CN112688411A - 50 meters of high-power supply mooring system under water of unmanned aerial vehicle - Google Patents
50 meters of high-power supply mooring system under water of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a mooring system for 50-meter underwater high-power supply of an unmanned aerial vehicle, relates to a mooring system, and belongs to the technical field of 50-meter underwater high-power supply of the unmanned aerial vehicle; the underwater unmanned aerial vehicle comprises an underwater unmanned aerial vehicle body, a controller, an information acquisition module, an information processing module, a power supply switching module, a ground power supply module, a standby power supply module and an information storage module; the underwater unmanned aerial vehicle comprises an underwater unmanned aerial vehicle body, a power supply switching module, an information acquisition module and an information processing module, wherein the power supply switching module is used for controlling the underwater unmanned aerial vehicle body to switch between ground power supply and a standby power supply; when the ground main power supply system fails, switching to a standby power supply for supplying power, and temporarily maintaining the power of the unmanned aerial vehicle; and if the ground main power supply is recovered to be normal, the ground main power supply is switched back to supply power.
Description
Technical Field
The invention relates to a mooring system, in particular to an unmanned aerial vehicle 50-meter underwater high-power supply mooring system, and belongs to the technical field of 50-meter underwater high-power supply of unmanned aerial vehicles.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.
Mooring unmanned aerial vehicle passes through the power supply unit on wire connection ground to realize that unmanned aerial vehicle leaves the sky for a long time. In order to prevent that power supply failure from causing unmanned aerial vehicle to lose power and danger appears, set up stand-by power supply inside unmanned aerial vehicle usually. When the ground main power supply system breaks down, the power supply is switched to a standby power supply, and the power of the unmanned aerial vehicle is maintained temporarily. If the ground main power supply is recovered to be normal, the ground main power supply needs to be switched back again.
In order to solve the above technical problems, the present invention provides the following technical solutions.
Disclosure of Invention
The invention aims to provide an underwater 50-meter high-power supply mooring system for an unmanned aerial vehicle, and in order to prevent the unmanned aerial vehicle from losing power and causing danger due to power supply faults, a standby power supply is usually arranged in the unmanned aerial vehicle. When the ground main power supply system breaks down, the power supply is switched to a standby power supply, and the power of the unmanned aerial vehicle is maintained temporarily. And if the ground main power supply is recovered to be normal, the ground main power supply is switched back to supply power.
The purpose of the invention can be realized by the following technical scheme:
an unmanned aerial vehicle underwater 50-meter high-power supply mooring system comprises an underwater unmanned aerial vehicle body, a controller, an information acquisition module, an information processing module, a power supply switching module, a ground power supply module, a standby power supply module and an information storage module; the power supply switching module is used for controlling the underwater unmanned aerial vehicle body to switch between ground power supply and a standby power supply, the information acquisition module is used for acquiring parameter information of the ground power supply module and sending the parameter information to the information processing module to judge whether to switch the power supply, and the specific process of maintaining the underwater unmanned aerial vehicle body for uninterrupted power supply comprises the following steps:
the ground power supply module is connected with the underwater unmanned aerial vehicle body through a lead and a lead winding and unwinding device; when the underwater unmanned aerial vehicle enters water, the wire winding and unwinding device maintains the continuous power supply of the ground power supply module to the underwater unmanned aerial vehicle through continuous loosening of wires;
the power supply switching module is used for executing power supply switching between the ground power supply module and the standby power supply module, and the specific switching process comprises the following steps:
the power supply switching module sets a priority, the ground power supply module is of a first priority, and the standby power supply module is of a second priority;
when the controller controls the underwater unmanned aerial vehicle to launch, the ground power supply module supplies power by adopting a first priority, and sends an acquisition instruction to the information acquisition module to acquire information of the ground power supply module;
when the voltage deviation Pc calculated by the information processing module is less than or equal to a preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to supply power;
when the voltage deviation Pc calculated by the information processing module is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to carry out power supply switching on the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module;
when the calculated voltage deviation Pc after secondary acquisition is smaller than or equal to the preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to be switched to supply power.
As a further scheme of the present invention, the information processing module is configured to perform information processing on the data acquired by the data acquisition module, and the specific information processing process is as follows:
the method comprises the steps that the number of sampling points of a ground power supply module in one period is obtained through an information acquisition module, sampling values of the sampling points are obtained, and the number of the sampling points in one period and the sampling values of the sampling points are sent to an information processing module;
after receiving the number of sampling points in one period and the sampling values at the sampling points, the information processing module marks the sampling points as n and Ui respectively;
calculating an actual value Ums of the voltage by using a calculation formula; is calculated by the formula
Wherein alpha is a fixed value of a preset proportionality coefficient;
calculating a voltage deviation Pc by using a calculation formula; formula for calculation
Where U0 represents the nominal voltage;
when the voltage deviation Pc is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to switch the power supply of the ground power supply module and the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module.
As a further scheme of the present invention, the wire winding and unwinding device is used for controlling winding and unwinding of a wire, and the specific winding and unwinding includes the following:
the wire winding and unwinding device is electrically connected with the controller, a tension sensor is arranged in the wire winding and unwinding device, the tension sensor is used for detecting tension of a wire, the controller is provided with a tension threshold range, when the tension of the wire detected by the tension sensor is larger than the tension threshold range, the controller controls the wire winding and unwinding device to loosen the wire, when the tension of the wire detected by the tension sensor is smaller than the tension threshold range, the controller controls the wire winding and unwinding device to contract the wire, and when the tension of the wire detected by the tension sensor is within the tension threshold range, the controller controls the wire winding and unwinding device not to act.
As a further scheme of the present invention, the information storage module is configured to store a wire tension detected by the tension sensor, a number of sampling points of the ground power supply module collected by the information collection module in one period, a sampling value at the sampling point, and a calculated voltage deviation Pc.
Compared with the prior art, the invention has the beneficial effects that:
1. the power supply switching module sets a priority, the ground power supply module is of a first priority, and the standby power supply module is of a second priority; when the controller controls the underwater unmanned aerial vehicle to launch, the ground power supply module supplies power by adopting a first priority, and sends an acquisition instruction to the information acquisition module to acquire information of the ground power supply module; when the voltage deviation Pc calculated by the information processing module is less than or equal to a preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to supply power; when the voltage deviation Pc calculated by the information processing module is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to carry out power supply switching on the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module; when the calculated voltage deviation Pc after secondary acquisition is smaller than or equal to the preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to be switched to supply power.
2. The method comprises the steps that the number of sampling points of a ground power supply module in one period is obtained through an information acquisition module, sampling values of the sampling points are obtained, and the number of the sampling points in one period and the sampling values of the sampling points are sent to an information processing module; after receiving the number of sampling points in one period and the sampling values at the sampling points, the information processing module marks the sampling points as n and Ui respectively; calculating an actual value Ums of the voltage by using a calculation formula; is calculated by the formula
Calculating a voltage deviation Pc by using a calculation formula; formula for calculation
Where U0 represents the nominal voltage; when the voltage deviation Pc is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to switch the power supply of the ground power supply module and the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module.
3. The controller controls the wire winding and unwinding device to perform wire loosening and unwinding when the wire tension detected by the tension sensor is smaller than the tension threshold range, and controls the wire winding and unwinding device to perform wire contraction when the wire tension detected by the tension sensor is within the tension threshold range.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an underwater 50-meter high-power supply mooring system for an unmanned aerial vehicle comprises an underwater unmanned aerial vehicle body, a controller, an information acquisition module, an information processing module, a power supply switching module, a ground power supply module, a standby power supply module and an information storage module; the power supply switching module is used for controlling the underwater unmanned aerial vehicle body to switch between ground power supply and a standby power supply, the information acquisition module is used for acquiring parameter information of the ground power supply module and sending the parameter information to the information processing module to judge whether to switch the power supply, and the specific process of maintaining the underwater unmanned aerial vehicle body for uninterrupted power supply comprises the following steps:
the ground power supply module is connected with the underwater unmanned aerial vehicle body through a lead and a lead winding and unwinding device; when the underwater unmanned aerial vehicle enters water, the wire winding and unwinding device maintains the continuous power supply of the ground power supply module to the underwater unmanned aerial vehicle through continuous loosening of wires;
the power supply switching module is used for executing power supply switching between the ground power supply module and the standby power supply module, and the specific switching process comprises the following steps:
the power supply switching module sets a priority, the ground power supply module is of a first priority, and the standby power supply module is of a second priority;
when the controller controls the underwater unmanned aerial vehicle to launch, the ground power supply module supplies power by adopting a first priority, and sends an acquisition instruction to the information acquisition module to acquire information of the ground power supply module;
when the voltage deviation Pc calculated by the information processing module is less than or equal to a preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to supply power;
when the voltage deviation Pc calculated by the information processing module is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to carry out power supply switching on the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module;
when the calculated voltage deviation Pc after secondary acquisition is smaller than or equal to the preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to be switched to supply power.
The information processing module is used for processing the data acquired by the data acquisition module, and the specific information processing process is as follows:
the method comprises the steps that the number of sampling points of a ground power supply module in one period is obtained through an information acquisition module, sampling values of the sampling points are obtained, and the number of the sampling points in one period and the sampling values of the sampling points are sent to an information processing module;
after receiving the number of sampling points in one period and the sampling values at the sampling points, the information processing module marks the sampling points as n and Ui respectively;
calculating an actual value Ums of the voltage by using a calculation formula; is calculated by the formula
Wherein alpha is a fixed value of a preset proportionality coefficient;
calculating a voltage deviation Pc by using a calculation formula; formula for calculation
Where U0 represents the nominal voltage;
when the voltage deviation Pc is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to switch the power supply of the ground power supply module and the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module.
The wire winding and unwinding device is used for controlling winding and unwinding of a wire, and the specific winding and unwinding comprises the following steps:
the wire winding and unwinding device is electrically connected with the controller, a tension sensor is arranged in the wire winding and unwinding device, the tension sensor is used for detecting tension of a wire, the controller is provided with a tension threshold range, when the tension of the wire detected by the tension sensor is larger than the tension threshold range, the controller controls the wire winding and unwinding device to loosen the wire, when the tension of the wire detected by the tension sensor is smaller than the tension threshold range, the controller controls the wire winding and unwinding device to contract the wire, and when the tension of the wire detected by the tension sensor is within the tension threshold range, the controller controls the wire winding and unwinding device not to act.
The information storage module is used for storing the wire tension detected by the tension sensor, the number of sampling points of the ground power supply module collected by the information collection module in one period, the sampling value of the sampling point and the calculated voltage deviation Pc.
The above formulas are all calculated by taking the numerical value of the dimension, the formula is a formula which obtains the latest real situation by acquiring a large amount of data and performing software simulation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The working principle of the invention is as follows: the method comprises the steps that the number of sampling points of a ground power supply module in one period is obtained through an information acquisition module, sampling values of the sampling points are obtained, and the number of the sampling points in one period and the sampling values of the sampling points are sent to an information processing module; after receiving the number of sampling points in one period and the sampling values at the sampling points, the information processing module marks the sampling points as n and Ui respectively; calculating an actual value Ums of the voltage by using a calculation formula; is calculated by the formula
Calculating a voltage deviation Pc by using a calculation formula; formula for calculation
Where U0 represents the nominal voltage; when the voltage deviation Pc is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to switch the power supply of the ground power supply module and the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module.
The power supply switching module sets a priority, the ground power supply module is of a first priority, and the standby power supply module is of a second priority; when the controller controls the underwater unmanned aerial vehicle to launch, the ground power supply module supplies power by adopting a first priority, and sends an acquisition instruction to the information acquisition module to acquire information of the ground power supply module; when the voltage deviation Pc calculated by the information processing module is less than or equal to a preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to supply power; when the voltage deviation Pc calculated by the information processing module is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to carry out power supply switching on the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module; when the calculated voltage deviation Pc after secondary acquisition is smaller than or equal to the preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to be switched to supply power.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. An unmanned aerial vehicle underwater 50-meter high-power supply mooring system is characterized by comprising an underwater unmanned aerial vehicle body, a controller, an information acquisition module, an information processing module, a power supply switching module, a ground power supply module, a standby power supply module and an information storage module; the power supply switching module is used for controlling the underwater unmanned aerial vehicle body to switch between ground power supply and a standby power supply, the information acquisition module is used for acquiring parameter information of the ground power supply module and sending the parameter information to the information processing module to judge whether to switch the power supply, and the specific process of maintaining the underwater unmanned aerial vehicle body for uninterrupted power supply comprises the following steps:
the ground power supply module is connected with the underwater unmanned aerial vehicle body through a lead and a lead winding and unwinding device; when the underwater unmanned aerial vehicle enters water, the wire winding and unwinding device maintains the continuous power supply of the ground power supply module to the underwater unmanned aerial vehicle through continuous loosening of wires;
the power supply switching module is used for executing power supply switching between the ground power supply module and the standby power supply module, and the specific switching process comprises the following steps:
the power supply switching module sets a priority, the ground power supply module is of a first priority, and the standby power supply module is of a second priority;
when the controller controls the underwater unmanned aerial vehicle to launch, the ground power supply module supplies power by adopting a first priority, and sends an acquisition instruction to the information acquisition module to acquire information of the ground power supply module;
when the voltage deviation Pc calculated by the information processing module is less than or equal to a preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to supply power;
when the voltage deviation Pc calculated by the information processing module is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to carry out power supply switching on the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module;
when the calculated voltage deviation Pc after secondary acquisition is smaller than or equal to the preset voltage deviation threshold value, the information processing module sends a voltage normal instruction to the controller, and the controller controls the ground power supply module to be switched to supply power.
2. The underwater 50-meter high-power supply mooring system for the unmanned aerial vehicle as claimed in claim 1, characterized in that: the information processing module is used for processing the data acquired by the data acquisition module, and the specific information processing process is as follows:
the method comprises the steps that the number of sampling points of a ground power supply module in one period is obtained through an information acquisition module, sampling values of the sampling points are obtained, and the number of the sampling points in one period and the sampling values of the sampling points are sent to an information processing module;
after receiving the number of sampling points in one period and the sampling values at the sampling points, the information processing module marks the sampling points as n and Ui respectively;
calculating an actual value Ums of the voltage by using a calculation formula; is calculated by the formula
Wherein alpha is a fixed value of a preset proportionality coefficient;
calculating a voltage deviation Pc by using a calculation formula; formula for calculation
Where U0 represents the nominal voltage;
when the voltage deviation Pc is larger than a preset voltage deviation threshold value, the information processing module sends a voltage deviation instruction to the controller, and the controller sends a switching instruction to the power supply switching module to control the underwater unmanned aerial vehicle to switch the power supply of the ground power supply module and the standby power supply module; the controller simultaneously sends an acquisition instruction to the information acquisition module to perform secondary acquisition of the ground power supply module.
3. The underwater 50-meter high-power supply mooring system for the unmanned aerial vehicle as claimed in claim 1, characterized in that: the wire winding and unwinding device is used for controlling winding and unwinding of a wire, and the specific winding and unwinding comprises the following steps:
the wire winding and unwinding device is electrically connected with the controller, a tension sensor is arranged in the wire winding and unwinding device, the tension sensor is used for detecting tension of a wire, the controller is provided with a tension threshold range, when the tension of the wire detected by the tension sensor is larger than the tension threshold range, the controller controls the wire winding and unwinding device to loosen the wire, when the tension of the wire detected by the tension sensor is smaller than the tension threshold range, the controller controls the wire winding and unwinding device to contract the wire, and when the tension of the wire detected by the tension sensor is within the tension threshold range, the controller controls the wire winding and unwinding device not to act.
4. The underwater 50-meter high-power supply mooring system for the unmanned aerial vehicle as claimed in claim 1, characterized in that: the information storage module is used for storing the wire tension detected by the tension sensor, the number of sampling points of the ground power supply module collected by the information collection module in one period, the sampling value of the sampling point and the calculated voltage deviation Pc.
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