 352 and the first and second auxiliary batteries 353. And charging capacitors 362 to 354.

The internal communication unit 370 is connected to the first and second CPUs 110 and 210 to communicate with an external system manager or a PC manager, and the CAM 371, the Ethernet 372, and the JTAG 373. )

On the other hand, the third CPU 310 is the fifth SD (381) and the sixth SD (372), the third SRAM (383) and the third flash (storing and storing the system program to complete the surrounding subsystem) 384). In addition, data control is performed with the first and second CPUs 110 and 210 in order to control the specific operation of the subsystem constituted by the third CPU 310. In addition, the third CPU 310 may include a fifth USB terminal 387, an interrupt terminal 386 of the first to sixth MCUs, a third real-time click 389, a third monitoring terminal 388, and a power interrupt terminal 385. And a data bus 392 for exchanging and instructing data with the power supply control unit 341.

The unmanned underwater automatic navigation control system 100 according to the present invention configured as described above controls the operation of the submarine 1 according to a routine corresponding to an independent module as follows.

Initialization routine 400

As shown in Fig. 5, the initialization operation is turned on for the start of the unmanned underwater automatic navigational submarine 1, and then the initialization installation is started from an external PC. First, in step 401, the power is turned on and the first, second and third CPUs 110, 210, and 310 check their own programmed memories corresponding to their own systems.

The first CPU 110 checks the communication status in step 402 and checks its own memory in step 403 as configured by a system consisting of a plurality of communication modules. In order to check the communication situation, first, in step 404, the GPS reception state of the GPS receiver unit 120 is determined, and if the reception state, the process moves to step 405, where the first and second GPS modules 123 and 124 Determine if it works. If they operate and move to step 406, it is determined whether the wireless transmit / receive module, i.e., ultra high frequency transmit / receive module 164 and ultra low frequency transmit / receive module 165, operate. In steps 407 and 408, the hydroacoustic transceiver 130 and 140 are checked for operation, and if so, in step 409, it is determined whether the sound wave object detecting unit 150 is operated. At 410, the standby state is reached. If the GPS signal is not in the receiving state in step 404, the first and second GPS modules 123, 124, the wireless transmission and reception modules of the wireless communication unit 160, the underwater acoustic transmitter 130, the underwater acoustic receiver If the 140 and the sound wave object detection unit 150 does not operate in step 420 is tested by an external PC to display an error and to be repaired.

In addition, the first CPU 110 is self-programming in steps 411 and 412 so as to confirm the operation or current state of the main control printed circuit board 101 and the auxiliary control printed circuit boards 102 and 103 in the vicinity. The first and second SDs 177 and 178 used as memory devices are checked in sequence, and if there is no error, the process proceeds to step 413 where the first CPU 110 and the sub-control printed circuit boards 102 and 102 are checked. The connection state between the western system and the subsystems of the second CPU 210 and the subsystem of the third CPU 310 to the data bus, the monitoring data terminal 181, the internal communication terminal 183, and the JTAG terminal 182. Check through If the connection state is not abnormal, in step 414, the third CPU 310 checks the power supply status of each part, and if power is applied, the process goes to step 415 and waits.

If, after the memory check step 403, the first SD 177 and the second SD 178, the data bus, the monitoring data terminal 181, the internal communication terminal 183, and the J-tag terminal 182 are transferred. If it is detected that there is an error in the power supply terminal for each component of the system, go to step 46 to display an error on the external PC and test.

In operation 420, the second CPU 210 may detect the sensors of the data processor 230, the first and second gyroscope sensors 234 and 235, the acceleration sensor 236, the tilt sensor 237, and the pressure. The sensor 238, the depth sensor 239 and the azimuth sensor 229 are checked, and in step 421 it is determined whether the reference values of these sensors are smaller than zero degrees. If less than zero, step 422 transmits data. In step 423, the rotation state of each sensor is checked. For example, by inputting rotation data corresponding to I90 degrees of each sensor, the rotation is checked and if the normal rotation is made, the process proceeds to step 425. In step 425 it is checked whether the DVL (Doppler tachometer) 425 is in operation. If it is in operation, step 426 calls for the data required for the check performed in step 428 and at the same time checks the operation of the ballast actuator 248. If there is no error, the process moves to step 427 and the standby state is reached.

Meanwhile, in step 430, the memories of the sub-control printed circuit board 102 of the subsystem are inspected, and steps 431 and 432 are performed in sequence, so that the third and fourth SDs 177 and the programming memories are stored. The state of the units 178 is checked, and if there is no error, the process moves to step 433 to be in a standby state.

On the other hand, when the operation error or inspection failure of each sensor, the thrust generation DC motor, DVL and ballast actuators, the third and fourth SD, the attitude control unit, etc., steps 421, step 423, step 424, step ( 425, step 426 moves to step 416 to indicate an error to the external PC.

The third CPU 310 operates the front camera 324 and the bridge camera 325 in steps 440 and 441 and checks the image quality of these cameras. In step 442, it is determined whether the image quality state is good (resolution 1024 * 980), and if it is good, the process moves to step 443 to perform the up and down operation of an actuator such as a camera. In step 444, these actuators are checked to determine if they are abnormal. If it is determined in step 444 that there is no abnormality, the process proceeds to step 445 to prepare a power check, and in step 446, the state of charge of the main battery 352 and the first and second auxiliary batteries 353 and 354 is satisfied. After checking that the system is fully charged, the process proceeds to step 447 to check the power supply status of each component of the system and to determine whether the power supply is possible for each component. If it is confirmed that the power supply state, the flow advances to step 448 to the standby state.

If, in step 442, the specifications are not met by the quality check and the camera actuator is broken in step 444, or the charging operation of the batteries is not performed in step 446, and each component is removed in step 447. If the power supply is not possible, go to step 416 to display an error on the external PC.

In this way, the initial state of the entire system is checked, and then the current state of the unmanned automatic submarine 1 is checked. To this end, the first CPU 110, the second CPU 210 and the third CPU 310 are put into an operation mode after the system check.

Sensor operation routine 460

As shown in FIG. 6, the sensor operation routine 460 starts each sensor of the submarine 1 and data the detected values. In step 461, GPS data is received and the current coordinate is read in step 462. In step 463, the azimuth angle is detected. In step 464, the current acceleration is measured and the acceleration value is checked. In step 465, the measured value of the Doppler speedometer is checked. In step 466, a function call is made to apply a predetermined algorithm. In step 467, a function is calculated and distance values (coordinates) excluding GPS values are adjusted according to the speed, distance, and calculation table.

Thereafter, in step 468, the GPS value and the azimuth value are compared to determine whether the difference is within a predetermined range, for example, +/- 0.005. If it is more than a predetermined range, it is determined whether the GPS value is smaller than the azimuth value in step 469, and if the GPS value is large, the process returns to step 471 to be described later. Transfer to step 471.

In step 471, the GPS value and the azimuth value are compared to determine once again whether the difference is less than or equal to a predetermined value. If it is less than the predetermined value, in step 472, the GPS value and the azimuth value are calculated in a predetermined time zone, and in step 473, the DVL values are processed in parallel with these processing values. Data such as coordinates is stored in the second SD.

On the other hand, if it is not less than a predetermined value in step 475, the process proceeds to step 475 to determine whether there is a system error. It is determined whether it is within a predetermined value. If it is within the predetermined value, step 472 is performed. If it is not within the predetermined value, the process moves to step 478 to determine whether the acceleration value is within the predetermined value. If within a predetermined value, step 472 is performed. If not within a predetermined value, step 471 is performed. This collects, processes and data the detection signal according to the operation control of each sensor.

Underwater Acoustic Transmission Routine 480

As shown in FIG. 7, the first CPU 110 performs an underwater audio transmission / reception operation according to an external command, and enters a sink state in which data is connected to the second and third CPUs 210 and 310. The hydroacoustic transmission and reception routine 480 is performed for this purpose. In order to perform this routine 480, in step 481, the first CPU 110 calls and inputs initialization data of the control system. In step 428, initial data of each control system is transmitted to the second CPU 210 and the third CPU 310. In the next step 483, it is determined whether a predetermined time has elapsed. For example, after 3 minutes, in step 414, the preparation for underwater acoustic transmission 484 is performed. In step 485, data in the second and third CPUs is transferred to the first CPU. The data here are movement paths (coordinates), near field, battery charge status, current state and object detection data.

In step 486, data is sent to the first CPU, where the data is encrypted. In step 487 the transmission is stopped and in step 488 the standby state.

Sound Wave Object Detection Routine 500

As shown in FIG. 8, the first CPU 110 controls the sound wave object detecting unit 150 as an independent module to detect an object in the water. The third CPU 151 controls the third MCU 151 to detect an obstacle or an object in the water. Underwater navigation of the submarine 1 is induced by detecting the presence and type and shape of the object. To this end, the routine 500 operates the front scan sonar 153, the left and right side scan sonar 154, 155 and the bottom scan sonar 156 while simultaneously performing the steps 501, 502 and 503. Each scan sonar 153-156 fires sound waves by adjusting beam angles = /-5 degrees, +/- 5 degrees and 30 degrees, respectively, in steps 504, 505 and 506. In step 507, the reflected waveform is analyzed, and in step 508, distance and object shape are calculated. In step 509, the distance is calculated using a distance calculation algorithm, and in step 510, the shape of the object is confirmed.

In step 511, a calculation algorithm is called to calculate the relationship between the distance and the object. In step 512, it is determined whether the object is steel, and if it is steel, it is determined whether the object has moved in step 514. If so, in step 516 the thrust speed is slowed down and stopped. On the other hand, at the same time as the deceleration of the thrust speed, a shape image line is created. In this case, the coordinate between each vertex of the image and the point coordinate point in the middle is displayed by the designed left table. The point starting point is given the coordinates by using the most excellent part as the base coordinate. For example, in the case of full color, images are stored in coordinate functions 2D (X, Y), 3D (X, Y, Z), ... (Xn, Yn, Zn) and form lines and points within 1 Kbyte. This line and dot image is scanned and stored in step 520.

On the other hand, when it is determined in step 512 that it is not steel, the process proceeds to step 513, it is determined as a living being, calculated the reflected value and compared with the table value and if the comparison value is smaller than the table value step 517 Move to If the comparison value is large, it is determined in step 515 whether it is a fixed object. In the case of a fixed object, the process proceeds to step 522 to check the contour of the object by increasing the sound wave output of the position of the fixed object and the front and rear bottoms, and then transfer to step 521.

In step 517, the beam angle of the sound wave is 3 degrees or less, and in step 518 it is determined whether the reflection reception value is a predetermined value, for example, 60% or less. If less than a predetermined value, the organism size is determined in step 519 and scanned and stored in step 520.

Wireless data transmission and reception routine 530

As shown in FIG. 9, in the wireless data transmission / reception routine 530, the first CPU 110 is called by the second CPU 210 to transmit data on the current state of the submarine 1 to an external console or PC. . To this end, according to the instruction of the first CPU 110, the second CPU 210 operates the wireless antenna actuators in step 531 to wirelessly transmit data to the outside. In step 532, the second CPU 210 checks the detected value of the depth sensor 239, and determines in step 534 whether the value of the pressure sensor 238 is a predetermined value, for example, 0.5 or more.

If it is more than a predetermined value, step 535 commands the left and right ballast actuators to operate, and in step 536, the counterweight actuator is rolled. In step 537, it is determined whether it is located on the water surface. If on the surface of the water, the camera is operated in step 538. In step 539, the state on the surface of the water is checked, and if there is an abnormality, the process waits at step 542 and prepares to transmit camera data at step 546.

If it is determined in step 539 that it is above the surface of the water, the process proceeds to step 540 to prepare for data transmission and in step 541 the data transmission signal is sent. At this time, when the object is detected, it transmits the image data of the detection position and the sound wave, and transmits a confirmation signal after receiving the data in step 545.

On the other hand, step 547 is performed simultaneously with the camera operation in step 538 to receive GPS data, update data in step 548, calculate the current position in step 549, and receive data in step 550. Save it.

In addition, step 551 is performed on the water surface to determine whether a wireless communication, for example, Wi-Fi (Wi-Fi) communication or microwave communication is possible, and if possible, the channel search and the encoded signal is transmitted in step 552. In step 553, it is determined whether the acknowledgment is confirmed. If the acknowledgment has been acknowledged, the process enters the transmit / receive wait state at step 554. If the reception is not confirmed in step 553, the transmission is repeated a predetermined number of times, for example, three times in step 355. Thereafter, if the transmission is confirmed, the process moves to step 552, and if the transmission is not confirmed, it waits.

On the other hand, if the ultra-high frequency communication is not possible in step 551, it is determined whether the ultra-low frequency communication is possible in step 556, and if the ultra-low frequency communication is not possible, in step 557 waits for transmission or reception of ultra-high frequency or ultra-low frequency. . If ultra-low frequency communication is possible, channel search and transmit the encoded signal at step 558. In step 559 it is determined whether the acknowledgment. If the acknowledgment has been acknowledged, the process enters the transmit / receive wait state at step 554. If the reception is not confirmed in step 559 as well, in step 533, transmission is repeated a predetermined number of times, for example, three times. If the transmission is confirmed, the process moves to step 558, and if the transmission is not confirmed, it waits. The standby state is off when the hull is in diving mode.

Here, the camera operation, as described in detail later, the camera used in the present invention also uses a general small camera module, not special equipment, but is newly designed to know the distance of the object caught in the camera by adding a few in the existing method. .

The method calculates the coordinates of the cursor by inserting the captured image into a pre-set split line coordinate system. The image of the object is converted into an image vector composition, and the coordinate system is set to be merged into the split line coordinate system. In other words, in order to know the size and shape of the object in the line, the coordinate line works to connect the points. The distance between the points is calculated in units of pixels. When the points are connected, the shape is drawn. The distance calculation of the object caught in the image is calculated based on the size and the distance between the surrounding objects. In all reference points, X1 uses the actuator to move the camera up, down, left and right up to 90 degrees to compare objects around the center cursor. This compares the size of the object entering the center cursor to determine whether the object in the cursor is small or large. Work must be done in the X1 state, that is, zoom = 0. If X2, X3, ... If it is made at X10, the distance of the object of the center cursor has to go through a myriad of equations to know the approximate distance. In order to reduce this equation calculation, the initial image of the center cursor must measure the distance with the image of the X1 state. To know the accuracy of the distance X2, X3 ... By increasing the equal magnification, the distance is compared and corrected at the initial X1 distance and X2, X3. This is accomplished in the camera object ranging routine 580 as described in detail below.

Melee Anti-Routine 560

As shown in FIG. 10, in proximity navigation routines performed by a plurality of MSSs (micro switch sensors), MSS1 to MSSNs are installed at predetermined portions of the left and right upper and lower sides of the submarine 1 and stealthy or near the canyons in the sea. It is used during voyages and detects the flow of flow at standstill. In other words, in step 561, sound wave data obtained by detecting objects such as canyons and rocks are acquired from the front and rear side scan sonas, and the microswitch sensor is activated. In step 562, the first CPU requests the third CPU to operate the MSSs 1-N. In step 563, if the MSS is in the operating state, in step 565 it is determined whether there is an object on the right side. In step 566, it is determined whether there is an object on the left side. If there is an object on the left, it is determined in step 567 if there is an object at the bottom. On the contrary, if there are no objects on the right side and no objects on the bottom while there are no objects on the left side through steps 565, 566 and 567, the process moves to step 568 to maintain the thrust speed of 1 knot or less. In step 569, the detection distance is measured by a side scan sonar. It is determined in step 570 whether the measurement result is higher than the initial position. If it is raised, the actuator of the rudder and the rudder in step 571 is operated to adjust the angle. In the next step 572, the thrust speed is increased.

If it is not the rising state in step 570, go to step 573 to measure the distance to the left object, and if a predetermined distance on the left side is secured, adjust the elevator in step 574, and move to step 575 to transfer the thrust speed. To rise.

On the other hand, if the left interval is not secured in step 572, it is determined whether the predetermined interval on the right side is secured by moving to step 576, and only when the predetermined interval on the right side is secured, the process moves to step 577 to adjust the elevator. In step 579, the thrust speed is increased.

Camera distance measurement routine 580

As shown in FIG. 11, it starts because the MMP 321 acquires image data from an image sensor. In step 581, an image or image is captured, and in step 582, the captured image is inserted into a divided image line of, for example, 32 horizontally / 32 vertically. At the same time step 583, image vectors are synthesized. In step 584, the coordinates are calculated by pointing the image. In step 585, the distance from point to point is calculated according to a predetermined algorithm. In step 590, in the preceding step 588, the cameras are rotated 90 degrees left and right, up and down, and in step 589, the size of the surrounding object is compared, and then the zoom is operated at X1 magnification. In step 591, the zoom is operated from 2 to 5 times. In step 592, the zoom can be magnified 6 to 10 times. As the zoom is operated, in step 594, the distance to the object is determined. In these steps, the method moves to step 593 to automatically calculate the distance in each step, or in step 595, according to the final zoom operation. Stores data about time, coordinates, images and distances. Next, in step 596, data such as image / time / coordinates / distance are merged into data, inputted to the wireless data communication unit in step 597, and wirelessly transmitted data in step 598.

Posture Control Routine 40

As shown in FIG. 12, the posture control routine 40 controls the left and right ballast and counterweight actuators according to a predetermined table value to reduce the error of the posture control by maintaining the posture of the submersible 1 such as vertical and horizontal. Your posture will be corrected.

That is, the attitude control routine 40 maintains the attitude of the automatic navigational submarine 1 in unmanned water by the operation of the multiple sensors of each of the second and third subsystems of the second CPU 210 and the third CPU 310. A preparatory step to control thrust is performed first. In step 41, the algorithm is called according to its own programming, such that the first and second gyros 234, 235, the acceleration sensor 236, the tilt sensor 237, the DVL 224, the pressure sensor 238, The data of the azimuth sensor 229 and the MSS 1 to N are collected and processed. In step 43, a macro file consisting of a default table, a parameter table, and the like is called to perform a horizontal posture control routine after step 42 together with data collected from various sensors.

That is, in step 44, it is determined whether the inclination value is 0 degrees or less, and if it is less than or less, the process moves to step 45 to calculate the AD conversion value. In step 46, the calculated digital values are tabulated to five decimal places and then transferred to step 49 described later.

In step 47, it is determined which coordinate value of the gyro is 0 degrees or less. If this coordinate value is 0 degrees or less, the angle to be processed is calculated in step 48 and compared with the inclination value. In the next step 49, it is determined whether the calculated table value is 0 degrees or less, and if it is more than 0 degrees, the process returns to step 50 to determine whether the table value is 0 degrees. In this case, if the horizontal and vertical table values are 0 degrees, the process proceeds to step 57. If at step 50 the table value is less than or equal to zero, then the process moves to step 49.

On the other hand, if the slope value of step 44 and any coordinate value of step 47 is greater than or equal to zero degrees, the standby state is entered. If any coordinate value is less than or equal to zero degrees in step 47, the process returns to step 51 and the horizontal key is pressed. It is determined whether the controller operates and if the horizontal key is operated, the flow advances to step 52 to adjust the horizontal key. In the next step 53, it is determined whether the horizontal angle H is 0 degrees or less. If the horizontal angle is less than or equal to 0 degrees, the counterweight is activated in step 54 and at the same time the ballast condition is checked in step 55. When the counterweight operation is made, the process moves to step 56 to adjust the counterweight. In step 57, it is determined whether the horizontal vertical angle is 0 degrees. At this time, the inclination angle in step 58 should be 0 degrees or less and the direction angle should be 3 degrees or more.

On the other hand, if the horizontal key is not operated in step 51, the process moves to step 59 to determine whether the vertical key is operated. If the vertical key does not work, go to step 47. If the vertical key is operated, the flow advances to step 63 to perform the vertical operation of the horizontal key. In step 64, if the angle of the horizontal key is a predetermined angle, for example, 5 degrees or more, the flow advances to step 65 to determine whether the vertical angle is a predetermined angle, for example, 90 degrees or more. If the angle is greater than or equal to the predetermined angle, the process returns to step 66 to determine whether the horizontal angle is 0 degrees. If the horizontal angle is 0 degrees, the vertical key is adjusted up and down in step 67.

If the horizontal angle is less than or equal to the predetermined angle in step 65, the counterweight actuator is invoked in step 68, and the balance weight is adjusted to step 56 even if the horizontal angle is not 0 degrees in step 66.

On the other hand, while performing the posture control routine 40, the thrust is moved to 2 knots, for example, at a predetermined speed. In step 61, it is determined whether the posture is normal. If it is normal, in step 62, the predetermined speed is increased. The speed is about 3 knots.

Ballast Operation Routine 70

As shown in Figure 13, the ballast is not shown a specific configuration here, but the details of the parts, such as cylinders, pistons, valves, water pumps and the like for the operation of the parts are well known. The ballast operation routine 70 is to control the ballast operation, where the second CPU 210 controls the components necessary for the ballast operation, and in step 71 the ballast is activated. To this end, in step 72, the micro posture control mode is entered, and the process moves to step 78 to fine-tune the ballast operation and to wait in the off mode in step 79.

Step 72 confirms the diving command to correspond to the dive operation mode, in step 75 to turn on the valve 1, in step 76 to turn on the piston motor to suck in water, in step 77 the DC pump Start the motor to inhale water. In step 80, the ballast algorithm is called to wait for a predetermined time after the operation of the valve 1, the piston motor and the pump motor. Thereafter, in step 81, it is determined whether the cylinder is completely filled; if it is full, the piston motor is turned off in step 82; at the same time, the pump motor is turned off in step 83; It turns off and ends. If the cylinder is not full in step 81, the process moves to step 85 to check the limiting charging point and determines in step 86 whether it is point B. If point B, then wait at step 87; otherwise, go to step 81.

On the other hand, if the unmanned automatic submarine 1 is injured (step 74), the transfer to step 88. In step 88 the current depth is checked and in step 89 cylinder air is injected. This activates the water pump in step 90 and valve 2 in step 92. At the same time in step 91 to operate the piston motor to move the piston bar in step 93 to drain the water in the cylinder.

Next, in step 94, it is determined whether there is water in the cylinder, and if it is determined to be empty, the flow moves to step 95 to turn off the piston motor and the pump motor, and in step 96, valves 1 and 2 are turned off. do.

On the other hand, if water is filled in step 94, it is checked whether it is at the limit in step 97. If it is determined in step 98 that it is at point B, then step 99 is reached.

As described above, when the independent control of the MCU is made according to the control of the present invention and the submarine 1 attempts to dive underwater, the inclination is inclined within 5 degrees to 10 degrees or 15 degrees, and the ballast tank is used. Two water pumps allow the intake and discharge of water to run at the same time or interval.

  Power Supply Routine 600

As shown in Figure 14, the power supply routine 600 is to supply the system power by the power control unit 340, to check the power supply of the battery and to always monitor the amount of power being used so that there is an error.

In step 601, the first CPU 110 requests power status data from the third CPU and waits approximately 30 minutes for a predetermined time. In step 602, that is, the battery is checked, and in step 603 it is determined whether the capacity is a predetermined value, for example, 10% or less. If it is less than the predetermined value, the process proceeds to step 602, and if more than the predetermined value, the process proceeds to step 604 to check the current power consumption. At this time, the power being used for each part is managed and monitored by the power management unit of the external PC or the console, and the amount of power being used is always monitored and immediately acted upon when an error occurs. In step 605, the power amount is a predetermined value, for example, 10% or less. Judging it. If it is above a predetermined value, it is transferred to step 604, and if it is below a predetermined value, step 606, step 607 and step 609 are performed simultaneously, in step 606, the thrust speed is decreased and step 607. In operation 609, the first switching unit 343 is turned off, and in operation 609, the twelfth switching unit 344 is turned off.

In step 609, the second and third battery power sources for the first and second subsystems are checked, and the second switching unit 344 in the following is turned on, and in step 610, there is a power shake phenomenon. . If there is a power shake in step 611, the power supply state is checked in step 612, and if it is determined that the power is abnormal, in step 613, the state of the sensor, thrust unit, and sonar is checked. If there is no shaking (absence) of the power supply, the process proceeds to step 614. In step 615, it is determined whether the power of the auxiliary battery 353 is a predetermined value, for example, 10% or less. If less than the predetermined value, the second switching unit 344 is turned off in step 616 and the thrust speed is decreased in step 617. At this time, monitor the power consumption to use only the minimum power. Thereafter, the transfer to the step 618 to turn on the third switching unit 345 to turn on the second auxiliary battery 354 to use when returning to the completion of the mission of the submarine (1).

On the other hand, in order to check the battery backup power, in step 620 to check the power control by calculating the distance from the moving start point of the submarine 1 to the present. In step 621, the maximum operable time is calculated and in step 622 it is determined whether the power supply capacity is sufficient. If not enough, check the remaining amount of the main battery 343 and the first auxiliary battery 345 in step 623 and transfers to step 621. If the power supply capacity is not sufficient, the second auxiliary battery 354 is used to move to step 618 to turn on and return the third switching unit 345.

In this way, each part of the system is ready to operate as an independent module, or the initialization is made and the operating state is transferred to the system operation preparation stage of the submarine (1). In this preparation step, the submarine 1 should be prepared for all operation on the water surface, and for this purpose, the present invention performs the system operation preparation routine 650 first.

System Operation Preparation Routine 650

As shown in FIG. 15, the system operation preparation routine 650 calls and installs the system programming for each part to check the current state and to wait for the command of the first CPU 110. These command waits can be run from the control PC or from the console or its own program.

That is, in step 651, all functions are turned off for each independent module. In step 652, it is determined whether the submarine 1 is in surface or submerged state. If diving, the process moves to step 653 to perform a diving routine. If it is a surface state, in step 653, the first CPU and the first SD are called to confirm the command state indicated, and in step 654, the GPS data is called. In step 655, the first CPU 110 calls the second CPU 210. Also, in this step, the first CPU 110 performs the steps 656 and 657 to store in the memory of the current screen data and to operate the wireless modem, and to perform the step 658 to perform the third CPU. Call and perform step 659 at the same time to request each sensor data.

Meanwhile, after calling the third CPU in step 658, the power state is checked in step 660. At this time, the third CPU performs a state B of the camera of the second subsystem mounted on the second sub-control circuit board 102 according to its own programming, a power state A of the main battery, the power state A of the first and second auxiliary batteries, and other matters (C). ).

After requesting each sensor data in step 659, in step 661, the second CPU causes the fourth to seventh MCUs to process data values of all sensors. That is, the second CPU controls the second subsystem through step 664 to check the thrust portion state D, the power state E and the horizontal hold value, the sensor data F of the respective sensor processing values, and the posture control values. Provide a status value to.

On the other hand, the first CPU calls the second and third CPUs in step 655 and then processes the values provided by the first and second CPUs in step 666. In step 667, data is started to be transmitted to the external PC in the unit of package, where the transmission data is the current position (coordinate), each sensor state, current posture state, power state, command state or processing state or processing standby state. These are the data for. In step 668, transmission is completed and waiting until the confirmation signal is received, and in step 669, the operation of each sensor, drive, and thrust unit is waited to keep the submarine ship horizontal.

Water Surface Condition Routine 700

As shown in Fig. 16, after the system operation preparation routine 650, the submarine 1 is controlled to operate, such as water surface navigation, submarine navigation, return and dock entry. Accordingly, in preparation for diving, the water surface state routine 700 calls system programming when receiving an operation confirmation command and processes the sensor data values in the first, second and third CPUs, the MCU and the microcomputers in step 701. To store it in memory. In step 702, the bridge and watertightness of the submarine 1 should be checked prior to operating all the sensors. In particular, check the actuators of the GPS, camera and antennas. In step 703, the sixth MCU is called to operate the ballast, and in step 704, the ballast driving control mode is entered.

That is, in step 705, the water pump is turned on, the piston is operated, and the valve is opened to allow the suction of the ballast. In step 706, it is determined whether water is introduced into the tank. If no water is introduced, the flow advances to step 707 to increase the speed of the pump to perform step 705. In contrast, when water is introduced into the tank, it is determined whether the tank is completely filled with water in step 708. If not, the piston is reactivated in step 709 to cause the ballast to suction and move through step 707 to step 705. If in step 708 the tank is completely filled with water, the valve is turned on, pumped on, and pistoned back to step 712. First the pressure value change is checked in step 711 and the submarine's hull in step 712. Determine if water is submerged If the hull is not submerged in water, move to step 713 to open the valve, operate the pump, and return to step 710. In addition, step 710 is performed and the process is transferred to step 712. At this time, the pressure value change is checked in step 711, and if the hull is submerged on the basis of this, in step 714 it is checked whether the hull is horizontal. If at 715 the hull level is maintained, wait and if the hull level is not maintained, move to step 720.

As shown in FIG. 17, in performing step 720 for diving, first, in step 716, scan sound wave sensors installed on the front and rear sides are operated to determine whether the hull is horizontal. If it is not horizontal, it is determined in step 721 whether it is tilted to the left. If tilted to the left, go to step 722 to move the counterweight. If it is not tilted to the left, it is determined in step 723 whether it is tilted to the right. If it is inclined to the right, the counterweight is moved to determine whether it is horizontal again in step 725, and if it is horizontal, transfer to step 726.

In step 726, a predetermined angle, for example, 30 degrees, is horizontally submerged from the tip. In step 727, it is determined whether the diving inclination angle is a predetermined angle. If it is not a predetermined angle, the process moves to step 726, and if the inclination angle is a predetermined angle, the process moves to step 728 to operate the thrust unit. In step 729 it is determined whether the submarine 1 dives at a predetermined speed, ie three knots. If not, the pressure value is checked in step 731 and the pressure value is stored in step 732. In step 733, it is determined whether the diving depth is a predetermined value, for example, 100 m or less. If it is less than or equal to the predetermined value, the thrust portion is stopped at step 734 and the horizontal key is held at a predetermined angle, for example 0 degrees, at step 735. At the same time, the scan sound wave data is analyzed in step 736 to identify obstacles. Next, in step 737, it is determined whether it is in a horizontal state, and if it is not in a horizontal state, the counterweight is moved in step 738 to check left and right states.

If it is horizontal, it is determined in step 739 whether it is vertical. If it is not in the vertical state, the counterweight is moved back and forth in step 741, and in step 742 it is determined whether the inclination is a predetermined angle, for example, 0 degrees or less, and if it is less than or equal to the predetermined angle, the process moves to step 739.

At the same time, if it is determined that the vertical state in step 739, go to step 750 to determine whether the vertical and horizontal state to determine whether the vertical horizontal state is made. If not, the counterweight is moved left and right in step 751, and the counterweight is moved back and forth in step 752 so that horizontal vertical is achieved. On the other hand, if it is determined that the horizontal vertical through the steps 737 and 739, the step 750 is performed for diving.

As shown in FIG. 18, in step 750, the submarine 1 is determined to be in a horizontal and vertical state according to the diving voyage, and the counterweights are moved left and right while performing steps 751 and 752. The weight is moved back and forth to make the horizontal vertical state.

In step 753, the respective sensor values such as direction angle, acceleration, tilt angle, pressure, azimuth, etc. stored in step 743 are checked, and the stored DVL value is called in step 744 to check the current speed. In step 754, the pressure is checked, and in step 755 the second and third CPUs 210 and 310 are called in step 756 if it is not determined whether the depth is a predetermined depth, for example 100 m. Check the command given in step 757. For example, the second CPU 210 requests scan data of sound waves. That is, when there is an event, the first CPU 110 requests an interrupt from the second CPU 210.

If the depth is a predetermined depth in step 755, the average speed is maintained in step 758. In the middle steps 758, 760 and 761, that is, the front scan sound wave sensor, the side scan sound wave sensor and the bottom scan sound wave sensor are operated at the same time. The data obtained by the operation of these sonars measure the distance to the obstacle based on the obstacle avoidance algorithm in step 762.

At step 763, it is determined whether there is an obstacle, and if there is no obstacle, the navigation is continued while detecting a sound wave at step 776. If there is no obstacle, it is determined whether it is ahead in step 764 and if it is in front, the distance detection is performed in step 765, and it is determined in step 766 whether there is a predetermined distance, for example, 50m interval. If it is determined that the predetermined interval has not been secured in step 767 to secure a predetermined interval and stops. If it is determined that the predetermined interval is secured, the second CPU is called in step 768, and if the data is stored, the trust unit is stopped in step 769.

On the other hand, if there is an obstacle in the front in step 764, the flow advances to step 770 to determine whether there are left and right obstacles. If there is an obstacle, the distance detection is performed in step 771, and if it is determined that the predetermined interval is determined, the process moves to step 767 if it is not the predetermined interval, and steps 768 and 769 are performed.

If there is no side obstacle in step 770, it is determined in step 773 if there is an obstacle on the bottom. If there is no obstacle on the bottom, the voyage continues while detecting sound waves in step 776, and if there is an obstacle, the process moves to step 774 and detects the distance at step 775 while detecting the distance. If it is not the predetermined interval, the step 767 is performed, and if it is determined that the predetermined interval is performed, steps 768 and 769 are performed to call the second CPU to store data and stop the thrust unit. On the other hand, the submarine 1 will continue to navigate and confirm the reality even when it is a mobile in relation to the obstacles around it.

As shown in FIG. 19, it is checked whether the obstacle is moving in step 780, and it is determined whether it is moving in step 781. If it is not moving, the process of step 792 described below is performed. If it is determined in step 781 that it is moving, the size of the obstacle is calculated in step 782. In step 783, it is determined whether it is steel. If not, in step 790, it is determined that it is an organism. If it is determined in step 783 that it is steel, the thrust portion is stopped in step 784 and the acoustic sensitivity is calculated in step 786. In step 789, the reception sensitivity is measured to determine whether the predetermined sensitivity is 10 db or more. If not, perform step 786 and determine whether a predetermined value is greater than or equal to 20db, and if less than or equal to a predetermined value, go to step 786;

On the other hand, if the obstacle does not move in step 781 in step 792 to calculate the size of the obstacle in step 792 and moves to step 793 to determine whether the rock or mountain. If there is a fixed obstacle such as a rock, the distance between the rocks is calculated in step 794, the distance calculation algorithm is called in step 795, and the distance between the obstacles is determined to be a predetermined distance, that is, 50m or more. Decelerate and adjust the hull direction at step 797. If it is not a fixed obstacle in step 793, it is determined in step 799 whether a moving object such as a ship. In the case of a moving object, step 794 is performed. In the case of a moving object, step 799 is performed by moving to step 799.

Submersible Routine 800

As shown in FIG. 20, the diving operation routine 800 is performed because the first CPU 110 commands the second CPU 210. That is, in step 801 it is checked whether the pressure value is zero and in step 802 the ballast is actuated by suction. The valve is then opened in step 803 and at the same time the water pump is operated in step 804 and the water suctioned in step 806. At the same time, the piston motor is operated in step 805 and the piston is sucked in step 807. In addition, posture control is performed by performing step 826, which will be described later, and in step 827, a horizontal maintenance state is performed.

Then, in step 810, the water pump speed is increased while being leveled. In step 811, the humidity sensor is operated. In step 812, the water is filled to determine whether the water level is full, and if it is not the water level, step 813 increases the water pump operation speed and gradually advances the piston to an intermediate point in step 814. In step 815, the process enters the piston suction mode and proceeds to step 812.

If it is determined in step 812 that the water level is high, then perform step 830, which is described in detail later, or close the valve in step 818 and stop the operation of the water pump in step 816, and in step 817 the Operation is stopped at the same time to perform step 819 to maintain the current posture and to move to step 836 described later.

In addition, if the water level is full, step 820 is performed to determine whether there is a change in pressure. If there is no pressure change, the process waits at step 821 and if there is a pressure change, the pressure change value is processed at step 822. In the next step 823, it is determined whether the diving position is a predetermined depth, for example, 100 m. If the predetermined depth has not been reached, the thrust portion and the horizontal key are checked in step 824, and if it is determined that the predetermined depth is reached, the attitude is maintained in step 825, the process moves to step 830, and then the underwater navigation is performed. .

Diving anti-routine

As shown in FIG. 21, before performing step 830, the horizontal key is checked upwardly and downwardly by a predetermined angle, 30 degrees upward, and 30 degrees downward by an elevator angle. Next, in step 830, the thrust portion is operated to set the speed at a predetermined speed, for example, 0.5 knots. In step 831, if the inclination is a predetermined angle, for example, 30 degrees, the horizontal key angle value is raised, and if it is 30 degrees, in step 833, it is determined whether the predetermined depth is reached, for example, 100 m. If it does not reach the predetermined depth, wait until diving to a predetermined depth, and when the predetermined depth is reached, in step 836, the horizontal key angle is adjusted to a predetermined angle, for example, 0 degrees, and the rear key angle is set to 0 degrees. Adjust to the road. At this time, the vertical and horizontal angles and the inclination angle values are checked in step 837, and the misalignment is corrected in step 838.

If it is determined in step 839 that the posture is horizontal, and the level is maintained, in step 840, the sound wave output of the front, side, and bottom is increased, and the thrust speed is increased at the same time, and in step 841, a predetermined speed, for example, 3 knots Keep it. Thereafter, at step 842, the current location and terrain are identified, and at step 843, the data is stored.

On the other hand, if the posture is not maintained horizontally in step 839, it is determined in step 843 whether the front and back surfaces are in the same line, and if it is in the same line, the thrust speed is increased to 3 knots in step 846. If the front and rear are not collinear, the counterweight is moved in step 845 and at the same time the slope value is calculated in step 847 and the angle correction value is processed in step 848 where the horizontal and vertical gyro of step 849 ( The coordinates) value is also added up.

Injury waiting routine (850)

As shown in FIG. 22, a certain depth of the male surface of the submarine 1 may be maintained in an injured state, for example at 1 degree. The injury waiting routine 850 is performed when the work is finished, in case of an event or emergency, when the battery capacity is low, when communicating for a large amount of data, and when updating coordinate data.

In step 851 the valve is opened and in step 852 the thrust speed is maintained at a predetermined speed, for example 0.5 knots. Then, the ballast is operated in step 853 according to the continuous operation procedure to operate the piston motor and the water pump motor to be in the drainage state. In step 855, the piston is drained and the water pump output is increased. In step 856, the thrust is increased to maintain the speed at 1 knot, a predetermined speed, and in step 857, it is determined whether the drainage is completed. If draining is not complete, open the air tube valve in step 859 and perform step 855. If it is a multiple in step 857, it is determined in step 859 whether the inclination angle is a predetermined angle, for example, 30 degrees. If the inclination angle is not 30 degrees, in step 860, the counterweight is moved to the inclination angle of 30 degrees, and step 859 is again performed, and steps 871, 872, and 873 are described at the same time.

If the inclination angle is a predetermined angle in step 859, the flow advances to step 861 to determine whether there is a depth change. If there is no depth change, move to step 812 to check the coordinate distortion value and check the thrust speed in step 863 and go to step 864.

On the other hand, if there is a depth change in step 861, the thrust speed is increased to a predetermined speed, for example, 2 knots, and the ascending angle is maintained at a predetermined angle (20 to 30 degrees). In step 865, it is determined whether the inclination angle is a predetermined angle, for example, 30 degrees, and if it is not 30 degrees, the counterweight is moved so as to have an inclination angle of 30 degrees. If the inclination angle is a predetermined angle, it is determined in step 868 whether the predetermined depth is 0.8 m. If not, the floating operation continues in step 869. Conversely, if it is a predetermined depth, the speed is reduced in step 870 and the horizontal angle is kept below a predetermined angle of 5 to 10 degrees.

On the other hand, in step 871 which is simultaneously performed after step 857, the operation of the piston motor is stopped, the water pump is stopped in step 872, and the valve is turned off in step 873, and then in step 874 The air tube valve is turned off and the humidity sensor is checked at step 875.

Feedback routine (900)

As shown in FIG. 23, the feedback routine 900 first confirms the designated target according to the feedback call in step 901. In step 902, thrust is adjusted to a predetermined average speed, for example, 0.5 to 1 knot. After that, each part operates simultaneously.

That is, the power supply of the primary and secondary batteries is checked in step 903, the battery remaining amount is checked in step 904, and the feedback capacity is calculated in step 905.

 In step 906, the path stored by the first CPU 110 is searched, the coordinates are changed in step 907, the time is inverted, the power capacity required for the return of step 905 is calculated, and the return is expected in step 908. The time is calculated and step 919 described later is performed.

At the same time, in step 909, all scan sound wave sensors are operated and the terrain search is performed in step 909-1, and the steps 908 and 919 are also performed in this step.

After the step 902 is performed at the same time in step 925 to prepare for communication with the PC that is the ground console, and in step 926 high-frequency / acoustic communication, and in step 927 to arrive at the intended destination, information about the arrival Send and receive and wait for an event situation in step 928.

When the return preparation is performed as described above, after performing steps 905 and 908, step 910 is performed to determine whether the power supply is a predetermined capacity, for example, 80% or more. If it is less than the predetermined capacity, the remaining amount of the first auxiliary battery is checked in step 911. In step 912, the second auxiliary battery is turned on to supply power required for thrust, and in step 913, a predetermined depth, for example, 50 m is reached to call automatic navigation programming. In step 914, the second CPU 210 stores the return navigation programming in the fourth SD. In step 915, the destination coordinates are compared, and if a predetermined value has an error of, for example, 0.5% or more, the coordinate is changed in step 918 and the voyage is started. If not, the secondary correction is made at step 916 and the correction value is passed to the first CPU 110 at step 917 and then transferred to step 930 which is described later.

On the other hand, if the terrain search is performed in step 909-1, step 908 is performed and coordinates currently estimated in step 919 are calculated. In step 920, it is determined whether the coordinate error is not within a predetermined value, for example, 10%. In this case, if the error exceeds 10%, the distance is corrected in step 922 and the position coordinates, azimuth and acceleration are checked in step 923, and the error is corrected in step 924 and the process is transferred to step 921. Correct the final error based on the data. This case is also performed when it is determined that the error range is less than or equal to a predetermined value. The process then proceeds to step 915 where it is determined that the margin of error is a smaller value and starts sailing.

Return Routine

Next, as shown in FIG. 24, in order to perform the return voyage, the destination arrival path data, the current range, and the coordinate-converted data are checked every predetermined time. If the error range in step 931 is within a predetermined value, for example, 3%, the process proceeds to step 932 where the second CPU stores the processed data in its own memory, that is, the fourth SD. In step 933, data processing input from each sensor is performed. At this time, the navigation speed is maintained at a predetermined speed, for example, 3 knots, and the depth is, for example, 50 m.

 In step 934, the current position and the expected arrival time are calculated, and the battery is checked in step 935 and the process moves to step 936. The thrust rise is possible in step 936, for example, it is determined whether the rise is possible to 4 knots. If not possible, maintain the current speed in step 937 and ascend, if possible, increase the thrust in step 938 and determine if it is close to the destination in step 939. If it is determined that it is close to the destination in step 940 is switched to the surface state mode. In step 941, it is determined whether or not injured, and if injured, perform step 942 to wait for wireless communication and transmit data in step 943, simultaneously operate the camera in step 944, and calculate the distance calculation in step 945 do. In step 946, the destination entry is made with the maximum output, and in step 947, the dock entry program is called.

On the other hand, if it is determined in step 931 that the error range is greater than or equal to a predetermined value, the thrust speed is adjusted in step 948 and the movement path screen data is called in step 949, so the coordinates are reset in step 950. Calculate In step 951, the error range is corrected, and in step 952, it is determined whether the error range is within a predetermined value, for example, within 3%. If it is out of the predetermined value, it moves to step 950 and if it is within the predetermined value, in step 953, data stored in its own memory of the second CPU 210 is called. In step 954, it is determined whether the stored call data and the error range corrected data value are less than or equal to the smallest value ± 0.05. If it is greater than or equal to a predetermined value, the process returns to step 950 and if it is less than or equal to a predetermined value, the data set in step 955 is stored in its own memory of the second CPU, and after step 933, a dock entry is prepared.

Dock Entry Routine (950)

As shown in FIG. 25, in order to enter the dock of the submarine 1, the dock entry routine 950 operates the bridge camera in advance according to the dock entry call, reads data of the display device at the arrival point, and reads the distance measurement data. You will be confirmed. In the next step 951, it is determined whether the distance to the dock entry destination is a predetermined distance, for example, 100 m or more. If it is less than the predetermined distance, the flow advances to step 951 to sequentially lower the speed. In step 952, it is determined whether the dock entry distance is within a predetermined distance, that is, 30m. If it is not within the predetermined distance, the process moves to step 953 to receive and process GPS data and to perform step 951.

If it is determined in step 952 that the dock has been entered within a predetermined distance, the wireless beacon signal is received in step 955. At this time, the radio frequency of the wireless beacon signal is 2.4 GHz. In step 956, if the beacon signal is less than a predetermined strength, for example, -50db, the GPS data is received and processed in step 957, and step 955 is performed. Turn in the largest direction.

In step 959, the RF signal strength is collected, measurement data is collected in step 961. In step 960, the camera image distance measurement data is called, and in step 962, the azimuth data is collected. In step 970, the process is comprehensive and the current location is identified. In step 963, it is determined whether or not the final dock entry is possible, and if the dock entry is not possible, the thrust is stopped in step 964 and the distance is readjusted. If dock entry is possible, thrust is stopped in step 965 to complete dock entry.

1: Submarine 10: Head 20: Body 30: Stern
101: main control printed circuit circuit 102, 103: first and second sub-control printed circuit
110, 210, 310: 1st, 2nd, 3rd CPU 120: GPS receiver
130, 140: underwater sound transmitting and receiving unit 150: sound wave object detection unit
160: wireless communication unit 220: hull speed detection unit 230: data processing unit
240: posture control unit 260: thrust unit 320: camera control unit
330: proximity monitoring unit 340: power supply unit 360: charging unit
370: internal communication unit

Claims (15)

Power unit with short wing is divided into three parts, head part installed in bow, body part, rear key, and horizontal key with a plurality of sensors, a plurality of driving means and one or more control printed circuit boards arranged in each part. In an intelligent unmanned underwater navigation system for controlling a submarine consisting of a stern part such as a brushless direct current motor and a screw connected to the motor shaft,
The GPS receiver has a first MCU to process the received GPS signal to calculate and store the current position, and the underwater acoustic transmitter and the underwater acoustic receiver have a second MCU to provide data on the navigation route of the submarine. Send to the external console and receive commands from it to generate the navigation route data, and the sound wave object detection unit is provided with a third MCU to generate data on the surrounding objects of the automatic underwater navigation submarine to identify and store the surrounding objects, The wireless communication unit includes a broadband dual band filter unit to receive and transmit wireless ultra high frequency signals and ultra low frequency signals so that the wireless communication with an external console is carried out, and the first CPU is a self storage device for storing and temporarily storing system programming. And second SDs to communicate with an external console to independently control the system components. Main printed circuit board consisting of:
The hull speed detection unit includes a fourth MCU to control the Doppler tachometer to detect the speed of the hull, and the data processing unit includes a fifth MCU to collect and process information of various sensors required for unmanned navigation of the hull. The attitude data and the navigation reference data are generated, the attitude control unit is provided with a sixth MCU to control the attitude of the submarine on the surface or underwater, and the thrust part is provided with a seventh MCU to generate the thrust of the hull. A first sub control printed circuit board configured to independently control the system components by a second CPU communicating data with the first CPU and having third and fourth SDs;
The camera control unit is equipped with MMP and HIRs, and these cameras are equipped with high-sensitivity infrared sensors that identify object shapes in the dark to increase the identification distance. Put the data at the center cursor and place the objects up, down, left, and right in the surrounding object cursor, and compare the distance between them and increase the ratio of the distance reference to the predetermined distance at 1X by using the compared distance and the zoom function of the camera. To calculate the distance to the object, the proximity monitor is equipped with a microcomputer and a number of proximity sensors to detect whether the object is close to the side of the submarine and at the same time detects the close object fixed to the left and right sides of the submarine The power supply unit has its own memory, the power distribution unit for distributing the power, charging The main battery and one or more auxiliary batteries that store power from the unit and the power of these batteries are applied to the system under the control of the power control unit, and the charging unit is connected to the power unit to enable external charging, and the third CPU is submarine. Second sub-control printed circuit boards having an internal communication unit connected to an external console, which is a system management unit, and fifth and sixth SDs for controlling externally of the system, and configured to independently control the system components. Submarine intelligent unmanned underwater navigation system, characterized in that.
delete delete delete delete delete The method of claim 1,
An intelligent unmanned underwater navigation system for a submarine, wherein the speed detection unit is composed of a fourth MCU and a fourth DSP composed of a speed calculation unit of the hull, a memory connected between them, and a Doppler tachometer connected to the fourth DSP.
The method of claim 1,
The data processing unit includes a fifth MCU having its own memory and configured as a fifth DSP, first and second gyro sensors detecting a torsional state of the submarine connected to the fifth MCU via an analog / digital conversion buffer unit; The submarine's intelligent unmanned underwater navigation system, which consists of an acceleration sensor that detects the current speed of the submarine, and an inclination sensor that detects the inclination angle according to the inclination of the submarine, thereby generating reference data of the attitude and navigation of the submarine. .
The method of claim 1,
The attitude controller is connected to a sixth MCU having its own memory, and an actuator of a horizontal keyboard connected to the sixth MCU to operate and control the first actuator to operate the tail actuator and to maintain the level of the submarine according to the control signal of the sixth MCU. GPS antenna actuator to operate the GPS antenna, wireless antenna actuator to operate the wireless antenna, right ballast actuator to operate the pump for the right ballast tank, left ballast actuator to operate the pump of the left ballast tank, and the upper and lower rudder motors of the submarine A rudder actuator, an elevator actuator for operating the submarine's left and right rudder motors, and a second drive control unit for controlling the operation of the horizontal and vertical weight balance actuators for operating the counterweight to control the posture of the horizontal and vertical positions of the submarine. Submarine Intelligent unmanned underwater navigation system.
delete delete delete delete In a method for controlling unmanned automatic navigation of a submarine,
The power is turned on and the first, second and third CPUs install their own memory for each of their systems, and the first CPU checks the GPS module startup, tests of various sensors and DVL, and checks the camera and power status. Performing an initialization routine,
Performing a sensor operation routine for comparing the current coordinate values and azimuth sensor values of GPS and adding the DVL values to check the current status of the submarine;
Performing a hydroacoustic transmission and reception routine for checking the external console and underwater acoustic dependence of data such as travel path distance, power state, and object discovery point according to the underwater acoustic transmission;
Performing a sound wave object detection routine that detects the presence or absence of an object, distance from the object, shape and type of the object by operating the sound wave scan sonar on the front, left, and right sides,
Performing a wireless antenna transmission and reception routine for operating one or more wireless antennas and a camera and generating a current state and position, an image of an underwater object, and performing data communication with an external console;
Performing a near sea routine to operate a plurality of MSSs to perform a near distance navigation of the object when the object is detected from a sound wave or the like;
The attitude control routine calculates the gyro sensor, DVL, acceleration sensor, tilt sensor, azimuth sensor and pressure sensor and calculates the horizontal vertical angle of the submarine by operating the actuator of the horizontal key and counterweight according to the submarine status. Performing the step,
Performing a ballast operation to full and drain the tank of the ballast since the operation of the valves, the piston motor, and the DC pump motor is controlled according to a predetermined algorithm to start one or more ballasts for the diving operation;
Adjusting the speed of the submarine by monitoring the current amount of electricity, the amount of power supplied or consumed, and performing a power supply routine to calculate the starting point, the distance traveled to the present, and the maximum distance traveled thereafter,
Depending on whether the submarine is superficial or underwater to open all the functions of the system, the first CPU is called and the first CPU calls the second and third CPUs to determine the current position coordinates, each sensor state, attitude state, and power state of the submarine. Performing a system operation preparation routine for transmitting data and waiting for processing of a command state;
Operating a ballast in an independent module of the system to maintain the horizontal at the surface of the submarine's hull and to maintain the horizontal vertical even when submerging underwater to perform the navigation routine on the surface of the submarine ready to sail;
By controlling the operation of the front and bridge cameras, the image sensor is positioned at the center of the coordinates, and the upper, lower, left, and right objects are positioned in the surrounding cursor, so the distance between them and the zoom function of the camera can be compared. Calculating a distance from an object by calculating a ratio of the distance reference increased to a predetermined distance when using 1X,
Check the values and speed of each sensor underwater, navigate at a certain speed, and check the obstacles detected by the scanning sound wave sensors, their distance, and the type and size of the obstacles. Steps to perform,
Controlling the operation of the ballast to dive, maintaining a horizontal and vertical navigation at a predetermined speed, and performing a diving operation routine for storing navigation data on the current position, terrain, etc. based on the data of each sensor;
Performing a floating air waiting routine to control the operation of the ballast in order to float in the submarine to float at a predetermined speed to maintain a horizontal vertical state,
In order to return, operate power check, route search, all scan sound wave sensor, communicate with external console, transmit estimated arrival time, calculate return coordinates based on destination arrival route, current position and coordinate conversion data Performing a feedback routine to correct the error, navigate at a predetermined thrust speed, and switch to a water surface mode near the destination;
As the distance from the dock nears the destination, the speed is reduced and the dock entry routine that executes the dock by calculating the RF signal strength, camera image distance measurement data, GPS data and azimuth angle when receiving the wireless beacon signal from the external console. A method for controlling unmanned automatic navigation of a submarine, comprising the steps of performing.
15. The method of claim 14,
The object distance measurement step of the camera calculates the coordinates of the cursor by inserting the captured image into the split line coordinate system in which the image image captured data is preset, and converts the image of the object into the image vector composition and merges the split line coordinate system. Set to to be within the line to calculate the distance between points in pixels and connect the points to points to identify the size and shape of the object; Determine the size of the object by moving the camera up, down, left, and right up to 90 degrees to compare objects around the center cursor; A method of controlling an unmanned automatic navigation of a submarine, characterized in that the zoom operation of the camera to measure the distance according to the image of the object.

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