CN115092359A - Buoy type autonomous underwater vehicle - Google Patents
Buoy type autonomous underwater vehicle Download PDFInfo
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- CN115092359A CN115092359A CN202211028863.0A CN202211028863A CN115092359A CN 115092359 A CN115092359 A CN 115092359A CN 202211028863 A CN202211028863 A CN 202211028863A CN 115092359 A CN115092359 A CN 115092359A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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Abstract
The invention relates to a buoy type autonomous underwater vehicle, which relates to the technical field of underwater detection and comprises an onshore unit, a water surface unit, an underwater unit and a communication cable; the shore unit is in communication connection with the upper computer and is used for receiving a control command of the upper computer and communicating with the upper computer; the control instruction comprises autonomous navigation information, an external power-on and power-off instruction and a manual operation instruction of the propulsion system; the water surface unit is in communication connection with the onshore unit and is used for receiving the control command and sending the control command to the underwater unit; the underwater unit is in communication connection with the onshore unit through a communication cable and is used for receiving a control command, autonomous navigation is carried out according to the control command to obtain detection information, and the detection information is transmitted to the upper computer through the communication cable, the water surface unit and the onshore unit. The invention solves the problems that the traditional underwater vehicle is difficult to communicate underwater, the underwater positioning range is limited or the positioning has accumulated errors.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to a buoy type autonomous underwater vehicle.
Background
The underwater vehicle can carry different loads to carry out underwater detection tasks according to task requirements. In order to smoothly perform underwater exploration tasks, an underwater vehicle needs to have functions of communication, navigation and autonomous navigation. Currently, Underwater vehicles with propellers are generally classified into Autonomous Underwater Vehicles (AUV), cable operated unmanned vehicles (ROV). The AUV is a cableless underwater vehicle, can perform detection tasks in a large area, communicates with an upper computer system through radio when on the water surface, and obtains position information of the AUV by means of a GPS (global positioning system); when the AUV submerges, radio communication signals and GPS signals are quickly attenuated, communication can be carried out only by means of an underwater acoustic communication technology, and navigation is realized by means of a combined navigation technology or an acoustic positioning technology. The ROV is a cabled underwater vehicle, is connected with an upper computer system through a cable and is communicated with the upper computer system, the operation range is small due to the fact that one cable is used for restraining, the high-version ROV is only equipped with an acoustic positioning system to achieve underwater navigation positioning due to the fact that the acoustic positioning system is high in price, and the low-version ROV is not equipped with a navigation system.
Under the limitation of physical conditions, radio signals are greatly attenuated through water body signals, so that underwater communication can be carried out only by means of an underwater acoustic communication technology, but the underwater acoustic communication has much smaller bandwidth compared with radio and wired communication, usually only dozens to hundreds of KB/S, and the communication distance, real-time performance and stability have larger differences with the radio communication; in addition, the underwater acoustic communication machine is expensive. Therefore, the AUV has poor underwater communication performance and high cost.
The ROV realizes wired communication with an upper computer system through one cable, so that the communication effect is good, but the working range is small due to the containment of the cable, and the radius is usually only hundreds of meters.
Since the GPS signal is also a radio signal, which is also rapidly attenuated by the water signal, the underwater vehicle can only achieve positioning by an acoustic positioning technique or a combined navigation technique when underwater. Acoustic positioning is usually less than 1000m due to short range, while GPS can achieve global positioning and the acoustic positioning system is expensive; the combined navigation technology generally utilizes equipment such as a Doppler velocimeter, an attitude sensor, inertial navigation and the like, and utilizes a combined navigation algorithm to calculate the position of the underwater vehicle, which is not limited by distance, but accumulated errors exist in the estimated position, and the estimated errors are larger when the time is longer, so that the underwater vehicle generally needs to float out of the water surface to align with a GPS position and then dive to reduce the accumulated errors of the combined navigation, and the continuity of underwater observation of the underwater vehicle is influenced; in addition, the integrated navigation device is expensive. Therefore, the underwater navigation of the underwater vehicle has the defects of limited navigation distance, large accumulated error of navigation position along with time, high price and the like.
Disclosure of Invention
The invention aims to provide a buoy type autonomous underwater vehicle, which can solve the problems that the conventional underwater vehicle is difficult to communicate underwater, the underwater positioning range is limited or the positioning has accumulated errors.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a buoy type autonomous underwater vehicle, which comprises: the system comprises an onshore unit, a water surface unit, an underwater unit and a communication cable;
the shore unit is positioned on the shore, is in communication connection with an upper computer, and is used for receiving a control command of the upper computer and communicating with the upper computer; the control instruction comprises autonomous navigation information, an external power-on and power-off instruction and a manual operation instruction of a propulsion system; the autonomous navigation information comprises position information, course information and depth information;
the water surface unit is positioned on the water surface, is in communication connection with the onshore unit, and is used for receiving the control command and sending the control command to the underwater unit;
the underwater unit is located underwater or on the water surface, is in communication connection with the on-shore unit through the communication cable, and is used for receiving the control instruction, autonomously sailing according to the control instruction to obtain detection information, and transmitting the detection information to the upper computer through the communication cable, the water surface unit and the on-shore unit.
Optionally, the onshore unit comprises an onshore energy system, an onshore communication system and an onshore master control system;
the onshore energy system is electrically connected with the onshore communication system and the onshore master control system respectively and used for supplying power to the onshore communication system and the onshore master control system;
the shore communication system comprises a shore radio communication module and an Ethernet interface; the shore radio communication module is in communication connection with the water surface unit, and the Ethernet interface is connected with the upper computer;
the shore master control system is respectively connected with the Ethernet interface and the shore radio communication module, and is used for collecting and analyzing the control command transmitted through the Ethernet interface and sending the analyzed control command to the shore radio communication module.
Optionally, the water surface unit comprises a water surface unit shell, a water surface energy system, a water surface communication system, a water surface navigation system and a water surface master control system;
the water surface unit shell is used for coating the water surface energy system, the water surface communication system, the water surface navigation system and the water surface main control system in the water surface unit shell;
the water surface energy system is respectively and electrically connected with the water surface communication system, the water surface navigation system and the water surface master control system and is used for supplying power to the water surface communication system, the water surface navigation system and the water surface master control system;
the water surface communication system comprises a water surface radio communication module and a power carrier communication module/optical fiber communication module; the water surface communication system is in communication connection with the onshore unit through the water surface radio communication module and is in communication connection with the underwater unit through the power carrier communication module/optical fiber communication module, and is used for realizing transmission of the control command between the onshore unit and the underwater unit;
the water surface navigation system comprises a GPS positioning module, a water surface unit and a control module, wherein the GPS positioning module is used for positioning the water surface unit to obtain the position information of the water surface unit;
the water surface master control system is respectively connected with the water surface communication system, the water surface navigation system and the underwater unit, and is used for transmitting the control instruction to the underwater unit, receiving the detection information returned by the underwater unit and sending the returned detection information to the water surface communication system; and the underwater unit is also used for analyzing the position information of the water surface unit and sending the analyzed position information of the water surface unit to the underwater unit.
Optionally, the underwater unit comprises an underwater unit housing, an underwater energy system, an underwater propulsion system, an underwater communication system, an underwater navigation system, an underwater observation system and an underwater master control system;
the underwater unit shell is used for wrapping the underwater energy system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater main control system in the underwater unit shell;
the underwater energy system is respectively connected with the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system and is used for supplying power to the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system;
the underwater propulsion system comprises a set number of vertical propellers and horizontal propellers and is used for realizing the forward, backward, turning, upward floating and submerging motions of the underwater unit;
the underwater communication system comprises a power line carrier communication module/an optical fiber communication module and is used for receiving the control instruction and carrying out wired communication with the water surface unit;
the underwater navigation system is used for acquiring underwater pressure data, attitude angle information and course angle information of the underwater unit, and fusing the analyzed position information of the water surface unit to obtain the current position information of the underwater unit;
the underwater observation system is used for carrying different loads, collecting data corresponding to the loads and processing the data corresponding to the loads;
and the underwater main control system is connected with the underwater communication system and used for receiving the control instruction, controlling the propulsion system to move according to the current position information of the underwater unit and executing an autonomous navigation task.
Optionally, the on-shore radio communication module includes a wireless data transmission station submodule, a wireless bridge submodule, a 4G communication submodule, and a satellite communication submodule;
the wireless data transmission radio submodule is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a wireless data transmission radio mode;
the wireless bridge submodule is used for realizing wireless communication between the shore radio communication module and the water surface unit in a wireless bridge mode;
the 4G communication sub-module is used for realizing wireless communication between the onshore radio communication module and the water surface unit in a 4G communication mode;
and the satellite communication sub-module is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a satellite communication mode.
Optionally, the communication cable is integrated from a zero buoyancy cable and a kevlar pull cord.
Optionally, the surface unit housing is a circular buoy.
Optionally, the underwater navigation system comprises a pressure sensor, an attitude sensor and a heading sensor;
the pressure sensor is used for acquiring underwater pressure data of the underwater unit;
the attitude sensor is used for acquiring attitude angle information of the underwater unit;
the course sensor is used for collecting course angle information of the underwater unit.
Optionally, the number of vertical thrusters is 3 and the number of horizontal thrusters is 2.
Optionally, the subsea unit further comprises:
and the bracket is fixed at the bottom of the outer surface of the underwater unit shell and used for fixing the load.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a buoy type autonomous underwater vehicle, which comprises a shore unit, a water surface unit, an underwater unit and a communication cable, wherein the shore unit is connected with the water surface unit through the communication cable; the shore unit is in communication connection with the upper computer and is used for receiving a control instruction of the upper computer and communicating with the upper computer; the control instruction comprises autonomous navigation information, an external power-on and power-off instruction and a manual operation instruction of the propulsion system; the autonomous navigation information comprises position information, course information and depth information; the water surface unit is in communication connection with the onshore unit and is used for receiving the control command and sending the control command to the underwater unit; the underwater unit is in communication connection with the onshore unit through a communication cable and is used for receiving a control command, autonomous navigation is carried out according to the control command to obtain detection information, and the detection information is transmitted to the upper computer through the communication cable, the water surface unit and the onshore unit. The invention solves the problems that the traditional underwater vehicle is difficult to communicate underwater, the underwater positioning range is limited or the positioning has accumulated errors.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described 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 without inventive exercise.
Fig. 1 is a schematic structural view of a floating autonomous underwater vehicle according to the present invention;
fig. 2 is a schematic block diagram of an underwater unit of a floating autonomous underwater vehicle according to the present invention;
fig. 3 is a schematic communication flow diagram of a buoy-type autonomous underwater vehicle according to the present invention;
FIG. 4 is a schematic representation of a communication data packet format for a floating autonomous underwater vehicle in accordance with the present invention;
fig. 5 is a schematic diagram of the positional relationship between the underwater unit and the surface unit in the embodiment of the present invention.
Description of the symbols:
the system comprises an onshore unit-1, a water surface unit-2, an underwater unit-3, an underwater unit shell-31, a vertical propeller-321, a horizontal propeller-322, a support-33, a communication cable-4 and an upper computer-5.
Detailed Description
The technical solutions in the embodiments of the present invention will be 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a buoy type autonomous underwater vehicle, which can solve the problems that the traditional underwater vehicle is difficult in underwater communication, limited in underwater positioning range or accumulated in positioning error.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
As shown in fig. 1, the present invention provides a floating autonomous underwater vehicle comprising: an onshore unit 1, a surface unit 2, an underwater unit 3 and a communication cable 4.
The onshore unit 1 is located onshore, is in communication connection with an upper computer 5, and is used for receiving a control command of the upper computer 5 and communicating with the upper computer 5; the control instruction comprises autonomous navigation information, an external power-on and power-off instruction and a manual operation instruction of a propulsion system; the autonomous navigation information includes position information, course information, and depth information.
And the water surface unit 2 is positioned on the water surface, is in communication connection with the onshore unit 1, and is used for receiving the control instruction and sending the control instruction to the underwater unit 3.
The underwater unit 3 is located underwater or on the water surface, is in communication connection with the onshore unit 1 through the communication cable 4, is used for receiving the control instruction, autonomously navigates according to the control instruction to obtain detection information, and transmits the detection information to the upper computer 5 through the communication cable 4, the water surface unit 2 and the onshore unit 1. The underwater unit 3 is a main body for navigation, and can be equipped with load equipment for autonomous navigation. The Underwater unit 3 pulls the surface unit 2 to move together through the communication cable 4, and the onshore unit 1 is in radio communication with the surface unit 2, so that the buoy-type Autonomous Underwater Vehicle can communicate with an upper computer system by radio and navigate by using GPS (global positioning system) no matter the Underwater unit 3 is on the water surface or Underwater, the problems of communication and navigation of the traditional Underwater Vehicle under the water are solved, and the Underwater unit 3 and the surface unit 2 can still perform detection tasks in a larger range like the traditional Autonomous Underwater Vehicle (AUV) due to the fact that the Underwater unit 3 and the surface unit 2 move together through the communication cable 4; in addition, compared with an AUV (autonomous underwater vehicle) and a cable operated unmanned vehicle (ROV), expensive underwater acoustic communication and positioning equipment need to be carried to realize underwater communication and positioning, and the radio communication equipment and the GPS equipment carried by the invention have lower price and greatly reduced cost.
Further, the onshore unit 1 comprises an onshore energy system, an onshore communication system and an onshore master control system.
And the shore energy system is respectively electrically connected with the shore communication system and the shore main control system and used for supplying power to the shore communication system and the shore main control system.
The shore communication system is in wireless communication with the water surface unit 2; the shore communication system comprises a shore radio communication module and an Ethernet interface; the shore radio communication module is in communication connection with the water surface unit, and the Ethernet interface is connected with the upper computer.
The shore master control system is respectively connected with the Ethernet interface and the shore radio communication module, and is used for collecting and analyzing the control command transmitted through the Ethernet interface and sending the analyzed control command to the shore radio communication module. And meanwhile, data transmitted by the shore radio communication module are received and transmitted to an upper computer through an Ethernet interface.
Further, the water surface unit 2 comprises a water surface unit shell, a water surface energy system, a water surface communication system, a water surface navigation system and a water surface main control system.
The water surface unit shell is used for wrapping the water surface energy system, the water surface communication system, the water surface navigation system and the water surface main control system inside the water surface unit shell.
And the water surface energy system is respectively electrically connected with the water surface communication system, the water surface navigation system and the water surface master control system and is used for supplying power to the water surface communication system, the water surface navigation system and the water surface master control system.
The water surface communication system comprises a water surface radio communication module and a power carrier communication module/optical fiber communication module; the water surface communication system is in communication connection with the onshore unit 1 through the water surface radio communication module, is in wired communication with the underwater unit 3 through the power carrier communication module/optical fiber communication module, and is used for realizing transmission of the control command between the onshore unit 1 and the underwater unit 3.
The water surface navigation system comprises a GPS positioning module, and is used for positioning the water surface unit 2 to obtain the position information of the water surface unit. In a specific embodiment of the present invention, the GPS positioning module may be replaced by a beidou positioning module, which is not limited herein.
The water surface master control system is respectively connected with the water surface communication system, the water surface navigation system and the underwater unit 3, and is used for transmitting the control instruction to the underwater unit 3, receiving the detection information returned by the underwater unit 3 and sending the returned detection information to the water surface communication system; and the underwater control system is also used for analyzing the position information of the water surface unit and sending the analyzed position information of the water surface unit to the underwater unit 3.
Preferably, the surface unit housing is a circular buoy, so that the surface unit 2 moves integrally with the underwater unit 3, and cannot be pulled underwater by the underwater unit 2 due to certain buoyancy thereof.
Further, as shown in fig. 2, the underwater unit 3 includes an underwater unit housing 31, an underwater energy system, an underwater propulsion system, an underwater communication system, an underwater navigation system, an underwater observation system, and an underwater main control system.
The underwater unit shell 31 is used for wrapping the underwater energy system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater main control system inside the underwater unit shell 31.
The underwater energy system is respectively connected with the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system and is used for supplying power to the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system.
As shown in fig. 2, the underwater propulsion system includes a set number of vertical thrusters 321 and horizontal thrusters 322 for performing forward, backward, turning, floating, and diving motions of the underwater unit.
The underwater communication system comprises a power line carrier communication module/an optical fiber communication module and is used for receiving the control instruction and carrying out wired communication with the water surface unit 2. Wired communication is made with the surface unit 2 via a communication cable 4.
The underwater navigation system is used for acquiring underwater pressure data, attitude angle information and course angle information of the underwater unit, and fusing the analyzed position information of the water surface unit to obtain the current position information of the underwater unit 3; the current position information of the underwater unit 3 is three-dimensional position information. The underwater navigation system comprises a pressure sensor, an attitude sensor and a heading sensor.
The pressure sensor is used for collecting underwater pressure data of the underwater unit.
The attitude sensor is used for acquiring attitude angle information of the underwater unit.
The course sensor is used for collecting course angle information of the underwater unit.
The underwater observation system is used for carrying different loads, collecting data corresponding to the loads and processing the data corresponding to the loads.
And the underwater main control system is connected with the underwater communication system and used for receiving the control instruction, controlling the underwater propulsion system to move according to the current position information of the underwater unit 3 and executing an autonomous navigation task. And transmitting the detection information detected in real time to an underwater communication system.
Furthermore, the on-shore radio communication module comprises a wireless data transmission station submodule, a wireless bridge submodule, a 4G communication submodule and a satellite communication submodule. The water surface radio communication module also comprises a wireless data transmission radio submodule, a wireless bridge submodule, a 4G communication submodule and a satellite communication submodule.
And the wireless data transmission radio submodule is used for realizing the wireless communication between the shore radio communication module and the water surface unit in a wireless data transmission radio mode.
And the wireless bridge submodule is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a wireless bridge mode.
And the 4G communication sub-module is used for realizing the wireless communication between the onshore radio communication module and the water surface unit by adopting a 4G communication mode.
And the satellite communication sub-module is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a satellite communication mode.
Further, the communication cable 4 is integrated by a zero-buoyancy cable and a Kevlar rope. Cables with different lengths and different media can be replaced according to task requirements. For example, if power carrier communication is selected, a cable may be selected; if fiber optic communication is selected, optical fibers may be selected. The communication cable 4 is integrated with a Kevlar rope and has tensile property.
Further, the underwater unit 3 further includes:
and a bracket 33 fixed to the bottom of the outer surface of the underwater unit housing 31 for fixing the load.
Further, the communication flow of the buoy-type autonomous underwater vehicle is shown in fig. 3 and comprises uplink communication and downlink communication, wherein the uplink communication means that the underwater unit 3 sends information to the upper computer 5 through the water surface unit 2 and the onshore unit 1; the downlink communication means that the upper computer 5 sends information to the underwater unit 3 through the onshore unit 1 and the water surface unit 2. The flow of uplink communication and downlink communication is the same, and for simplicity, the communication flow of the buoy-type autonomous underwater vehicle is described by taking the uplink communication as an example.
The underwater main control system sends information to the water surface unit 2 through wired communication in a certain data packet format, and the data packet format is shown in fig. 4 and comprises a packet header, a device number, a data area and a check bit. Since the radio communication modules have different communication modules, the device number in the data packet is used to distinguish which communication module is currently selected for communication. In this embodiment, the device number of the wireless data transmission sub-module is defined as 0, the device number of the wireless bridge sub-module is defined as 1, the device number of the 4G communication sub-module is defined as 2, and the device number of the satellite communication sub-module is defined as 3. After receiving the data packet sent by the underwater unit 3, the water surface main control system firstly extracts the equipment number in the data packet, judges which equipment is, and sends out the data packet through the wireless data transmission radio submodule if the equipment number is 0; if the equipment number is 1, the data packet is sent out through the wireless bridge submodule; if the equipment number is 2, the data packet is sent out through the 4G communication submodule; and if the equipment number is 3, sending the data packet out through the satellite communication submodule. The shore unit 1 receives data sent from each communication submodule of the water surface unit 2 by using a shore wireless communication module, the shore main control system collects the data of each wireless communication submodule and sends a data packet to the upper computer 5 through wired communication, and the upper computer 5 classifies the data according to the equipment number.
Furthermore, the navigation of the buoy type autonomous underwater vehicle is divided into two parts, namely the navigation of the surface unit 2 and the navigation of the underwater unit 3. The water surface unit is integrated with a GPS module, a water surface main control system collects GPS data, and the collected GPS longitude and latitude coordinates are assumed to be
Wherein
As a result of the longitude, the number of times,
the latitude is, the coordinate of the water surface unit 2 is
。
The navigation information of the underwater unit 3 comprises horizontal position, depth, course and attitude, and the depth, course and attitude can be obtained by the sensors because the underwater unit integrates a course sensor, an attitude sensor and a pressure sensor. The underwater main control system is responsible for acquiring data of the depth sensor, the course sensor and the attitude sensor; and the horizontal position of the underwater unit 3 needs to be calculated by integrating the course, the depth, the coordinates of the water surface unit and the length of the communication cable. In the navigation process of the buoy type autonomous underwater vehicle, a certain included angle exists between the underwater unit 3 and the water surface unit 2, as shown in fig. 5, the underwater main control system obtains GPS coordinates acquired by the water surface unit 2 through the communication cable 4
Assuming that the underwater unit depth is
Course angle of underwater unit is
The length of the communication cable is
Then according to the pythagorean theorem, the horizontal distance between the underwater unit 3 and the water surface unit 2 is
The horizontal position of the underwater unit 3, i.e., the latitude and longitude coordinates, can be calculated using the latitude and longitude coordinate calculation formula
Comprises the following steps:
wherein
The radius of the earth.
Further, the underwater unit 3 of the floating autonomous underwater vehicle of the present invention can be replaced by other types of underwater vehicle structures, such as an open-frame multi-thruster ROV type structure, a single-thruster AUV type structure, without being limited thereto.
The buoy type autonomous underwater vehicle radio communication is not limited to a wireless data transmission radio submodule, a wireless bridge submodule, a 4G communication submodule and a satellite communication submodule in the technical scheme, and can also be in other types of radio communication modes, such as LoRa communication, 5G communication and the like.
Furthermore, the buoy-type autonomous underwater vehicle can perform autonomous navigation including fixed-point navigation, directional navigation, fixed-depth navigation and the like according to a control instruction issued by the upper computer 5.
For example, the upper computer 5 sends the depth-setting and fixed-point navigation instructions to the buoy-type autonomous underwater vehicle according to the communication flow (as shown in fig. 3), and the underwater main control system analyzes the autonomous navigation instructions according to the communication protocol format to obtain the depth-setting depth
Navigation coordinate of fixed point
. The underwater unit main control system combines the current navigation information: depth of field
Longitude and latitude coordinates
Angle of course
And the PID (Proportion Integration Differentiation, PID, proportional-integral-derivative controller) control method is utilized to control the rotating speed of 5 propellers (2 horizontal propellers and 3 vertical propellers) so as to enable the underwater unit 3 to face the preset depth
Coordinates of the same
Sailing, when the underwater unit 3 sails to the coordinates
And when the autonomous navigation is finished, the propeller stops rotating.
The working process of the buoy type autonomous underwater vehicle is as follows:
1) the upper computer sends control instructions to the onshore unit through the Ethernet interface, and the control instructions comprise autonomous navigation information, peripheral power-on and power-off instructions, propulsion system manual control instructions and the like.
2) The shore main control system receives a control instruction of the upper computer through the Ethernet interface, and sends the control instruction to the water surface unit through the corresponding radio communication module according to the equipment number of the control instruction.
3) The water surface master control system receives a control command issued by the onshore unit by using the water surface radio communication module and sends the control command to the underwater unit through a wired communication cable.
4) The underwater main control system receives the control instruction transmitted by the communication cable, analyzes and executes the instruction, such as executing autonomous navigation, controlling peripheral equipment to discharge electricity, controlling a propeller to rotate and the like.
5) The underwater unit transmits the state information of the underwater unit, such as the voltage and current, the depth, the attitude, the course, the position and the like of the battery to an upper computer for displaying according to the communication flow (as shown in figure 3).
The invention has the technical effects that:
1) the buoy type autonomous underwater vehicle integrates the radio communication module on the water surface unit and communicates with the underwater unit in a wired mode, so that the underwater unit can realize radio communication with an upper computer system on the water surface or underwater, and the problem that the traditional underwater vehicle is difficult to communicate underwater is solved.
2) The buoy type autonomous underwater vehicle integrates the GPS module on the water surface unit, and can calculate the position information of the underwater unit by fusing course, depth and cable length information of the underwater unit, so that the underwater unit can realize accurate positioning by using the GPS on the water surface or underwater, and the problem that the conventional underwater vehicle has a limited underwater positioning range or accumulated errors in positioning is solved.
3) The buoy type autonomous underwater vehicle water surface unit and the underwater unit can navigate autonomously together, and the problem of small ROV detection range is solved.
4) The cost of the buoy type autonomous underwater vehicle is greatly reduced compared with that of the traditional underwater vehicle because the radio communication is cheaper than that of the underwater sound communication module, and the GPS positioning module is cheaper than that of the underwater sound positioning module and the underwater combined navigation equipment.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A floating autonomous underwater vehicle, comprising: the system comprises an onshore unit, a water surface unit, an underwater unit and a communication cable;
the shore unit is positioned on the shore, is in communication connection with an upper computer, and is used for receiving a control command of the upper computer and communicating with the upper computer; the control instructions comprise autonomous navigation information, peripheral power-on and power-off instructions and propulsion system manual operation instructions; the autonomous navigation information comprises position information, course information and depth information;
the water surface unit is positioned on the water surface, is in communication connection with the onshore unit, and is used for receiving the control command and sending the control command to the underwater unit;
the underwater unit is located underwater or on the water surface, is in communication connection with the onshore unit through the communication cable, and is used for receiving the control command, autonomously sailing according to the control command to obtain detection information, and transmitting the detection information to the upper computer through the communication cable, the water surface unit and the onshore unit.
2. The floating autonomous underwater vehicle of claim 1, wherein the onshore unit comprises an onshore energy system, an onshore communication system and an onshore master control system;
the onshore energy system is electrically connected with the onshore communication system and the onshore master control system respectively and used for supplying power to the onshore communication system and the onshore master control system;
the on-shore communication system comprises an on-shore radio communication module and an Ethernet interface; the shore radio communication module is in communication connection with the water surface unit, and the Ethernet interface is connected with the upper computer;
the shore master control system is respectively connected with the Ethernet interface and the shore radio communication module, and is used for collecting and analyzing the control command transmitted through the Ethernet interface and sending the analyzed control command to the shore radio communication module.
3. The floating autonomous underwater vehicle of claim 1, wherein the surface unit comprises a surface unit hull, a surface energy system, a surface communication system, a surface navigation system, and a surface master control system;
the water surface unit shell is used for coating the water surface energy system, the water surface communication system, the water surface navigation system and the water surface main control system in the water surface unit shell;
the water surface energy system is respectively and electrically connected with the water surface communication system, the water surface navigation system and the water surface master control system and is used for supplying power to the water surface communication system, the water surface navigation system and the water surface master control system;
the water surface communication system comprises a water surface radio communication module and a power carrier communication module/optical fiber communication module; the water surface communication system is in communication connection with the onshore unit through the water surface radio communication module and is in communication connection with the underwater unit through the power carrier communication module/optical fiber communication module, and is used for realizing transmission of the control command between the onshore unit and the underwater unit;
the water surface navigation system comprises a GPS positioning module, a water surface unit and a control module, wherein the GPS positioning module is used for positioning the water surface unit to obtain the position information of the water surface unit;
the water surface master control system is respectively connected with the water surface communication system, the water surface navigation system and the underwater unit, and is used for transmitting the control instruction to the underwater unit, receiving the detection information returned by the underwater unit and sending the returned detection information to the water surface communication system; and the underwater unit is also used for analyzing the position information of the water surface unit and sending the analyzed position information of the water surface unit to the underwater unit.
4. The buoy-type autonomous underwater vehicle of claim 1, wherein the underwater units comprise an underwater unit hull, an underwater energy system, an underwater propulsion system, an underwater communication system, an underwater navigation system, an underwater observation system, and an underwater master control system;
the underwater unit shell is used for wrapping the underwater energy system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater main control system in the underwater unit shell;
the underwater energy system is respectively connected with the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system and is used for supplying power to the underwater propulsion system, the underwater communication system, the underwater navigation system, the underwater observation system and the underwater master control system;
the underwater propulsion system comprises a set number of vertical propellers and horizontal propellers and is used for realizing forward, backward, turning, floating and submerging motions of the underwater unit;
the underwater communication system comprises a power line carrier communication module/an optical fiber communication module and is used for receiving the control instruction and carrying out wired communication with the water surface unit;
the underwater navigation system is used for acquiring underwater pressure data, attitude angle information and course angle information of the underwater unit, and fusing the analyzed position information of the water surface unit to obtain the current position information of the underwater unit;
the underwater observation system is used for carrying different loads, collecting data corresponding to the loads and processing the data corresponding to the loads;
and the underwater main control system is connected with the underwater communication system and used for receiving the control instruction, controlling the propulsion system to move according to the current position information of the underwater unit and executing an autonomous navigation task.
5. The floating autonomous underwater vehicle of claim 2, wherein the onshore radio communication module comprises a wireless data transfer station submodule, a wireless bridge submodule, a 4G communication submodule and a satellite communication submodule;
the wireless data transmission radio submodule is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a wireless data transmission radio mode;
the wireless bridge submodule is used for realizing wireless communication between the shore radio communication module and the water surface unit in a wireless bridge mode;
the 4G communication sub-module is used for realizing wireless communication between the onshore radio communication module and the water surface unit in a 4G communication mode;
and the satellite communication sub-module is used for realizing the wireless communication between the shore radio communication module and the water surface unit by adopting a satellite communication mode.
6. The buoyant autonomous underwater vehicle of claim 1, wherein said communication cable is integrated from a zero buoyancy cable and a kevlar pull cord.
7. The floating autonomous underwater vehicle of claim 3, wherein said surface unit hull is a circular buoy.
8. The floating autonomous underwater vehicle of claim 4, wherein said underwater navigation system comprises a pressure sensor, an attitude sensor and a heading sensor;
the pressure sensor is used for acquiring underwater pressure data of the underwater unit;
the attitude sensor is used for acquiring attitude angle information of the underwater unit;
the course sensor is used for collecting course angle information of the underwater unit.
9. The floating autonomous underwater vehicle according to claim 4, characterized in that said number of vertical thrusters is 3 and said number of horizontal thrusters is 2.
10. The floating autonomous underwater vehicle of claim 4, wherein the underwater unit further comprises:
and the bracket is fixed at the bottom of the outer surface of the underwater unit shell and used for fixing the load.
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