CN110632924A - Unmanned ship control system for remote control monitoring and sampling - Google Patents
Unmanned ship control system for remote control monitoring and sampling Download PDFInfo
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- CN110632924A CN110632924A CN201910865894.3A CN201910865894A CN110632924A CN 110632924 A CN110632924 A CN 110632924A CN 201910865894 A CN201910865894 A CN 201910865894A CN 110632924 A CN110632924 A CN 110632924A
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- 238000005070 sampling Methods 0.000 title claims abstract description 94
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000000875 corresponding effect Effects 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 32
- 230000001174 ascending effect Effects 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 4
- 229910052760 oxygen Inorganic materials 0.000 claims description 4
- 239000001301 oxygen Substances 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000035772 mutation Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229930002875 chlorophyll Natural products 0.000 description 1
- 235000019804 chlorophyll Nutrition 0.000 description 1
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
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- Hydrology & Water Resources (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an unmanned ship control system for remote monitoring and sampling, which comprises a remote control terminal, an unmanned ship control end, a sampling motor control panel, a propulsion motor control panel and a steering engine control panel, wherein the remote control terminal and the unmanned ship control end respectively comprise a 51 single chip microcomputer and an nRF905 wireless remote control module; after receiving the control signal, the unmanned ship control end generates a PWM control signal to control the sampling motor control panel, the propulsion motor control panel and the steering engine control panel to perform corresponding actions so as to complete the sampling, collecting and propulsion processes; the sampling motor control board further comprises a sampling device. The system has high intelligent control degree, the whole sampling part is realized by remote control, the regulation and control of self-taking off the ship are not needed, and the system has very high practical value.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to an unmanned ship control system for remote control monitoring and sampling.
Background
At present, along with popularization of unmanned platforms and rapid development of related positioning, navigation and control technologies, more and more unmanned automatic platforms are applied to the field of environment monitoring and sampling, an unmanned ship is a novel carrying platform, various monitoring sensors can be carried by depending on small ships and control equipment, and continuous environment monitoring is carried out in the process of sailing in a remote control or autonomous working mode. The unmanned ship works on the water surface, most surface in-situ and profile measurement sensors can be carried, such as conductivity, temperature, depth, chlorophyll, dissolved oxygen, a current meter, a single/multi-beam depth finder and the like, and can be applied to multi-element synchronous measurement in complex areas such as shallow lakes, near banks, island and reef peripheries and the like; for elements which cannot be measured in situ, the unmanned ship can realize on-site sampling by using a self-carried sampling device.
The sampling monitoring ship control system is used as the integral integration of a water quality monitoring instrument and various sampling devices, the excellent system integration can ensure the normal and stable work of the instrument and the devices, and simultaneously plays an important role in data transmission and analysis. The currently used system integration has the following disadvantages: firstly, the intelligent level of the system is not high, the controlled information sampling quantity is small, and the intelligent degree of control is low; secondly, the remote controllability is poor, and the remote control module of the current integrated system cannot simultaneously realize the functions of controlling the operation, the state inquiry, the reverse control and the like of the system. Thirdly, the method comprises the following steps: the existing unmanned ship operating system adopts a wifi or Bluetooth communication mode to perform real-time control, and is poor in anti-jamming capability, short in control distance and complex in programming mode.
Disclosure of Invention
The invention aims to provide an unmanned ship control system for remote control monitoring and sampling, which has high intelligent control degree, realizes the whole sampling part by remote control, does not need to be controlled by oneself when the person goes off the ship, and has high practical value.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an unmanned ship control system of remote control monitoring and sampling, the system includes remote control terminal, unmanned ship control end, sampling motor control panel, propulsion motor control panel and steering wheel control panel, wherein:
the remote control terminal and the unmanned ship control end both comprise a 51 single chip microcomputer and an nRF905 wireless remote control module, and the remote control terminal sends out control signals which are transmitted to the unmanned ship control end through a wireless network;
after receiving the control signal, the unmanned ship control end generates a PWM control signal and controls the sampling motor control panel, the propulsion motor control panel and the steering engine control panel to perform corresponding actions so as to complete the sampling, collecting and propelling processes;
the sampling motor control board further comprises a sampling device, wherein:
when the sampling device needs to be controlled to carry out mud sampling operation, the remote control terminal sends a mud bucket descending instruction, the mud bucket of the sampling device descends to a position below the water surface, and a pressure sensor arranged in the mud bucket feeds back a pressure value to the remote control terminal; the remote control terminal receives a feedback signal, sends out a mud bucket ascending instruction when a pressure value is constant, the mud bucket slowly ascends to a pressure value mutation point, continues to send out discontinuous ascending and descending instructions at the moment, shakes up and down to close the sampling device, and pulls the sampling device out of the water surface and returns after mud collection is finished;
when the sampling device needs to be controlled to carry out water sampling operation, the remote control terminal sends out a sampling device descending instruction, the sampling device slowly descends to the position below the water surface, and after the mud bucket of the sampling device finishes water sampling, the remote control terminal sends out a sampling device ascending instruction, so that the sampling device moves out of the water surface.
The system also comprises a water sample analysis module used for analyzing the collected sample after the sampling device finishes the mud or water collection operation;
the water sample analysis module comprises the following electrode type instruments: pH meter, thermometer, conductivity meter, and dissolved oxygen meter.
The control process of propulsion motor control panel and steering wheel control panel includes:
the remote control terminal sends a forward signal to the unmanned ship control end, the unmanned ship control end generates a high-level signal to control the propulsion motor control board to drive the propeller to rotate forward and push the ship to move forward, and the speed regulation of the propulsion motor control board is realized by adjusting the duty ratio of a PWM control signal;
in the advancing process of the ship, the remote control terminal sends left-turning, right-turning and straight-going instructions to the unmanned ship control end, and the unmanned ship control end generates PWM control signals to control the steering engine control plate to drive the rudder plate to realize corresponding actions so as to complete the advancing, left-turning and right-turning of the ship;
when the ship touches an obstacle, the remote control terminal sends a ship retreating instruction to the unmanned ship control end, the unmanned ship control end generates a low level signal to control the propulsion motor control panel to drive the propeller to rotate reversely, the ship retreating action is realized, and the steering engine control panel can still be used for realizing the change of the retreating direction.
The system further comprises a power management module, wherein the power management module is electrically connected with the unmanned ship control end and used for monitoring the battery electric quantity of the unmanned ship control end in real time according to user setting, and when the battery electric quantity is too low or is charged, the system does not work.
In the process of sampling mud and water by the sampling device, the bidirectional self-locking winch is driven by the motor to work, so that the sampling device is in an instant-on and instant-off state, and is convenient for real-time control.
The technical scheme provided by the invention shows that the system has high intelligent control degree, the whole sampling part is realized by remote control, the self-control of getting off the ship is not needed, the remote wireless remote control within a barrier-free range of 1km can be realized, and the system has high practical value.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned ship control system for remote monitoring and sampling in a remote manner according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings, and as shown in fig. 1, is a schematic structural diagram of an unmanned ship control system for remote monitoring and sampling provided by the embodiments of the present invention, the system mainly includes a remote control terminal, an unmanned ship control terminal, a sampling motor control board, a propulsion motor control board and a steering engine control board, wherein:
the remote control terminal and the unmanned ship control terminal both comprise a 51 single chip microcomputer and an nRF905 wireless remote control module, and in the concrete implementation, the nRF905 wireless remote control module can adopt VLSI ShockBurst technology of Nordic company, so that the nRF905 can provide high-speed data transmission without expensive high-speed MCU for data processing/clock coverage. nRF905 provides the microcontroller of the application with an SPI interface by putting high speed signal processing associated with the RF protocol on chip, the rate being determined by the microcontroller's own set interface speed. nRF905 reduces the average current consumption in the application by reducing the speed of the digital application part when the RF is connected at maximum rate through ShockBurst mode of operation. In the ShockBurst TX mode, the nRF905 automatically generates a lead code and a CRC check code, a data ready DR signal informs an MCU that data transmission is finished, and the nRF905 wireless remote control module can realize remote wireless remote control within a barrier-free range of 1 km.
The remote control terminal, namely the software of the computer upper computer, is communicated with the singlechip in a serial port communication mode, and the singlechip sends out a control signal through a wireless network and transmits the control signal to the unmanned ship control end; in a specific implementation process, the single chip microcomputer can send out a control signal through the 433Mhz communication frequency band.
After receiving the control signal, the unmanned ship control end generates a PWM control signal to control the sampling motor control panel, the propulsion motor control panel and the steering engine control panel to perform corresponding actions so as to complete the sampling, collecting and propulsion processes;
the sampling motor control board further comprises a sampling device, wherein:
when the sampling device needs to be controlled to carry out mud sampling operation, the remote control terminal sends a mud bucket descending instruction, the mud bucket of the sampling device descends to a position below the water surface, and a pressure sensor arranged in the mud bucket feeds back a pressure value to the remote control terminal; the remote control terminal receives a feedback signal, sends out a mud bucket ascending instruction when a pressure value is constant, the mud bucket slowly ascends to a pressure value mutation point, continues to send out discontinuous ascending and descending instructions at the moment, shakes up and down to close the sampling device, and pulls the sampling device out of the water surface and returns after mud collection is finished;
when the sampling device needs to be controlled to carry out water sampling operation, the remote control terminal sends out a sampling device descending instruction, the sampling device slowly descends to the position below the water surface, and after the mud bucket of the sampling device finishes water sampling, the remote control terminal sends out a sampling device ascending instruction, so that the sampling device moves out of the water surface.
The system also comprises a water sample analysis module for analyzing the collected sample after the sampling device finishes the mud or water sampling operation, wherein the water sample analysis module comprises the following electrode type instruments: pH meter, thermometer, conductivity meter, and dissolved oxygen meter.
In addition, in the process of sampling mud and water by the sampling device, the bidirectional self-locking winch is driven by the motor to work, so that the sampling device is in an instant-on and instant-off state, and is convenient for real-time control.
In the concrete realization, propulsion motor control panel and steering wheel control panel's control process includes:
the remote control terminal sends a forward signal to the unmanned ship control end, the unmanned ship control end generates a PWM control signal to control the propulsion motor control board to drive the propeller to rotate forward and push the ship to move forward, and the speed regulation of the propulsion motor control board is realized by adjusting the duty ratio of the PWM control signal;
in the advancing process of the ship, the remote control terminal sends left-turning, right-turning and straight-going instructions to the unmanned ship control end, and the unmanned ship control end generates PWM control signals to control the steering engine control plate to drive the rudder plate to realize corresponding actions so as to complete the advancing, left-turning and right-turning of the ship;
when the ship touches an obstacle, the remote control terminal sends a ship retreating instruction to the unmanned ship control end, the unmanned ship control end generates a low level signal to control the propulsion motor control panel to drive the propeller to rotate reversely, the ship retreating action is realized, and the steering engine control panel can still be used for realizing the change of the retreating direction.
In addition, the system further comprises a power management module, wherein the power management module is electrically connected with the unmanned ship control end and used for monitoring the battery electric quantity of the unmanned ship control end in real time according to user setting, and when the battery electric quantity is too low or charged, the system does not work.
It is noted that those skilled in the art will recognize that embodiments of the present invention are not described in detail herein.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides an unmanned ship control system of remote control monitoring and sampling, its characterized in that, the system includes remote control terminal, unmanned ship control end, sampling motor control panel, propulsion motor control panel and steering wheel control panel, wherein:
the remote control terminal and the unmanned ship control end both comprise a 51 single chip microcomputer and an nRF905 wireless remote control module, and the remote control terminal sends out control signals which are transmitted to the unmanned ship control end through a wireless network;
after receiving the control signal, the unmanned ship control end generates a PWM control signal and controls the sampling motor control panel, the propulsion motor control panel and the steering engine control panel to perform corresponding actions so as to complete the sampling, collecting and propelling processes;
the sampling motor control board further comprises a sampling device, wherein:
when the sampling device needs to be controlled to carry out mud sampling operation, the remote control terminal sends a mud bucket descending instruction, the mud bucket of the sampling device descends to a position below the water surface, and a pressure sensor arranged in the mud bucket feeds back a pressure value to the remote control terminal; the remote control terminal receives a feedback signal, sends out a mud bucket ascending instruction when a pressure value is constant, the mud bucket slowly ascends to a pressure value mutation point, continues to send out discontinuous ascending and descending instructions at the moment, shakes up and down to close the sampling device, and pulls the sampling device out of the water surface and returns after mud collection is finished;
when the sampling device needs to be controlled to carry out water sampling operation, the remote control terminal sends out a sampling device descending instruction, the sampling device slowly descends to the position below the water surface, and after the mud bucket of the sampling device finishes water sampling, the remote control terminal sends out a sampling device ascending instruction, so that the sampling device moves out of the water surface.
2. The unmanned ship control system for remote monitoring and sampling according to claim 1,
the system also comprises a water sample analysis module used for analyzing the collected sample after the sampling device finishes the mud or water collection operation;
the water sample analysis module comprises the following electrode type instruments: pH meter, thermometer, conductivity meter, and dissolved oxygen meter.
3. The unmanned ship control system for remote monitoring and sampling according to claim 1, wherein the control process of the propulsion motor control board and the steering engine control board comprises:
the remote control terminal sends a forward signal to the unmanned ship control end, the unmanned ship control end generates a high-level signal to control the propulsion motor control board to drive the propeller to rotate forward and push the ship to move forward, and the speed regulation of the propulsion motor control board is realized by adjusting the duty ratio of a PWM control signal;
in the advancing process of the ship, the remote control terminal sends left-turning, right-turning and straight-going instructions to the unmanned ship control end, and the unmanned ship control end generates PWM control signals to control the steering engine control plate to drive the rudder plate to realize corresponding actions so as to complete the advancing, left-turning and right-turning of the ship;
when the ship touches an obstacle, the remote control terminal sends a ship retreating instruction to the unmanned ship control end, the unmanned ship control end generates a low level signal to control the propulsion motor control panel to drive the propeller to rotate reversely, the ship retreating action is realized, and the steering engine control panel can still be used for realizing the change of the retreating direction.
4. The unmanned ship control system for remote monitoring and sampling according to claim 1, further comprising a power management module electrically connected to the unmanned ship control terminal for monitoring the battery level of the unmanned ship control terminal in real time according to user settings, wherein the system does not operate when the battery level is too low or charged.
5. The unmanned ship control system for remote monitoring and sampling according to claim 1, wherein during sampling of mud and water by the sampling device, the bidirectional self-locking winch is driven by the motor to operate, so that the sampling device is in an on-off state, thereby facilitating real-time control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910865894.3A CN110632924A (en) | 2019-09-09 | 2019-09-09 | Unmanned ship control system for remote control monitoring and sampling |
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| CN201910865894.3A CN110632924A (en) | 2019-09-09 | 2019-09-09 | Unmanned ship control system for remote control monitoring and sampling |
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Application publication date: 20191231 |