CN114954864A - Portable UUV - Google Patents
Portable UUV Download PDFInfo
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- CN114954864A CN114954864A CN202111392493.4A CN202111392493A CN114954864A CN 114954864 A CN114954864 A CN 114954864A CN 202111392493 A CN202111392493 A CN 202111392493A CN 114954864 A CN114954864 A CN 114954864A
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- 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
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- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- 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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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a portable UUV, and relates to the technical field of underwater unmanned underwater vehicles. The method comprises the following steps: sectional type cabin and the load platform of setting in sectional type cabin, the sectional type cabin includes: preceding cabin section, well cabin section and the back cabin section that connects gradually adopt the connection hoop to connect between the adjacent cabin section, and load platform includes: aircraft information platform, communication load, control and navigation load, power load and function expansion load. The invention realizes the miniaturization and multifunctional integration of the UUV and solves the problems that the existing portable UUV is difficult to have small available space and more functional loads.
Description
Technical Field
The invention relates to the technical field of underwater unmanned underwater vehicles, in particular to a portable UUV.
Background
As an Unmanned machine which can navigate underwater in a remote control mode or an automatic control mode, the portable UUV (Unmanned underwater vehicle) can replace a diver or a manned underwater vehicle to complete tasks such as ocean exploration, rescue, underwater high-risk operation and the like.
However, in order to realize the portable characteristic of the UUV, the structural design space is limited, and under the condition that the size and weight are both strongly limited, it is difficult to realize the complete navigation function and carry various underwater detection devices, and if the load is small, the detection function is limited, and if the load is large, the portability is poor.
Disclosure of Invention
The invention provides a portable UUV, which aims to solve the problems that the portable UUV in the prior art has limited structural design space and can not realize complete navigation function and has portability and multifunctional integration.
In order to solve the technical problems, the invention adopts the following technical scheme:
a portable UUV, comprising: a segmented nacelle and a load platform disposed within the segmented nacelle, the segmented nacelle comprising: preceding cabin section, well cabin section and the back cabin section that connects gradually adopt the connection hoop to connect between the adjacent cabin section, load platform includes: aircraft information platform, communication load, control and navigation load, power load and function extension load, wherein:
the aircraft information platform is used for sharing load resources of various loads, and comprises the following components: the system comprises a first Ethernet switching and interface conversion circuit, a first platform controller, a lithium battery pack and a manager, which are arranged on the front cabin section, and a second Ethernet switching and interface conversion circuit, a second platform controller and a photoelectric conversion device, which are arranged on the rear cabin section; the communication payload is used for communicating with an external device, and comprises: the underwater acoustic communication module is arranged on the front cabin section, the optical fiber is arranged on the middle cabin section, and the picture transmission station and the data transmission station are arranged on the rear cabin section; the control and navigation payload is used to navigate the portable UUV, including: the micro-electromechanical gyroscope, the Doppler log and the Beidou module are arranged on the front cabin section, the depth sensor is arranged on the middle cabin section, and the steering engine is arranged on the rear cabin section; the power load is arranged on the rear cabin section and used for providing power for the portable UUV; the function expansion load is arranged on the front cabin section and used for carrying a function module;
the first Ethernet exchange and interface conversion circuit is respectively connected with the first platform controller, the second Ethernet exchange and interface conversion circuit, the underwater acoustic communication module, the micro-electromechanical gyroscope, the Doppler log, the Beidou module and the function extension load, the first platform controller is respectively connected with the lithium battery pack and manager, the second platform controller and the function extension load, the second Ethernet exchange and interface conversion circuit is respectively connected with the photoelectric conversion device, the second platform controller, the image transmission radio station, the data transmission radio station, the depth sensor and the power load, the second platform controller is connected with the steering engine, and the photoelectric conversion device is connected with the optical fiber.
On the basis, the invention can be improved as follows:
the first ethernet switching and interface converting circuit includes: first DSP controller, first ethernet switch chip, first external memory, first power and management chip, first ethernet transformer and interface, first optical transceiver module and interface and first external transceiver circuit, wherein: the first DSP controller is respectively connected to the first ethernet switch chip, the first external memory, the first power and management chip, the first ethernet transformer and interface, and the first external transceiver circuit, and the first ethernet switch chip is respectively connected to the first power and management chip, the first ethernet transformer and interface, and the first optical transceiver module and interface;
the second ethernet switching and interface converting circuit includes: second DSP controller, second ethernet switch chip, second external memory, second power and management chip, second ethernet transformer and interface, second optical transceiver module and interface and the external circuit of receiving and dispatching of second, wherein: the second DSP controller is respectively connected to the second ethernet switch chip, the second external memory, the second power and management chip, the second ethernet transformer and interface, and the second external transceiver circuit, and the second ethernet switch chip is respectively connected to the second power and management chip, the second ethernet transformer and interface, and the second optical transceiver module and interface;
the first Ethernet transformer and the interface are respectively connected with the second Ethernet transformer and the interface and the first platform controller, the second Ethernet transformer and the interface are connected with the second platform controller, the first external transceiver circuit is respectively connected with the underwater acoustic communication module, the micro-electromechanical gyroscope, the Doppler log, the Beidou module and the function extension load, and the second external transceiver circuit is respectively connected with the photoelectric conversion device, the image radio station, the data radio station, the depth sensor and the power load.
On the basis, the invention can be improved as follows:
the first platform controller includes: first ARM master control circuit, first ethernet interface, first switch array, first direct current voltage converter and first power supply control and drive interface, wherein: the first ARM main control circuit is respectively connected with the first Ethernet interface and the first switch array, and the first switch array is respectively connected with the first direct-current voltage converter and the first power supply control and drive interface;
the second platform controller includes: second ARM master control circuit, second ethernet interface, second switch array, second direct current voltage converter and second power supply control and drive interface, wherein: the second ARM main control circuit is respectively connected with the second Ethernet interface and the second switch array, and the second switch array is respectively connected with the second direct-current voltage converter and the second power supply control and drive interface;
first ethernet interface respectively with first ethernet transformer and interface with second ethernet interface connection, first power supply control and drive interface with function extension load is connected, first ARM main control circuit first switch array with first direct current voltage converter respectively with lithium cell group and manager are connected, second ethernet interface with second ethernet transformer and interface connection, second power supply control and drive interface with the steering wheel is connected, second ARM main control circuit second switch array with second direct current voltage converter respectively with lithium cell group and manager are connected.
On the basis, the invention can be improved as follows:
the dynamic load includes: the motor driver is respectively connected with the second external power receiving and generating circuit and the propulsion motor.
On the basis, the invention can be improved as follows:
the function expansion payload includes: the underwater vehicle comprises an underwater camera, a collision-prevention sonar, a side-scan sonar and an underwater illuminating lamp, wherein the underwater camera, the collision-prevention sonar and the side-scan sonar are respectively connected with the first external receiving and transmitting circuit, and the underwater illuminating lamp is connected with the first power supply control and driving interface.
The portable UUV provided by the invention realizes the miniaturization and multifunctional integration of the UUV, internal circuit modules are distributed and arranged on the front cabin section, the middle cabin section and the rear cabin section through a sectional design, the outsides of the cabins are connected through the connecting hoop, and the insides of the cabins are connected through the quick-assembly plug, so that the task loads can be flexibly carried, different task loads can be carried on the same navigation platform, the portable UUV has the characteristic of high space utilization rate of circuit space layout, the functional loads and the information platform are electrically and spatially decoupled, the information topology is quickly constructed by using the Ethernet, and the problem that the conventional portable UUV is difficult to simultaneously have small available space and more functional loads is solved.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic diagram of an internal structural framework of a portable UUV according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an external structure of a portable UUV according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an entity of an aircraft information platform according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a frame of an ethernet switching and interface converting circuit according to another embodiment of the present invention;
fig. 5 is a schematic diagram of a structural framework of a platform controller according to another 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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
The portable UUV provided by the invention can adopt a sectional layout design, the structural connection among the large sections adopts the connecting hoop, the connecting hoop has the characteristics of reliable connection and convenience in disassembly and assembly, the electrical butt joint adopts the quick-assembling plug, the automatic butt joint is realized during section closing, and the manual butt joint operation error is avoided. The section controller is arranged in each section, the section controller integrates a butt joint plug, power supply and information interaction of all electronic components in the section are managed in a centralized mode, each section of circuit and information only have one standardized external interface due to the design of the section controller, and standardized electrical interfaces are provided for all functional sections. The inter-segment standard interface design is one of effective measures for realizing the expansibility of the functional segments and is also the main embodiment of the modularized design of the aircraft platform.
Based on the technical scheme, on the basis of the original design mode of 'information platform + task load', the mechanical structure of the navigation platform and the electrical integration design of the information platform are mainly integrated, and the miniaturized multifunctional integrated design of the portable UUV is realized, which is further explained below.
As shown in fig. 2, an exemplary external structural diagram of a portable UUV is provided, the UUV body has a shape of a gyroid line, the total length can be 1700mm, the diameter of the UUV body can be 196mm, and the dry state total weight is about 43 k. The overall structure layout is based on an open system framework, the module design is carried out by taking sections as basic functional units, the sections are connected by adopting a segmented butt joint structure, and the sections are connected by adopting bolts and an O-shaped sealing ring radial sealing structure. The main body is divided into a front cabin section, a middle cabin section and a rear cabin section. A front cabin section is internally designed with a circuit for carrying an aircraft information platform, a main control and navigation load, a detection load and a part of communication load; the middle cabin section is a dry-wet cabin mixed structure and is designed with a carrying optical fiber, a pay-off device, a wet sensor and the like; and a circuit of an aircraft information platform, a communication load and a power load are designed and carried in the rear cabin section.
The cabin shell 1 is connected with each other through a screw and an O-shaped sealing ring radial sealing structure in a functional segmentation mode to form a portable UUV main body, sealing interfaces are designed outside the cabin shell 1 according to load characteristics and use requirements in different cabin segments, various load plug-in components can be integrated, a Beidou antenna 2, a Doppler log 10 and a hydroacoustic communication transducer 9 are integrated in the front cabin segment, an optical fiber guide pipe 7 and a detection sonar transducer 8 are integrated in the middle cabin segment, an integrated antenna and an indicator lamp 4, a full-motion rudder 5 and a propeller 6 are arranged in the rear cabin segment, and a mounting handle 3 is designed on the outer side of the front cabin segment and the outer side of the rear cabin segment.
The basic external dimensions of the cabin shell 1 are 196mm in external diameter and 3mm in average cabin wall thickness, so that the UUV cabin body has a better fluid resistance external shape and ensures necessary hydraulic pressure resistance. The Beidou antenna 2 adopts a fin-shaped sealed cavity as a pressure-bearing shell, the antenna body and the shell are integrally molded by glue pouring, and the joint of the antenna body and the shell 1 is provided with a threading hole. The Doppler log 10 is of a step cylindrical structure and is connected with the cabin shell 1 in a radial sealing mode through an O-shaped sealing ring. The underwater acoustic communication transducer 9 and the detection sonar transducer 8 are of rubber-encapsulated ceramic pressure-resistant structures, and are connected with the cabin shell 1 through vibration isolation gaskets, so that the influence of mechanical vibration generated by the motion of an aircraft on the transducer for receiving and transmitting signals is reduced. The integrated antenna and the indicator light 4 are of cylindrical structures, and are respectively made of glass fiber reinforced plastic and light-transmitting acrylic materials to serve as pressure-bearing shells, so that the attenuation of the shells to electromagnetic waves and light waves is reduced, and the integrated antenna and the indicator light are connected with the cabin shell 1 through the sealed switching base. The inner part of the optical fiber conduit 7 can be led out to one side of the propeller 6 from the side wall of the wet cabin through a zero-buoyancy optical fiber, and the optical fiber is guided by the conduit to be automatically released in the UUV navigation process. The full-motion rudder 5 is in an X-shaped layout, the propeller 6 adopts a 5-blade single-rotation structure, and the propelling force and the deflection moment required by the UUV navigation are provided through linkage control. The lifting handle 3 is arranged at the front and rear cabin sections at the top of the UUV, so that the UUV is convenient to manually carry, lay and recover.
The UUV internal circuit adopts an 'information platform + task load' design mode, an aircraft information platform circuit is used as a core, a communication interface isolation and conversion circuit and a standard Ethernet network are established, power supply electrical connection among functional loads of the UUV is provided, a frame structure is adopted to integrate the platform information circuit, the number of internal cables is simplified to the maximum extent by a connection mode of a laminated plate and a vertical bottom plate, the circuit space layout is optimized, the functional loads and the information platform are decoupled electrically and spatially, the information topology is quickly established by using the Ethernet, and the problems that the available space is small and the functional loads are large in quantity in the conventional portable UUV are solved.
The internal circuit structure of the UUV will be described with reference to fig. 1.
As shown in fig. 1, a schematic diagram of an internal structural framework of a portable UUV provided in an embodiment of the present invention is shown, where the portable UUV includes: sectional type cabin and the load platform of setting in sectional type cabin, the sectional type cabin includes: preceding cabin section, well cabin section and the back cabin section that connects gradually adopt the connection hoop to connect between the adjacent cabin section, and load platform includes: aircraft information platform 11, communication load 12, control and navigation load 13, power load 14 and functional extension load 15, wherein:
the aircraft information platform 11 is used for sharing the load resources of each load, and comprises: the system comprises a first Ethernet switching and interface conversion circuit 11a and a first platform controller 11e which are arranged on a front cabin section, a lithium battery pack and manager 11f which are arranged on a middle cabin section, and a second Ethernet switching and interface conversion circuit 11b, a second platform controller 11d and a photoelectric conversion device 11e which are arranged on a rear cabin section; the communication payload 12 is for communicating with external devices, and includes: the underwater acoustic communication module 12a is arranged at the front cabin section, the optical fiber 12b is arranged at the middle cabin section, and the picture radio station 12c and the data radio station 12d are arranged at the rear cabin section; control and navigation payload 13 is used to navigate a portable UUV, including: the system comprises a micro-electromechanical gyroscope 13a, a Doppler log 13b and a Beidou module 13c which are arranged on a front cabin section, a depth sensor 13d arranged on a middle cabin section and a steering engine 13e arranged on a rear cabin section; a power load 14 is arranged at the rear cabin section and used for providing power for the portable UUV; the function expansion load 15 is arranged on the front cabin section and used for carrying a function module;
the first Ethernet exchange and interface conversion circuit 11a is respectively connected with a first platform controller 11e, a second Ethernet exchange and interface conversion circuit 11b, an underwater acoustic communication module 12a, a micro-electromechanical gyroscope 13a, a Doppler log 13b, a Beidou module 13c and a function extension load 15, the first platform controller 11e is respectively connected with a lithium battery pack and manager 11f, a second platform controller 11d and the function extension load 15, the second Ethernet exchange and interface conversion circuit 11b is respectively connected with a photoelectric conversion device 11e, a second platform controller 11d, a picture transmission radio station 12c, a data transmission radio station 12d, a depth sensor 13d and a power load 14, the second platform controller 11d is connected with a steering engine 13e, and the photoelectric conversion device 11e is connected with an optical fiber 12 b.
It should be noted that the first ethernet switching and interface converting circuit 11a, the second ethernet switching and interface converting circuit 11b, the first platform controller 11e, and the second platform controller 11d are respectively designed and arranged in the front cabin section and the rear cabin section, and the functional load carried by the aircraft is accessed to the information platform by integrating ethernet, serial ports, a CAN bus, and the interface resources of the optical fiber 12 b. The first Ethernet exchange and interface conversion circuit 11a and the second Ethernet exchange and interface conversion circuit 11b are connected with each other through an Ethernet bridge middle cabin section to communicate a UUV internal information interaction link, the first platform controller 11e and the second platform controller 11d run high-level software with an operating system to abstract a communication load 12, a control and navigation load 13, a power load 14 and a function expansion load 15 into network nodes, load resources can be shared in the aircraft information platform 11, remote access of an operator is supported, and global access of the UUV internal resources is achieved. The lithium battery pack and the manager 11f are controlled by the platform controller, and the lithium battery pack transmits electric energy to the front cabin and the rear cabin through the circuits of the first platform controller 11e and the second platform controller 11d to provide energy for loads.
It should be understood that the underwater acoustic communication module 12a, the optical fiber 12b, the image transmission station 12c and the power transmission station 12d contained in the communication load 12, the underwater camera, the collision avoidance sonar, the side scan sonar and the underwater lighting device contained in the function expansion load 15 and the corresponding structural design are preferred examples of the present embodiment according to the application requirements of the project, and are only described herein by way of illustration, and the specific implementation is not limited to the use of the above-mentioned load components.
The control and navigation load 13 comprises a micro-electromechanical gyroscope 13a, a Doppler log 13b, a Beidou module 13c, a depth sensor 13d and a steering engine 13e, a motor driver and a propulsion motor which are contained in a power load 14 are respectively designed in front, middle and rear cabin sections according to electromagnetic compatibility requirements and functional characteristic requirements, load components are distributed in the optimal spatial position, the minimum functional interference of each component is ensured, the integration of physical characteristics is realized by accessing an aircraft information platform 11 nearby, and the optimal performance combination is achieved.
As shown in fig. 3, an entity structural schematic diagram of an exemplary aircraft information platform 11 is provided, screw holes 101b are uniformly distributed at mounting positions corresponding to a pressure-bearing cabin segment shell 101a and a cabin segment connecting transition ring 102a, an annular groove is designed at a connecting end surface of the cabin segment connecting transition ring 102a, an O-shaped sealing ring 103 is mounted in the groove, adjacent pressure-bearing cabin segment shells 101a are connected together by using screws, and reliable sealing of the connecting surface is ensured. The main circuit printed board of the information platform adopts a vertical plug-in frame design, the bottom board 107a of the information platform is designed into a circular structure, holes are uniformly distributed on the printed board along the circumference, the printed board is connected with the transition ring installation boss 102b through screws for fixing, a power supply, a signal conditioning circuit and an interface circuit are mainly distributed on the bottom board 107a of the platform, connectors 106b are designed on two sides, and physical channels for connecting the main circuit of the information platform and internal load components of all cabin sections are provided. The ethernet switch circuit 107, the interface conversion circuit 108, the platform information control circuit 109, and the power supply control and drive circuit 110 are designed to have a rectangular structure, and are vertically inserted into the platform base plate 106a through a printed board connector, so that the printed boards are parallel to each other, and surface mount components are selected as much as possible in design, and the components are laid out on the same side, so that the pitch between the printed boards is reduced as much as possible, and the integration level is improved. A plurality of groups of struts 105 are connected with the transition ring mounting boss 102b in a threaded manner, the other ends of the struts are connected with a U-shaped supporting baffle 104 through nuts, and semi-through grooves are formed in corresponding positions of the circuit printed boards to fix the whole information platform circuit board.
The key point of the miniaturization design of the portable UUV lies in the establishment of an information platform, the platform circuit based on the conversion of Ethernet exchange and an interface into a core is designed by means of the advantages of rich software and hardware resources, high communication rate, large data bandwidth and the like of the Ethernet technology, the rapid access of various loads to the platform information network is realized, UUV data streams are dynamically managed and fused through a platform layer control circuit, the transparent access and control of distributed nodes are realized, and the multifunctional application is completed under the task scheduling of the platform layer control circuit.
The portable UUV that this embodiment provided, the miniaturized multi-functional integration of UUV has been realized, through the sectional type design, with inside circuit module distribution setting in the front deck section, well deck section and back deck section, the cabin body outside is connected through connecting the hoop, inside is through fast-assembling plug connection, can carry on task load in a flexible way, it carries on different task loads to have realized same navigation platform, the space utilization who has the circuit space overall arrangement is high characteristics, decouple function load and information platform on electricity and space, use ethernet to realize the quick construction of information topology, it is little and the function load problem between many to have solved current portable UUV to have available space concurrently.
Optionally, in some possible embodiments, the first ethernet switching and interface converting circuit includes: first DSP controller, first ethernet switch chip, first external memory, first power and management chip, first ethernet transformer and interface, first optical transceiver module and interface and first external transceiver circuit, wherein: the first DSP controller is respectively connected with a first Ethernet switch chip, a first external memory, a first power supply and management chip, a first Ethernet transformer and interface and a first external transceiver circuit, and the first Ethernet switch chip is respectively connected with the first power supply and management chip, the first Ethernet transformer and interface, a first optical transceiver module and interface;
the second ethernet switching and interface converting circuit includes: second DSP controller, second ethernet switch chip, second external memory, second power and management chip, second ethernet transformer and interface, second optical transceiver module and interface and the external circuit of receiving and dispatching of second, wherein: the second DSP controller is respectively connected with a second Ethernet switch chip, a second external memory, a second power supply and management chip, a second Ethernet transformer and interface and a second external receiving and transmitting circuit, and the second Ethernet switch chip is respectively connected with the second power supply and management chip, the second Ethernet transformer and interface and a second optical receiving and transmitting module and interface;
the first Ethernet transformer and the interface are respectively connected with the second Ethernet transformer and the interface and the first platform controller, the second Ethernet transformer and the interface are connected with the second platform controller, the first external transceiver circuit is respectively connected with the underwater acoustic communication module, the micro-electromechanical gyroscope, the Doppler log and the Beidou module and is connected with the function extension load, and the second external transceiver circuit is respectively connected with the photoelectric conversion device, the image transmission radio station, the data transmission radio station, the depth sensor and the power load.
As shown in fig. 4, a schematic diagram of an exemplary first ethernet switching and interface converting circuit structure is given, the first ethernet switching and interface converting circuit and the second ethernet switching and interface converting circuit structure are the same, and an exemplary description is given below by taking one of them as an example.
The DSP controller 201 establishes a control channel with the MAC + PHY layer ethernet switch chip 202 through an SPI (Serial Peripheral Interface), an IIC Bus (Inter-Integrated Circuit Bus), or a similar on-chip communication Interface, where the MAC is a media access control layer and the PHY is a physical layer, and the bottom layer register is controlled by a command read/write mode to implement dynamic configuration and management. And selecting a proper power supply and management chip 204 according to the use requirement of the chip to perform voltage conversion, and supplying power to the switching core and the management core. The external memory 203 can be used as a firmware storage or software control configuration information management entity of the switch circuit, and also as a data cache space for interface conversion, so as to solve packet loss caused by burst traffic. The ethernet transformer and interface 205 is used for signal level coupling, isolating an external circuit from a switching conversion circuit, and adapting to network circuits of external different power supply PHY chips; the optical transceiver module and the interface 206 are used as an optical medium connection unit to convert an electrical signal into an optical signal for transmission, and the design conforming to the 100Base-FX standard can realize data transmission of the portable UUV at a distance of 20km underwater, and the interface needs the MAC + PHY layer ethernet switch chip 202 to support optical port configuration. The DSP controller 201 CAN expand a serial interface or a bus interface which accords with various electrical standards and communication specifications through an external receiving and transmitting circuit by utilizing interface resources of the DSP controller, the external receiving and transmitting circuit comprises an RS232 transceiver and interface 207, an RS485 transceiver and interface 208, an RS422 transceiver and interface 209 and a CAN transceiver and interface 210, and bidirectional transparent transmission of serial port data, bus interface data and TCP/IP protocol network interface data CAN be realized on the DSP controller 201 through Ethernet data and serial port and bus data forwarding software.
Optionally, in some possible embodiments, the first platform controller comprises: first ARM master control circuit, first ethernet interface, first switch array, first direct current voltage converter and first power supply control and drive interface, wherein: the first ARM main control circuit is respectively connected with the first Ethernet interface and the first switch array, and the first switch array is respectively connected with the first direct-current voltage converter and the first power supply control and drive interface;
the second platform controller includes: second ARM master control circuit, second ethernet interface, second switch array, second direct current voltage converter and second power supply control and drive interface, wherein: the second ARM main control circuit is respectively connected with the second Ethernet interface and the second switch array, and the second switch array is respectively connected with the second direct-current voltage converter and the second power supply control and drive interface;
the first Ethernet interface is respectively connected with a first Ethernet transformer and interface and a second Ethernet interface, the first power supply control and drive interface is connected with the function expansion load, the first ARM main control circuit, the first switch array and the first direct current voltage converter are respectively connected with the lithium battery pack and the manager, the second Ethernet interface is connected with the second Ethernet transformer and interface, the second power supply control and drive interface is connected with the steering engine, and the second ARM main control circuit, the second switch array and the second direct current voltage converter are respectively connected with the lithium battery pack and the manager.
As shown in fig. 5, a schematic diagram of an exemplary platform controller structure is provided, the first platform controller and the second platform controller have the same structure, and an exemplary description is given below by taking one of them as an example.
The ARM main control circuit 301 performs access control on the lithium battery pack and the manager through a UART (universal asynchronous receiver transmitter), realizes switching of power supply, power failure and charging states of the portable UUV through controlling on-off of a field effect transistor of a lithium battery manager circuit, and acquires state information of electric quantity, voltage, current and the like of a lithium battery monomer through the UART. The output of the lithium battery is transformed by a direct-current voltage converter to provide different power supply voltages required by an internal circuit of the portable UUV, the ARM main control circuit 301 controls the switch array 303 by using a plurality of paths of GPIOs (general purpose input output), and the power supply of various functional loads of the portable UUV is controlled and managed by the power supply control and driving interface 305. The ARM main control circuit 301 accesses the ethernet switching and interface conversion circuit through the ethernet interface 302, develops an application program with a server-client architecture model, completes interaction between the aircraft information platform and each functional load, and realizes unified management of data frames, status packets, and multi-layer protocols.
Alternatively, in some possible embodiments, as shown in fig. 1, the dynamic load 14 comprises: a motor driver 14a and a propulsion motor 14b, the motor driver 14a being connected to the second external power receiving and generating circuit and the propulsion motor 14b, respectively.
Optionally, in some possible embodiments, as shown in fig. 1, the functional expansion payload 15 includes: camera 15a under water, keep away and bump sonar 15b, side scan sonar 15c and light 15d under water, wherein, camera 15a under water, keep away sonar 15b and side scan sonar 15c are connected with first outside receiving and dispatching circuit respectively, light 15d under water and first power supply control and drive interface connection.
Alternatively, all or part of each of the above embodiments may be included in some possible embodiments.
In the above embodiments, the connection mode of each device/apparatus may be a wired connection and/or a wireless connection, for example, the wired connection includes a wired connection using a power line, a standard serial port RS485, or an ethernet RJ45 as an interface; the wireless connection includes a wireless connection based on a Zigbee, Z-wave, Wifi, or GPRS wireless communication transmission mode.
It should be understood that reference throughout this specification to the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like means 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 present invention. In this description, schematic representations of the above terms are not necessarily intended to 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. Furthermore, various embodiments or examples and portions of features of various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
Various changes and modifications can be made by those skilled in the art without departing from the spirit and substance of the invention, and these changes and modifications should fall within the scope of the claims of the invention.
Claims (5)
1. A portable UUV, comprising: a segmented nacelle and a load platform disposed within the segmented nacelle, the segmented nacelle comprising: preceding cabin section, well cabin section and the back cabin section that connects gradually adopt the connection hoop to connect between the adjacent cabin section, load platform includes: aircraft information platform, communication load, control and navigation load, power load and function extension load, wherein:
the aircraft information platform is used for sharing load resources of various loads, and comprises the following components: the system comprises a first Ethernet switching and interface conversion circuit, a first platform controller, a lithium battery pack and a manager, which are arranged on the front cabin section, and a second Ethernet switching and interface conversion circuit, a second platform controller and a photoelectric conversion device, which are arranged on the rear cabin section; the communication payload is used for communicating with an external device, and comprises: the underwater acoustic communication module is arranged on the front cabin section, the optical fiber is arranged on the middle cabin section, and the picture transmission station and the data transmission station are arranged on the rear cabin section; the control and navigation payload is used to navigate the portable UUV, including: the micro-electromechanical gyroscope, the Doppler log and the Beidou module are arranged on the front cabin section, the depth sensor is arranged on the middle cabin section, and the steering engine is arranged on the rear cabin section; the power load is arranged on the rear cabin section and used for providing power for the portable UUV; the function expansion load is arranged on the front cabin section and is used for carrying a function module;
the first Ethernet switching and interface conversion circuit is respectively connected with the first platform controller, the second Ethernet switching and interface conversion circuit, the underwater acoustic communication module, the micro-electromechanical gyroscope, the Doppler log, the Beidou module and the function extension load, the first platform controller is respectively connected with the lithium battery pack and manager, the second platform controller and the function extension load, the second Ethernet switching and interface conversion circuit is respectively connected with the photoelectric conversion device, the second platform controller, the image transmission radio station, the data transmission radio station, the depth sensor and the power load, the second platform controller is connected with the steering engine, and the photoelectric conversion device is connected with the optical fiber.
2. The portable UUV of claim 1, wherein said first ethernet switching and interface conversion circuitry comprises: first DSP controller, first ethernet switch chip, first external memory, first power and management chip, first ethernet transformer and interface, first light transceiver module and interface and first external transceiver circuit, wherein: the first DSP controller is connected to the first ethernet switch chip, the first external memory, the first power and management chip, the first ethernet transformer and interface, and the first external transceiver circuit, respectively, and the first ethernet switch chip is connected to the first power and management chip, the first ethernet transformer and interface, and the first optical transceiver module and interface, respectively;
the second ethernet switching and interface converting circuit includes: second DSP controller, second ethernet switch chip, second external memory, second power and management chip, second ethernet transformer and interface, second optical transceiver module and interface and the external circuit of receiving and dispatching of second, wherein: the second DSP controller is respectively connected to the second ethernet switch chip, the second external memory, the second power and management chip, the second ethernet transformer and interface, and the second external transceiver circuit, and the second ethernet switch chip is respectively connected to the second power and management chip, the second ethernet transformer and interface, and the second optical transceiver module and interface;
the first Ethernet transformer and the interface are respectively connected with the second Ethernet transformer and the interface and the first platform controller, the second Ethernet transformer and the interface are connected with the second platform controller, the first external transceiver circuit is respectively connected with the underwater acoustic communication module, the micro-electromechanical gyroscope, the Doppler log, the Beidou module and the function extension load, and the second external transceiver circuit is respectively connected with the photoelectric conversion device, the image radio station, the data radio station, the depth sensor and the power load.
3. The portable UUV of claim 2, wherein said first platform controller comprises: first ARM master control circuit, first ethernet interface, first switch array, first direct current voltage converter and first power supply control and drive interface, wherein: the first ARM main control circuit is respectively connected with the first Ethernet interface and the first switch array, and the first switch array is respectively connected with the first direct-current voltage converter and the first power supply control and drive interface;
the second platform controller includes: second ARM master control circuit, second ethernet interface, second switch array, second direct current voltage converter and second power supply control and drive interface, wherein: the second ARM main control circuit is respectively connected with the second Ethernet interface and the second switch array, and the second switch array is respectively connected with the second direct-current voltage converter and the second power supply control and drive interface;
first ethernet interface respectively with first ethernet transformer and interface with second ethernet interface connection, first power supply control and drive interface with function extension load is connected, first ARM main control circuit first switch array with first direct current voltage converter respectively with lithium cell group and manager are connected, second ethernet interface with second ethernet transformer and interface connection, second power supply control and drive interface with the steering wheel is connected, second ARM main control circuit second switch array with second direct current voltage converter respectively with lithium cell group and manager are connected.
4. The portable UUV of claim 3, wherein said powered load comprises: the motor driver is respectively connected with the second external power receiving and generating circuit and the propulsion motor.
5. The portable UUV according to claim 3 or 4, wherein said function extension payload comprises: the underwater vehicle comprises an underwater camera, a collision-prevention sonar, a side-scan sonar and an underwater illuminating lamp, wherein the underwater camera, the collision-prevention sonar and the side-scan sonar are respectively connected with the first external receiving and transmitting circuit, and the underwater illuminating lamp is connected with the first power supply control and driving interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111392493.4A CN114954864A (en) | 2021-11-23 | 2021-11-23 | Portable UUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111392493.4A CN114954864A (en) | 2021-11-23 | 2021-11-23 | Portable UUV |
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| Publication Number | Publication Date |
|---|---|
| CN114954864A true CN114954864A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111392493.4A Pending CN114954864A (en) | 2021-11-23 | 2021-11-23 | Portable UUV |
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| CN113320667A (en) * | 2021-07-06 | 2021-08-31 | 中国人民解放军国防科技大学 | Modular underwater intelligent equipment platform |
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| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN107264752A (en) * | 2017-06-23 | 2017-10-20 | 上海交通大学 | A kind of quadruple screw propeller promote without rudder autonomous underwater vehicle under water |
| CN112407168A (en) * | 2020-11-24 | 2021-02-26 | 西北工业大学 | Underwater vehicle dynamic recovery cabin suitable for water surface ship slideway and control method thereof |
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