CN107117266A - A kind of self balancing device, unmanned vehicles and its control system - Google Patents
A kind of self balancing device, unmanned vehicles and its control system Download PDFInfo
- Publication number
- CN107117266A CN107117266A CN201710330976.9A CN201710330976A CN107117266A CN 107117266 A CN107117266 A CN 107117266A CN 201710330976 A CN201710330976 A CN 201710330976A CN 107117266 A CN107117266 A CN 107117266A
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- unmanned vehicles
- slide rail
- battery pack
- sliding block
- fixture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of self balancing device, unmanned vehicles and its control system, including, the first balance element, including the first fixture, horizontal battery pack and longitudinal battery pack, the horizontal battery pack is connected with first fixture；Control unit, including monitoring component and processing module.What the present invention was provided works as unmanned vehicles in water, unmanned vehicles vertical inclination angle and cross dip are first detected by monitoring component, and testing result is sent to processing module, and horizontal battery pack and longitudinal battery pack are driven relative to the variation of unmanned vehicles pose by the first actuator and the second actuator respectively, so as to the posture balancing of quick, effective, simple regulation unmanned vehicles, and pass through battery equilibrium unmanned vehicles, the space that additional balance object takes can be saved, increases and effectively carries volume.
Description
Technical field
Filled the invention belongs to unmanned vehicles technical field, more particularly to a kind of self-balancing suitable for unmanned vehicles
Put, unmanned vehicles and its control system.
Background technology
The features such as water surface or underwater unmanned vehicle are because with small volume, flexible operation, autonomous navigation, can be in bad weather
The lower replacement mankind perform a variety of dangerous persons, thus are widely used in scientific research of seas, exploration of ocean resources, military affairs and detect
The field such as look into.
The water surface or underwater unmanned vehicle are as a kind of carrying platform, and the different detecting module by carrying can be completed
Various ocean operation tasks.But the making of unmanned vehicles and the installation of equipment, it is difficult to ensure that unmanned vehicles are in water
Posture balancing, often occur light nose heave tail or the light cabrage of head and to the left or to the right inclined state.In the prior art, lead to
Often solving the method for unmanned vehicles posture balancing is：Before unmanned vehicles assembling, calculate and floated suffered by each section of unmanned vehicles
Power, weighs each section of weight of unmanned vehicles and contained weight of equipment, by the contained equipment of reasonable layout and ballasting fill block, comes
The problem of solving unmanned vehicles posture balancing.Often inefficiency is filled out, it is necessary to repeatedly open unmanned vehicles for this mode
Pressurising cabin fill block, the need for the contained detecting devices modularization assembling high efficiency development of unmanned vehicles is not met increasingly.
The content of the invention
The purpose of this part is some aspects for summarizing embodiments of the invention and briefly introduces some preferably implementations
Example.It may do a little simplified or be omitted to avoid making our department in this part and the description of the present application summary and denomination of invention
Point, the purpose of specification digest and denomination of invention obscure, and this simplification or omit and cannot be used for limiting the scope of the present invention.
In view of the problem of above-mentioned existing self balancing device, unmanned vehicles and its control system are present, it is proposed that the present invention.
Therefore, one of purpose of the invention, which is to provide one kind, can realize unmanned vehicles posture self balancing device, with
It is easy to the regulation of unmanned vehicles.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of self balancing device, including, first is flat
Weigh part, including the first fixture, horizontal battery pack and longitudinal battery pack, and the horizontal battery pack is connected with first fixture
Connect；Control unit, including monitoring component and processing module, the two ends that the monitoring component can monitor first balance element are horizontal
To inclination angle, the processing module receives the detection signal of the monitoring component, by adjusting the horizontal battery pack, longitudinal battery
Relation between group and first fixture, adjusts first balance element.
As a kind of preferred scheme of self balancing device of the present invention, wherein：First fixture includes first and slided
Rail, first slide rail is divided into the first horizontal slide rail and the second horizontal slide rail, and first horizontal slide rail and described second is laterally
Slide rail be arranged in parallel；The horizontal battery pack includes the first sliding block, and first sliding block is divided into the first transverse slider, second laterally
Sliding block, the 3rd transverse slider and the 4th transverse slider, first transverse slider and second transverse slider are arranged on described
One side of horizontal battery pack, both of which is engaged with first horizontal slide rail, the 3rd transverse slider and the 4th horizontal stroke
The another side of the horizontal battery pack is arranged on to sliding block, both of which is engaged with second horizontal slide rail.
As a kind of preferred scheme of self balancing device of the present invention, wherein：Also include, the second balance element, including the
Two fixtures, second fixture is placed on below first fixture, and second fixture includes the second slide rail, institute
State the second slide rail and be divided into first longitudinal direction slide rail and second longitudinal direction slide rail, the first longitudinal direction slide rail and the second longitudinal direction slide rail are flat
Row is set.
As a kind of preferred scheme of self balancing device of the present invention, wherein：Longitudinal battery pack includes second and slided
Block, second sliding block is divided into first longitudinal direction sliding block, second longitudinal direction sliding block, the 3rd longitudinal sliding block and the 4th longitudinal sliding block, described
First longitudinal direction sliding block and the second longitudinal direction sliding block are arranged on one side of longitudinal battery pack, both of which and the first longitudinal direction
Slide rail is engaged, and the 3rd longitudinal sliding block and the 4th longitudinal sliding block are arranged on the another side of longitudinal battery pack, two
Person is engaged with the second longitudinal direction slide rail.
A kind of unmanned vehicles, including unmanned vehicles, it is characterised in that：A kind of unmanned vehicles, including unmanned navigation
Hull, it is characterised in that：Also include, the first balance element and the second balance element are arranged on the unmanned pars intermedia for navigating by water hull
Point.
As a kind of preferred scheme of unmanned vehicles of the present invention, wherein：Actuator, it include the first actuator and
Second actuator, first actuator is placed on the centre position of first fixture, and the monitoring component detects institute
The two ends cross dip of the first balance element is stated, first balance element is adjusted by first actuator；Second driving
Part is placed on the centre position of second fixture, and the two ends that the monitoring component detects second balance element are longitudinally inclined
Angle, second balance element is adjusted by second actuator.
A kind of control system applied to the unmanned vehicles, including, one is used to monitor unmanned vehicles motion state
And the bank base integrated control system of unmanned vehicles motor pattern is selected, the bank base integrated control system includes data interchange
The bank base that one bank base communication system, a bank base processing system, a pair of bank base communication systems and bank base processing system are powered is supplied
Electric system；With one is responsible for the warship base integrated control system of control unmanned vehicles motion, and the warship base integrated control system includes
One warship base communication system of data interchange, a warship base processing system, a pair of warship base communication systems, warship base processing systems and supplied
The warship base electric power system of electricity, the warship base processing system includes the warship base industrial computer of one and warship base communication system data interchange, institute
State and an obstacle avoidance system, a kinetic control system, a pose navigation system and a vision system are connected with warship base industrial computer.
As a kind of preferred scheme of the control system of the present invention applied to the unmanned vehicles, wherein：It is described
Pose navigation system includes, and one is used for the navigation module of positioning unmanned vehicles position in water in real time；One is used to measure nobody
Orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the ROV in water；And, one is used to measure nobody
The depth flow sensor of ROV flow velocity of the depth of dive and unmanned vehicles ambient water in water.
As a kind of preferred scheme of the control system of the present invention applied to the unmanned vehicles, wherein：It is described
Kinetic control system includes, and one is used for the direction of motion and rising in water, the warship base system of dive that change unmanned vehicles
System；With one provides the main power system of power for the forward-reverse of unmanned vehicles；Wherein, the warship based system includes control
Unit.
As a kind of preferred scheme of the control system of the present invention applied to the unmanned vehicles, wherein：It is described
Pose navigation system includes, and one is used for the navigation module of positioning unmanned vehicles position in water in real time；One is used to measure nobody
Orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the ROV in water；And, one is used to measure nobody
The depth flow sensor of ROV flow velocity of the depth of dive and unmanned vehicles ambient water in water.
Beneficial effects of the present invention：When unmanned vehicles are in water, first detect that unmanned vehicles are indulged by monitoring component
Processing module is sent to inclination angle and cross dip, and by testing result, and is distinguished by the first actuator and the second actuator
Variation of the horizontal battery pack of drive with longitudinal battery pack relative to unmanned vehicles pose, so as to quickly, effectively, simply adjust
The posture balancing of unmanned vehicles, and by battery equilibrium unmanned vehicles, the sky that additional balance object takes can be saved
Between, increase and effectively carry volume.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, it can also obtain other according to these accompanying drawings
Accompanying drawing.Wherein：
Fig. 1 is the overall structure diagram of the first balance element described in first embodiment of self balancing device of the present invention；
Fig. 2 is the entirety of the first fixture in the first balance element described in first embodiment of self balancing device of the present invention
Structural representation；
Fig. 3 is the overall structure left view signal of the first balance element described in first embodiment of self balancing device of the present invention
Figure；
Fig. 4 is the overall structure diagram of the second balance element described in second embodiment of self balancing device of the present invention；
Fig. 5 is the overall structure diagram of the second fixture described in second embodiment of self balancing device of the present invention；
Fig. 6 is the overall structure diagram of unmanned vehicles described in 3rd embodiment of self balancing device of the present invention；
Fig. 7 is the overall schematic of control system of the present invention；
Fig. 8 is multi-sensor information integrated fusion schematic diagram in Fig. 7 illustrated embodiments of the present invention；
Fig. 9 is the flow chart of hand behaviour's motion control mode of operation in Fig. 7 illustrated embodiments of the present invention；
Figure 10 is the flow chart of cruise motion control mode of operation in Fig. 7 illustrated embodiments of the present invention；
Figure 11 is the flow chart of visual target tracking motion control mode of operation in Fig. 7 illustrated embodiments of the present invention；
Figure 12 is the flow chart of automatic obstacle avoiding motion control mode of operation in Fig. 5 illustrated embodiments of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, with reference to Figure of description pair
The embodiment of the present invention is described in detail.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, the present invention is described in detail with reference to schematic diagram, when the embodiment of the present invention is described in detail, for purposes of illustration only, table
Show that the profile of device architecture can disobey general ratio and make partial enlargement, and the schematic diagram is example, and it should not herein
Limit the scope of protection of the invention.In addition, the three-dimensional space of length, width and depth should be included in actual fabrication.
Thirdly, " one embodiment " or " embodiment " referred to herein refers to may be included at least one realization of the present invention
Special characteristic, structure or characteristic in mode." in one embodiment " that different places occur in this manual is not equal
Refer to same embodiment, nor the single or selective embodiment mutually exclusive with other embodiment.
An embodiment of the invention is as shown in figure 1, Fig. 1 is self-balancing dress described in the first embodiment of the invention
The device includes the first balance element 100 and control unit 200 in the overall structure diagram put, figure.
First balance element 100 includes the first fixture 101, horizontal battery pack 102 and longitudinal battery pack 103, and first consolidates
Determine part 101 with longitudinal battery pack 103 to be connected, the first fixture 101 is fixed plate, support places horizontal battery pack 102 and vertical
To battery pack 103, wherein, preferably, the first fixture 101 is fixed plate, it is not easy to produce elastic deformation, for example, first is solid
It can be sheet material to determine part 101, wherein sheet material be usually use more than 2 millimeters soft planar materials and thickness 0.5 millimeter with
On hard surface material.Can also be using the larger steel of compression strength, steel are that steel ingot, steel billet or steel are added by pressure
The material of definite shape, size and performance that work is made, according to steel, when horizontal battery pack 102 is placed into the first fixture
After on 101, deformation is less likely to occur steel.
Preferably, reference picture 2, the first fixture 101 includes the first slide rail 101a, the first 101a points of slide rail is horizontal for first
Slide rail 101a-1 and the second horizontal slide rail 101a-2, wherein, the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 phases
It is mutually parallel, and first in a and second b the distance between (reference of the distance less than or equal to horizontal battery pack 102 between the two
Fig. 3).Wherein, in this embodiment, the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 can be wall scroll slideway,
Also can be double bar slideways.It is the first transverse slider that horizontal battery pack 102, which includes the first sliding block 102a, the first sliding block 102a,
102a-1, the second transverse slider 102a-2, the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4, with reference to Fig. 2 and figure
3, the first transverse slider 102a-1 and the second transverse slider 102a-2 are arranged on the first side a of horizontal battery pack 102, with first
Horizontal slide rail 101a-1 is engaged, and the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4 are arranged on horizontal battery pack
On 102 the second side b, it is engaged with the second horizontal slide rail 101a-2.It should be noted that the first transverse slider 102a-1 and
Two transverse slider 102a-2 can be merged into a sliding block, and the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4 can be with
It is merged into a sliding block, that is to say, that a sliding block and first can be set on the first side a of horizontal battery pack 102 laterally
Slide rail 101a-1 is engaged, and another sliding block and the second horizontal slide rail are set on the second side b of horizontal battery pack 102
101a-2 is engaged.Horizontal battery pack 102 passes through the first transverse slider 102a-1, the second transverse slider 102a-2, the 3rd transverse direction
Sliding block 102a-3 and the 4th transverse slider 102a-4 is slided in the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2, is made
Device is obtained more to balance.
In terms of control structure angle, the first balance element 100 is set up " contact " by control unit 200.Control unit 200 is wrapped
Monitoring component 201 and processing module 202 (not showed in figure) are included, monitoring component 201 is placed on the first fixture 101
Centre position, and the cross dip at monitoring the first balance element 100 two ends can be perceived, one " preset value " is set, works as monitoring portion
Part 201 feeds back to processing module 202 when detecting the cross dip at the two ends of the first balance element 100, processing module 202 receives monitoring
The detection signal of part 201, it is preferred that processing module 202 is the microprocessor based on single-chip microcomputer or PLC, processing module 202
Drawn according to the algorithm of setting after control command, the relation between the horizontal fixture 101 of battery pack 102 and first of control adjustment,
The first balance element 100 is adjusted, it is balanced.
Reference picture 4 and Fig. 5, Fig. 4 show that the overall structure of self balancing device described in second of embodiment of the invention is shown
Be intended to, the embodiment be different from first implementation be：Also include the second balance element 300, the second balance element in this embodiment
300 include the second fixture 301.Embodiment is：Second balance element 300 includes the second fixture 301, and the second fixture
301 are placed on the lower section of the first fixture 101, and the second fixture 301 is fixed plate, preferably, the second fixture 301 includes second
Slide rail 301a, the second 301a points of slide rail is first longitudinal direction slide rail 301a-1 and second longitudinal direction slide rail 301a-2, wherein, first longitudinal direction
Slide rail 301a-1 and second longitudinal direction slide rail 301a-2 are parallel to each other, and distance between the two is less than or equal to the first fixture 101
The 3rd in c and the 4th the distance between d (reference picture 1).Wherein, in this embodiment, first longitudinal direction slide rail 301a-1 and
Second longitudinal direction slide rail 301a-2 can be wall scroll slideway, also can be double bar slideways.Reference picture 5, the lower section of the first fixture 101
Provided with including the second sliding block 101b, the second sliding block 101b includes first longitudinal direction sliding block 101b-1, second longitudinal direction sliding block 101b-2, the
Three longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4, first longitudinal direction sliding block 101b-1 and second longitudinal direction sliding block 101b-2 are set
Put on the 3rd side c of the first fixture 101 (reference picture 1), be engaged with first longitudinal direction slide rail 301a-1, the 3rd longitudinal sliding block
101b-3 and the 4th longitudinal sliding block 101b-4 are arranged on the 4th side d of the first fixture 101 (reference picture 1), with second longitudinal direction
Slide rail 301a-2 is engaged.It should be noted that first longitudinal direction sliding block 101b-1 and second longitudinal direction sliding block 101b-2 can merge
For a sliding block, the 3rd longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 can be merged into a sliding block, that is to say, that
On the 3rd side c of the first fixture 101 sliding block can be set to be engaged with first longitudinal direction slide rail 301a-1, it is solid first
Determine to set another sliding block to be engaged with second longitudinal direction slide rail 301a-2 on the 4th side d of part 101.First fixture 101 leads to
Cross first longitudinal direction sliding block 101b-1, second longitudinal direction sliding block 101b-2, the 3rd longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-
4 are slided in first longitudinal direction slide rail 301a-1 and second longitudinal direction slide rail 301a-2 so that device is more balanced.Preferably, can set
4 groups of sliding blocks are put, both sides respectively set four, it is ensured that in sliding, the stability of the first fixture 101.
Reference picture 6, Fig. 6, which is shown, applies self balancing device described in the third embodiment of the invention to unmanned vehicles
Overall structure diagram.The unmanned vehicles include unmanned navigation hull T, and it also includes, the self-balancing as shown in Fig. 1~5
Device, wherein, the first balance element 100 and the second balance element 300 are arranged on the unmanned center section for navigating by water hull T, and its front end is used
In installing unmanned vehicles implement, tail end provides power for unmanned course device and changes the unmanned vehicles direction of motion.
Specifically, including the first balance element 100, the balance element 300 of control unit 200 and second in this embodiment.First
Balance element 100 includes the first fixture 101, horizontal battery pack 102 and longitudinal battery pack 103, and the first fixture 101 and longitudinal direction
Battery pack 103 is connected, and the first fixture 101 is fixed plate, and horizontal battery pack 102 and longitudinal battery pack 103 are placed in support.
Reference picture 2, the first fixture 101 includes the first slide rail 101a, and the first 101a points of slide rail is the first horizontal slide rail
101a-1 and the second horizontal slide rail 101a-2, wherein, the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 are mutually put down
OK, and between the two distance be less than or equal to the first of horizontal battery pack 102 in a and second the distance between b (reference pictures
3).Horizontal battery pack 102 is the first transverse slider 102a-1 including the first sliding block 102a, the first sliding block 102a, second laterally slides
Block 102a-2, the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4, with reference to Fig. 2 and Fig. 3, the first transverse slider
102a-1 and the second transverse slider 102a-2 are arranged on the first side a of horizontal battery pack 102, with the first horizontal slide rail 101a-1
It is engaged, the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4 are arranged on the second side b of horizontal battery pack 102,
It is engaged with the second horizontal slide rail 101a-2.Horizontal battery pack 102 passes through the first transverse slider 102a-1, the second transverse slider
102a-2, the 3rd transverse slider 102a-3 and the 4th transverse slider 102a-4 are laterally sliding in the first horizontal slide rail 101a-1 and second
Rail 101a-2 is slided so that device is balanced.
Second balance element 300 includes the second fixture 301, and the second fixture 301 is placed under the first fixture 101
Side, the second fixture 301 is fixed plate, and the second fixture 301 includes the second slide rail 301a, and the second 301a points of slide rail is indulged for first
To slide rail 301a-1 and second longitudinal direction slide rail 301a-2, wherein, first longitudinal direction slide rail 301a-1 and second longitudinal direction slide rail 301a-2
Be parallel to each other, and distance between the two be less than or equal to the 3rd of the first fixture 101 in c and the 4th the distance between d (ginsengs
According to Fig. 1).Reference picture 5, the lower section of the first fixture 101 is provided with the second sliding block 101b is included, and it is vertical that the second sliding block 101b includes first
Indulged to sliding block 101b-1, second longitudinal direction sliding block 101b-2, the 3rd longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4, first
It is arranged on to sliding block 101b-1 and second longitudinal direction sliding block 101b-2 on the 3rd side c of the first fixture 101 (reference picture 1), with
One longitudinal slide rail 301a-1 is engaged, and the 3rd longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 are arranged on the first fixture
On 101 the 4th side d (reference picture 1), it is engaged with second longitudinal direction slide rail 301a-2.First fixture 101 passes through first longitudinal direction
Sliding block 101b-1, second longitudinal direction sliding block 101b-2, the 3rd longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 are vertical first
Slided to slide rail 301a-1 and second longitudinal direction slide rail 301a-2 so that device is balanced.Preferably, 4 groups of sliding blocks, both sides can be set
It is each to set four, it is ensured that in sliding, the stability of the first fixture 101.
In terms of control structure angle, the first balance element 100 and the second balance element 300 set up " connection by control unit 200
System ".Control unit 200 includes monitoring component 201 and processing module 202, and monitoring component 201 is placed on the first fixture 101
Centre position, can monitor the cross dip at the two ends of the first balance element 100, monitor the vertical inclination angle at the two ends of the second balance element 300,
When monitoring component 201 detects the cross dip or vertical inclination angle of the first balance element 100 or the two ends of the second balance element 300, instead
Processing module of feeding 202, processing module 202 receive monitoring component 201 detection signal, it is preferred that processing module 202 be based on
The microprocessor of single-chip microcomputer or PLC, processing module 202 show after control command that control adjustment is laterally according to the algorithm of setting
Between the fixture 101 of battery pack 102 and first, and the relation between longitudinal fixture 301 of battery pack 103 and second, adjustment
First balance element 100 and the second balance element 300, balance both.
In this embodiment, in addition to actuator 400, actuator 400 includes the first actuator 401 and the second actuator
402, wherein the first actuator 401 is placed on the centre position of the first fixture 101, the second actuator 402 is placed on second and consolidated
Determine the centre position of part 301, both are it is positioned such that avoid due to the first actuator 401 and the second actuator 402 itself
Caused unbalanced situation.When unmanned vehicles are in water, after power-up initializing, monitoring component 201 first detects unmanned boat
Row device vertical inclination angle and cross dip, and testing result is sent to controller, processing module 202 is drawn according to the algorithm of setting
After control command, the first actuator 401 of control and the system motion of the second actuator 402, the second fixture 301 of driving are slided second
Position on rail 301a, to drive the variation of longitudinal battery pack 302, horizontal battery pack 102 position in the vertical, to adjust nobody
The posture of ROV in the vertical；The motion of the second actuator 402 is controlled, to drive the first fixture 101 in the first slide rail
Position on 101a, drives the variation of horizontal battery pack 102 position in the horizontal to adjust the appearance of unmanned vehicles in the horizontal
State；By change unmanned course device longitudinally and transversely on posture reach the overall balance of unmanned vehicles posture.
Referring to Fig. 7, present invention also offers a kind of control system applied to unmanned vehicles, it includes：One is used to supervise
Depending on unmanned vehicles motion state and select the bank base integrated control system 500 of unmanned vehicles motor pattern, the integrated control of bank base
System 500 processed includes a bank base communication system 502 of data interchange, a bank base processing system, in addition to a pair of bank base communication systems
The shore-based power supply system that system 502 and bank base processing system are powered.
Bank base communication system 502 is collectively constituted by a bank base data transmission equipment 502a, a bank base Image transmission equipment 502b.
Bank base processing system includes a bank base industrial computer 506, and the bank base industrial computer 506 is realized with bank base communication system 502
Data interchange, be connected with bank base industrial computer 506 on one handle 503, a multi-screen 504, multi-screen 504 show it is different
Human-computer interaction interface 505 for display monitoring unmanned vehicles motion state.
Shore-based power supply system includes the bank base 220VAC/24VDC lithium batteries 501 and bank base voltage changer being sequentially connected
507.By being provided with a bank base voltage changer 507, so as to as needed by bank base 220VAC/24VDC lithium batteries 501
Voltage transformation is to need to power to each equipment in bank base communication system 502 and bank base processing system again after voltage, it is ensured that bank
The overall trouble-free operation of base integrated control system 500.
One is responsible for the warship base integrated control system 600 of control unmanned vehicles motion, and the warship base integrated control system 600 is wrapped
Include a warship base communication system 601, a warship base processing system for data interchange, in addition to a pair of warship base communication systems 601, warship Ji Chu
Reason system and the warship base electric power system being powered, warship base processing system include one and realize number with warship base communication system 601 and one
According to the warship base industrial computer 603 of intercommunication, be connected with warship base industrial computer 603 obstacle avoidance system 604, a kinetic control system 605,
One pose navigation system 602 and a vision system 606.
Warship base communication system 601 is collectively constituted by a warship base data transmission equipment 601a, a warship base Image transmission equipment 601b.
Obstacle avoidance system 604 includes a millimetre-wave radar 604a for being used to measure the water surface, aerial target and barrier, and one is used for
Measure the multi beam wave sound 604b of target and barrier in water.
Kinetic control system 605 include the direction of motion for being used to changing unmanned vehicles and rising in water, under
Latent warship based system 605a, one provides the main power system 605b of power for the forward-reverse of unmanned vehicles.
Pose navigation system 602 includes a Big Dipper/GPS module for being used to position unmanned vehicles position in water in real time
602a, one is used to measure orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the unmanned vehicles in water
602b, a depth flow velocity for measuring unmanned vehicles flow velocity of the depth of dive and unmanned vehicles ambient water in water
Sensor 602c.Wherein, mentioned " Big Dipper/GPS module " is that, for navigator fix, " pose module " can be used here
Attitude sensor, it is the high performance three-dimensional motion attitude measuring system based on MEMS technology, is added comprising three-axis gyroscope, three axles
Speedometer (i.e. IMU), the synkinesia sensor such as three axle electronic compass is exported by embedded low-power consumption arm processor and calibrated
The angular speed crossed, acceleration, magnetic data etc., athletic posture measurement is carried out by the sensing data algorithm based on quaternary number, it is real
When export the zero shift 3 d pose data that are represented with quaternary number, Eulerian angles etc..
Vision system 606, which includes one, to be used to gather the CCD camera 606a of unmanned vehicles external environment condition image, one is used for
Rotate CCD camera 606a head 606b.
Warship base electric power system include the warship base voltage converter 607 that is sequentially connected and a carrier-borne 72VDC lithium batteries/
24VDC lithium batteries 608.By being provided with a warship base voltage converter 607, so as to as needed by carrier-borne 72VDC lithium batteries/
The voltage of 24VDC lithium batteries 608, is transformed to need after voltage again to each in warship base communication system 601 and warship base processing system
Individual equipment is powered, it is ensured that the overall trouble-free operation of warship base integrated control system 600.
In this control system, bank base communication system 502 and the composition integrated control of unmanned vehicles of warship base communication system 601
The communication system of system, the biography for the data and image of bank base integrated control system 500 and warship base integrated control system 600
It is defeated.
Schematic diagram as shown in Figure 8 understands, the formation of integrated navigation information by navigation module 602a (namely：The Big Dipper/
GPS module 602a), micro- inertial navigation pose module 602b, depth flow sensor 602c and multi beam wave sound 604b pass through respectively
RS232 interfaces are connected with carrier-borne industrial computer 603, and millimetre-wave radar 604a and CCD camera 606a pass through Ethernet interface respectively
It is connected, the information data of each sensor is carried out processing fusion by carrier-borne industrial computer 603, is formed completely with carrier-borne industrial computer 603
Integrated navigation information, bank base integrated control system 500 is sent to by communication system.
Unmanned vehicles in the present invention have four kinds of motion control mode of operations, are respectively：Hand behaviour's motion control work
Pattern, cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control work
Pattern, motion control is more intelligent.
Schematic diagram as shown in Figure 9 understands that the workflow of hand behaviour's motion control mode of operation is：It is electric on unmanned vehicles
After initialization, unmanned vehicles motor pattern is selected to be hand behaviour's motor pattern work, unmanned navigation by unmanned vehicles operator
Device operator is in visual range or remote unmanned vehicles posture and environment according to human-computer interaction interface 505 is believed
Breath obtains the positions of unmanned vehicles, posture, and chooses whether that carrying out handle 503 operates, if it is, into next step, such as
It is really no, then proceed position, posture that previous step obtains unmanned vehicles, after selection carries out the operation of handle 503, through bank
After the data of 506 acquisition process handle of base industrial computer 503, warship base industrial computer 603 is arrived by communication system transmission instruction, then by carrier-borne
Industrial computer 603 handles and generates motion control commands, is transferred to kinetic control system 605, main power system 605b, warship based system
605a motor setting in motion, controls the motion of unmanned vehicles, it is achieved thereby that hand behaviour's motion control work of unmanned vehicles
Operation mode.In this embodiment, warship based system 605a includes control unit 200 (referring to Fig. 7), is easy to control unmanned boat
The whole machine balancing of row device.
Schematic diagram as shown in Figure 10 understands that the workflow of cruise motion control mode of operation is：On unmanned vehicles
After electricity initialization, unmanned vehicles operator nothing according to human-computer interaction interface 505 in visual range or at a distance
The position of people's ROV posture and environment information acquisition unmanned vehicles, posture, and choose whether to enter cruise motor pattern work
Make, unmanned vehicles operator is according to task needs, prior to the cruise road that unmanned vehicles are set on human-computer interaction interface 505
Line, is handled through bank base industrial computer 506, moving line is sent into carrier-borne industrial computer 603 by communication system transmission instruction, by warship
Carry industrial computer 603 to handle and generate motion control commands, be transferred to kinetic control system 605, main power system 605b, warship base system
Unite 605a motor setting in motion, control unmanned vehicles are moved according to setting path, it is achieved thereby that unmanned vehicles are patrolled
Boat motion control mode of operation.
Schematic diagram as shown in figure 11 understands that the workflow of visual target tracking motion control mode of operation is：Nobody
After ROV power-up initializing, unmanned vehicles motor pattern is selected to be moved for visual target tracking by unmanned vehicles operator
Pattern works, and CCD camera 606a shoots the water surface, air environment information in unmanned vehicles movement environment, by carrier-borne industry control
Machine 603 is handled, and bank base industrial computer 506 is transferred to by communication system, is shown, is operated by unmanned vehicles by multi-screen 504
Member selectes whether track target on picture, if so, then entering next step, if it is not, then CCD camera 606a continues to shoot nobody
The water surface, air environment information in ROV movement environment, after selection tracking target, after bank base industrial computer 506 is handled, pass through
Communication system passes back to carrier-borne industrial computer 603 by target information is tracked, then is handled by carrier-borne industrial computer 603 and generate motion control
Order, is transferred to kinetic control system 605, control unmanned vehicles tracking selected target campaign, and head 606b rotational bands
Move CCD camera 606a rotation to track target, it is achieved thereby that the visual target tracking motion control work of unmanned vehicles
Operation mode.
Schematic diagram as shown in figure 12 understands that the workflow of automatic obstacle avoiding motion control mode of operation is：Unmanned navigation
After device power-up initializing, under cruise motion control mode of operation and visual target tracking motion control mode of operation, unmanned boat
Row utensil has automatic obstacle avoiding motion control function, is passed by the Big Dipper/GPS module 602a, micro- inertial navigation pose module 602b, depth flow velocity
Sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b and CCD camera 606a have detected whether barrier, and will letter
Breath feeds back to carrier-borne industrial computer 603, then by carrier-borne industrial computer 603 by merging the Big Dipper/GPS module 602a, micro- inertial navigation pose
Module 602b, depth flow sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b and CCD camera 606a letter
Data message is ceased, the information of barrier is judged, automatically generates motion control commands, be transferred to kinetic control system 605, is controlled
Unmanned vehicles circumvent barrier motion, it is achieved thereby that the automatic obstacle avoiding motion control mode of operation of unmanned vehicles.
Control system in the present invention is mutual by bank base integrated control system 500 and warship base integrated control system 600
Coordinate, be responsible for the motion state of monitoring unmanned vehicles by bank base integrated control system 500, select the motion mould of unmanned vehicles
Formula, and warship base integrated control system 600 forms complete integrated navigation information to merge various sensor informations, and be responsible for
Control the motion of unmanned vehicles so that this control system has level of integrated system high, motion control more intelligent, over the horizon
The advantages of unmanned vehicles motion control, mode of operation is controlled to be combined by multi-motion, system is reliable and stable.
By bank base communication system 502, bank base processing system, warship base communication system 601, warship base processing system cooperation work
Make so that the semi-submersible type miniature self-service ROV in of the invention possesses four kinds of motion control mode of operations：Hand grasps motion control
Mode of operation, cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control
Mode of operation, motion control is more intelligent.
Hand grasp motion control mode of operation from human-computer interaction interface 505 and handle 503 jointly be achieved；Cruise fortune
Dynamic control mode of operation from human-computer interaction interface 505, bank base industrial computer 506, carrier-borne industrial computer 603 it is common be achieved；
Visual target tracking motion control mode of operation is by CCD camera 606a, carrier-borne industrial computer 603, bank base industrial computer 506, multi-screen
Curtain 504 coordinates jointly to be achieved；Automatic obstacle avoiding motion control mode of operation is by carrier-borne industrial computer 603, the Big Dipper/GPS module
602a, micro- inertial navigation pose module 602b, depth flow sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b, CCD
Camera 606a coordinates jointly to be achieved.
In the present invention, for being provided with a voltage changer in shore-based power supply system and warship base electric power system, so that
As needed the voltage transformation of lithium battery can be needed to power to each equipment again after voltage, it is ensured that the trouble-free operation of equipment.
It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferable
The present invention is described in detail embodiment, it will be understood by those within the art that, can be to technology of the invention
Scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, it all should cover in this hair
Among bright right.
Claims (9)
1. a kind of self balancing device, it is characterised in that：Including,
First balance element (100), including the first fixture (101), horizontal battery pack (102) and longitudinal battery pack (103), it is described
Horizontal battery pack (102) is connected with first fixture (101)；
Control unit (200), including monitoring component (201) and processing module (202), the monitoring component (201) can monitor
The two ends cross dip of first balance element (100), the processing module (202) receives the inspection of the monitoring component (201)
Signal is surveyed, by adjusting between the horizontal battery pack (102), longitudinal battery pack (103) and first fixture (101)
Relation, adjusts first balance element (100).
2. self balancing device as claimed in claim 1, it is characterised in that：First fixture (101) includes the first slide rail
(101a), first slide rail (101a) is divided into the first horizontal slide rail (101a-1) and the second horizontal slide rail (101a-2), described
First horizontal slide rail (101a-1) and second horizontal slide rail (101a-2) be arranged in parallel；
The horizontal battery pack (102) includes the first sliding block (102a), and first sliding block (102a) is divided into the first transverse slider
(102a-1), the second transverse slider (102a-2), the 3rd transverse slider (102a-3) and the 4th transverse slider (102a-4), it is described
First transverse slider (102a-1) and second transverse slider (102a-2) are arranged on the one of the horizontal battery pack (102)
Side, both of which is engaged with first horizontal slide rail (101a-1), the 3rd transverse slider (102a-3) and the described 4th
Transverse slider (102a-4) is arranged on the another side of the horizontal battery pack (102), both of which and second horizontal slide rail
(101a-2) is engaged.
3. self balancing device as claimed in claim 1, it is characterised in that：Also include,
Second balance element (300), including the second fixture (301), second fixture (301) are placed on described first and fixed
Below part (101)；
Second fixture (301) includes the second slide rail (301a), and second slide rail (301a) is divided into first longitudinal direction slide rail
(301a-1) and second longitudinal direction slide rail (301a-2), the first longitudinal direction slide rail (301a-1) and the second longitudinal direction slide rail
(301a-2) be arranged in parallel.
4. self balancing device as claimed in claim 3, it is characterised in that：Longitudinal battery pack (103) includes the second sliding block
(101b), second sliding block (101b) be divided into first longitudinal direction sliding block (101b-1), second longitudinal direction sliding block (101b-2), the 3rd indulge
To sliding block (101b-3) and the 4th longitudinal sliding block (101b-4), the first longitudinal direction sliding block (101b-1) and the second longitudinal direction are slided
Block (101b-2) is arranged on one side of longitudinal battery pack (103), both of which and first longitudinal direction slide rail (301a-1) phase
Coordinate, the 3rd longitudinal sliding block (101b-3) and the 4th longitudinal sliding block (101b-4) are arranged on longitudinal battery pack
(103) another side, both of which is engaged with the second longitudinal direction slide rail (301a-2).
5. a kind of unmanned vehicles, including unmanned navigation hull (T), it is characterised in that：Also include,
Self balancing device as described in Claims 1 to 4, the first balance element (100) and the second balance element (300) are arranged on described
The center section of unmanned navigation hull (T).
6. unmanned vehicles as claimed in claim 5, it is characterised in that：Also include, actuator (400), it includes the first drive
Moving part (401) and the second actuator (402),
First actuator (401) is placed on the centre position of first fixture (101), the monitoring component (201)
The two ends cross dip of first balance element (100) is detected, it is flat to adjust described first by first actuator (401)
Weigh part (100)；
Second actuator (402) is placed on the centre position of second fixture (301), the monitoring component (201)
The two ends vertical inclination angle of second balance element (300) is detected, it is flat to adjust described second by second actuator (402)
Weigh part (300).
7. a kind of control system for being applied to the unmanned vehicles as described in claim 5 or 6, it is characterised in that：Including,
One is used to monitor unmanned vehicles motion state and selects the bank base integrated control system of unmanned vehicles motor pattern
(500), the bank base integrated control system (500) includes a bank base communication system (502) of data interchange, a bank base processing system
The shore-based power supply system that system, a pair of bank base communication systems (502) and bank base processing system are powered；With,
One is responsible for the warship base integrated control system (600) of control unmanned vehicles motion, the warship base integrated control system (600)
A warship base communication system (601), a warship base processing system, a pair of warship base communication systems (601), warship Ji Chu including data interchange
Reason system and the warship base electric power system being powered, the warship base processing system include one and warship base communication system (601) data
An obstacle avoidance system (604), a motion control system are connected with the warship base industrial computer (603) of intercommunication, the warship base industrial computer (603)
System (605), a pose navigation system (602) and a vision system (606).
8. the control system of the unmanned vehicles is applied to as claimed in claim 7, it is characterised in that：The motion control
System (605) includes,
One is used for the direction of motion and rising in water, the warship based system (605a) of dive that change unmanned vehicles；With,
One provides the main power system (605b) of power for the forward-reverse of unmanned vehicles；Wherein,
The warship based system (605a) includes the control unit (200) as described in Claims 1 to 5 is any.
9. the control system of the unmanned vehicles is applied to as claimed in claim 7 or 8, it is characterised in that：The pose
Navigation system (602) includes,
One is used for the navigation module (602a) of positioning unmanned vehicles position in water in real time；
One is used to measure orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the unmanned vehicles in water
(602b)；And,
The one depth flow velocity for measuring unmanned vehicles flow velocity of the depth of dive and unmanned vehicles ambient water in water
Sensor (602c).
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Effective date of registration: 20201231 Address after: 212000 No.56, Yuehe street, Jianbi Town, Jingkou District, Zhenjiang City, Jiangsu Province Patentee after: CSSC LUZHOU ZHENJIANG MARINE AUXILIARY MACHINERY Co.,Ltd. Address before: Jiangsu University of science and technology, No.2, Mengxi Road, Jingkou District, Zhenjiang City, Jiangsu Province, 212003 Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY |