CN112498144A - 太阳能驱动锚系式自主航行器多功能对接站及对接方法 - Google Patents
太阳能驱动锚系式自主航行器多功能对接站及对接方法 Download PDFInfo
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Abstract
本发明公开了一种太阳能驱动锚系式自主航行器多功能对接站及对接方法,包括浮力部设置在主体支架的上部,所述太阳能板设置在浮力部的上表面,所述天线部设置在浮力部的上部;所述ASV对接位设置在浮力部处,在ASV对接位的上方设置视觉靶标,在ASV对接位的中心处设置ASV磁力锁紧机构,在ASV对接位的侧方设置ASV无线电能传输部;所述AUV对接站和电子舱均设置在主体支架的底面上,AUV对接站的上方设置声学信标和水下灯,AUV对接站的后方设置AUV电能传输线圈和AUV磁力锁紧机构。本发明在自主航行器需要充电时,由GPS和导引装置同时引导,将自主航行器引至相应位置,磁力锁紧机构进行固定,对自主航行器进行非接触式电能传输。
Description
技术领域
本发明属于自主航行器技术领域,特别涉及一种太阳能驱动锚系式自主航行器多功能对接站及对接方法。
背景技术
近年来,随着海洋环境、资源、地质引起了人们越来越多的关注,海底的观测在国防***中也越发重要,海洋的检测与发展成为了许多国家的重大战略之一;在此背景下,能够搭载多种探测器的水下自主航行器就越来越重要;但由于水下自主航行器腔体内电池所提供电能的限制,严重束缚了水下自主航行器的观测范围,因此设计一种合理可靠的用于接驳自主航行器的接驳平台也是研究重点之一。针对此类问题,国内水下接驳技术近年来逐步发展了起来;现有技术中,自主水下航行器通过喇叭口的导引可靠地停靠在接驳站中,实现与观测网的电能与信号传输。或在水下自主航行器回坞过程中可根据水下自主航行器的朝向改变自身喇叭口的朝向,因此可以极大的提高回坞成功率。纵观国内接驳***的设计,绝大部分都是将接驳平台固定于某一定点,这样大大限制了水下自主航行器的观测范围,定点接驳站通常重量大,在布放与海底固定时由于无法实时掌握水下情况,遇到突发情况由于其自身重量大也难以进行操作,故危险性极高。水面自主航行器同样也存在上述问题,无论是水面自主航行器(ASV)还是水下自主航行器(AUV),一般都采用电池供电,其续航能力受到电池容量的限制。
发明内容
有鉴于此,本发明提供了一种太阳能驱动锚系式自主航行器多功能对接站,包括主体支架、浮力部、推进器、ASV对接位、AUV对接站、电子舱、天线、太阳能板和缆绳,其中,
所述浮力部设置在主体支架的上部,所述太阳能板设置在浮力部的上表面,所述天线部设置在浮力部的上部;所述ASV对接位设置在浮力部处,在ASV对接位的上方设置视觉靶标,在ASV对接位的中心处设置ASV磁力锁紧机构,在ASV对接位的侧方设置ASV无线电能传输部;所述AUV对接站和电子舱均设置在主体支架的底面上,AUV对接站的上方设置声学信标和水下灯,AUV对接站的后方设置AUV电能传输线圈和AUV磁力锁紧机构;所述推进器设置两个,分别在主体支架的底部后侧两端;所述电子舱提供电路控制和电能;所述缆绳的一端与主体支架的底部连接,另一端与锚连接。
优选地,所述电子舱中设置锂电池、主控电路、AUV对接站控制电路、ASV对接位控制电路、姿态传感器、电机控制电路、GPS、铱星通信电路和WiFi通信电路,其中,主控电路与AUV对接站控制电路、ASV对接位控制电路、姿态传感器、电机控制电路、GPS、铱星通信电路和WiFi通信电路分别连接,电机控制电路还与AUV对接站控制电路和推进器连接,AUV对接站控制电路连接声学信标、水下灯、AUV电能传输线圈和AUV磁力锁紧机构,ASV对接位控制电路与ASV无线电能传输部和ASV磁力锁紧机构连接,GPS对本对接站定位,姿态传感器采集姿态信息,将位置和姿态信息通过铱星通信电路或WiFi通信电路传输给岸上的操控站以及待对接的自主机器人。
优选地,所述天线部包括GPS天线、铱星天线和WiFi天线。
优选地,所述ASV无线电能传输部包括非接触式电能传输耦合器。
优选地,所述AUV对接站为喇叭状。
基于上述目的,本发明还提供了一种上述对接站的对接方法,包括以下步骤:
S10,将太阳能驱动锚系式自主航行器多功能对接站布放在AUV和/或ASV的任务路线上,对接站通过太阳能板给锂电池充电,储存能量,对接站的状态信息通过铱星通信电路和铱星天线更新到岸上操控站;
S20,AUV和/或ASV通过GPS定位航行到对接站附近,运行对接程序;
S30,对接站接受到对接请求,开始准备进行对接,包括开启AUV磁力锁紧机构和/或ASV磁力锁紧机构、打开导引装置、利用推进器维持朝向;
S40,AUV和/或ASV通过声学信标或视觉靶标进入对接站并被AUV磁力锁紧机构和/或ASV磁力锁紧机构固定;
S50,对接站通过ASV无线电能传输部和/或AUV电能传输线圈为ASV和/或AUV充电,并通过WiFi通信电路收集数据;
S60,对接站将实时信息传输到操控站,并且接收操控站的控制命令;
S70,AUV和/或ASV完成充电,主控电路关闭AUV磁力锁紧机构和/或ASV磁力锁紧机构,AUV和/或ASV驶出对接站,继续驶向下一个对接站或者下一路径点;
S80,对接站通过太阳能板为锂电池补充电能,等待下一个航行器的对接请求。
与现有技术相比,本发明公开的太阳能驱动锚系式自主航行器多功能对接站及对接方法,至少具有以下有益效果:
1、本发明提出一种可以布置在自主航行器路线上的锚系式对接站,能够采集并储存太阳能,实现自身能源供给和能源储备;
2、同时适用于水面自主航行器(ASV)和水下自主航行器(AUV),通过非接触式电能传输的方式给ASV和AUV充电,从而无限提升自主航行器的续航能力;
3、整个对接站体积小巧、轻便,通过对推进器的控制,可实现对接站的转向和朝向保持;
4、对于ASV设置了视觉靶标,对于AUV设置了声学信标和水下灯,提供有效可靠的导引。
附图说明
为了使本发明的目的、技术方案和有益效果更加清楚,本发明提供如下附图进行说明:
图1为本发明实施例太阳能驱动锚系式自主航行器多功能对接站的结构示意图;
图2为本发明实施例太阳能驱动锚系式自主航行器多功能对接站的又一结构示意图;
图3为本发明实施例太阳能驱动锚系式自主航行器多功能对接站的电子舱电路原理图;
图4为本发明实施例太阳能驱动锚系式自主航行器多功能对接方法的步骤流程图。
具体实施方式
下面将结合附图,对本发明的优选实施例进行详细的描述。
对接站实施例参见图1-3,包括主体支架11、浮力部12、推进器13、ASV对接位21、AUV对接站31、电子舱36、天线、太阳能板42和缆绳43,其中,
浮力部12设置在主体支架11的上部,太阳能板42设置在浮力部12的上表面,天线部41设置在浮力部12的上部;ASV对接位21设置在浮力部12处,在ASV对接位21的上方设置视觉靶标24,在ASV对接位21的中心处设置ASV磁力锁紧机构22,在ASV对接位21的侧方设置ASV无线电能传输部23;AUV对接站31和电子舱36均设置在主体支架11的底面上,AUV对接站31的上方设置声学信标35和水下灯34,AUV对接站31的后方设置AUV电能传输线圈33和AUV磁力锁紧机构32;推进器13设置两个,分别在主体支架11的底部后侧两端;电子舱36提供电路控制和电能;缆绳43的一端与主体支架11的底部连接,另一端与锚连接。
参见图3,电子舱36中设置锂电池、主控电路61、AUV对接站控制电路64、ASV对接位控制电路63、姿态传感器65、电机控制电路62、GPS66、铱星通信电路67和WiFi通信电路68,其中,主控电路61与AUV对接站控制电路64、ASV对接位控制电路63、姿态传感器65、电机控制电路62、GPS66、铱星通信电路67和WiFi通信电路68分别连接,电机控制电路62还与AUV对接站控制电路64和推进器13连接,AUV对接站控制电路64连接声学信标35、水下灯34、AUV电能传输线圈33和AUV磁力锁紧机构32,ASV对接位控制电路63与ASV无线电能传输部23和ASV磁力锁紧机构22连接,GPS66对本对接站定位,姿态传感器65采集姿态信息,将位置和姿态信息通过铱星通信电路67或WiFi通信电路68传输给岸上的操控站以及待对接的自主机器人。天线部41包括GPS66天线、铱星天线和WiFi天线。
该对接站通过锚系座底,通过浮力部12漂浮在海面上,浮力部12的上表面布满太阳能板42,能够采集太阳能,并且储存在电子舱36的锂电池组中。浮力部12上还装有天线部41,里面有GPS66天线、铱星天线和WiFi天线。电子舱36采用防水设计,其中除了锂电池,还有主控电路61、AUV对接站控制电路64、ASV对接位控制电路63、接触式电能传输发射电路、姿态传感器65、电机控制电路62等,,对接站能够通过GPS66进行精确定位,并且将位置和姿态信息通过铱星通信电路67和铱星天线传输给岸上的操控站以及待对接的自主机器人。为了尽量减少对接过程中海况的影响,对接站还配备了两个推进器13,通过电子舱36中的电机控制电路62控制,能够实现对接站的转向和朝向保持。
ASV对接位21能够停靠ASV,其大小和数量均可根据实际情况定制。ASV对接位21上有视觉靶标24,用于导引ASV。此外,ASV对接位21上还有ASV磁力锁紧机构22,用于固定ASV。还有非接触式电能传输耦合器,可以给ASV进行无线充电。ASV的数据还可以通过WiFi通信电路68和WiFi天线传到对接站上。
AUV对接站31位于水面以下,适用于指定直径的AUV对接,其大小和数量均可根据实际情况定制。AUV对接站31由喇叭口和主体部分组成,喇叭口上装备有水下灯34、声学信标35等导引装置,AUV通过喇叭口的引导作用进入对接站。主体部分安装有AUV磁力锁紧机构32,用于固定AUV。当AUV进入对AUV对接站31后,其上安装的线圈和天线和AUV对接站31上设置的AUV电能传输线圈33和WiFi天线对齐,能够实现无线充电和高速WiFi通信。
对接方法实施例,参见图4,包括以下步骤:
S10,将太阳能驱动锚系式自主航行器多功能对接站布放在AUV和/或ASV的任务路线上,对接站通过太阳能板给锂电池充电,储存能量,对接站的状态信息通过铱星通信电路和铱星天线更新到岸上操控站;
S20,AUV和/或ASV通过GPS定位航行到对接站附近,运行对接程序;
S30,对接站接受到对接请求,开始准备进行对接,包括开启AUV磁力锁紧机构和/或ASV磁力锁紧机构、打开导引装置、利用推进器维持朝向;
S40,AUV和/或ASV通过声学信标或视觉靶标进入对接站并被AUV磁力锁紧机构和/或ASV磁力锁紧机构固定;
S50,对接站通过ASV无线电能传输部和/或AUV电能传输线圈为ASV和/或AUV充电,并通过WiFi通信电路收集数据;
S60,对接站将实时信息传输到操控站,并且接收操控站的控制命令;
S70,AUV和/或ASV完成充电,主控电路关闭AUV磁力锁紧机构和/或ASV磁力锁紧机构,AUV和/或ASV驶出对接站,继续驶向下一个对接站或者下一路径点;
S80,对接站通过太阳能板为锂电池补充电能,等待下一个航行器的对接请求。
方法实施例参见对接站实施例,不再赘述。
以上仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。
Claims (6)
1.一种太阳能驱动锚系式自主航行器多功能对接站,其特征在于,包括主体支架、浮力部、推进器、ASV对接位、AUV对接站、电子舱、天线、太阳能板和缆绳,其中,
所述浮力部设置在主体支架的上部,所述太阳能板设置在浮力部的上表面,所述天线部设置在浮力部的上部;所述ASV对接位设置在浮力部处,在ASV对接位的上方设置视觉靶标,在ASV对接位的中心处设置ASV磁力锁紧机构,在ASV对接位的侧方设置ASV无线电能传输部;所述AUV对接站和电子舱均设置在主体支架的底面上,AUV对接站的上方设置声学信标和水下灯,AUV对接站的后方设置AUV电能传输线圈和AUV磁力锁紧机构;所述推进器设置两个,分别在主体支架的底部后侧两端;所述电子舱提供电路控制和电能;所述缆绳的一端与主体支架的底部连接,另一端与锚连接。
2.根据权利要求1所述的对接站,其特征在于,所述电子舱中设置锂电池、主控电路、AUV对接站控制电路、ASV对接位控制电路、姿态传感器、电机控制电路、GPS、铱星通信电路和WiFi通信电路,其中,主控电路与AUV对接站控制电路、ASV对接位控制电路、姿态传感器、电机控制电路、GPS、铱星通信电路和WiFi通信电路分别连接,电机控制电路还与AUV对接站控制电路和推进器连接,AUV对接站控制电路连接声学信标、水下灯、AUV电能传输线圈和AUV磁力锁紧机构,ASV对接位控制电路与ASV无线电能传输部和ASV磁力锁紧机构连接,GPS对本对接站定位,姿态传感器采集姿态信息,将位置和姿态信息通过铱星通信电路或WiFi通信电路传输给岸上的操控站以及待对接的自主机器人。
3.根据权利要求1所述的对接站,其特征在于,所述天线部包括GPS天线、铱星天线和WiFi天线。
4.根据权利要求1所述的对接站,其特征在于,所述ASV无线电能传输部包括非接触式电能传输耦合器。
5.根据权利要求1所述的对接站,其特征在于,所述AUV对接站为喇叭状。
6.一种权利要求1-5之一所述对接站的对接方法,其特征在于,包括以下步骤:
S10,将太阳能驱动锚系式自主航行器多功能对接站布放在AUV和/或ASV的任务路线上,对接站通过太阳能板给锂电池充电,储存能量,对接站的状态信息通过铱星通信电路和铱星天线更新到岸上操控站;
S20,AUV和/或ASV通过GPS定位航行到对接站附近,运行对接程序;
S30,对接站接受到对接请求,开始准备进行对接,包括开启AUV磁力锁紧机构和/或ASV磁力锁紧机构、打开导引装置、利用推进器维持朝向;
S40,AUV和/或ASV通过声学信标或视觉靶标进入对接站并被AUV磁力锁紧机构和/或ASV磁力锁紧机构固定;
S50,对接站通过ASV无线电能传输部和/或AUV电能传输线圈为ASV和/或AUV充电,并通过WiFi通信电路收集数据;
S60,对接站将实时信息传输到操控站,并且接收操控站的控制命令;
S70,AUV和/或ASV完成充电,主控电路关闭AUV磁力锁紧机构和/或ASV磁力锁紧机构,AUV和/或ASV驶出对接站,继续驶向下一个对接站或者下一路径点;
S80,对接站通过太阳能板为锂电池补充电能,等待下一个航行器的对接请求。
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