CN115935638B - Unmanned platform carrying multi-detection equipment integrated design method - Google Patents
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Abstract
The invention discloses an unmanned platform carrying multi-detection equipment integrated design method, which belongs to the technical field of comprehensive detection of underwater states and comprises the following steps: determining the overall functional performance requirement of the unmanned platform carrying the multi-underwater detection device; carrying out overall analysis on the functional performance of the multi-underwater detection equipment carried by the unmanned platform according to the overall functional performance requirement so as to determine the functional performance of the underwater detection equipment, the navigation system, the communication system and the electrical system; determining an overall scheme of the unmanned platform according to overall analysis; and carrying out integrated design of the unmanned platform carrying the underwater detection equipment according to the overall scheme. The invention provides an integrated design method for carrying multiple detection devices on an unmanned detection platform, which can design an unmanned centralized control system for carrying multiple types of underwater detection devices on the unmanned detection platform at the same time, realize efficient autonomous underwater detection work and solve the problems of non-uniform space-time data and difficult underwater state accurate perception caused by a single perception mode.
Description
Technical Field
The invention belongs to the technical field of comprehensive detection of underwater states, and particularly relates to an unmanned platform carrying multi-detection equipment integrated design method.
Background
Along with the rapid development of social economy in China, the range of motion of people in nature is also more and more wide, and especially under the condition of limited land resources, exploration and development of underwater resources are also gradually becoming an indispensable part in the modern construction process. Because of the large number of rivers and lakes in China, the existing passing buildings are usually communicated with two banks in the form of bridges or tunnels, and the accurate investigation and detection of the building position of an underwater structure are particularly critical in the process of building and using the passing buildings.
In the prior art, aiming at state detection such as peripheral topography scouring, stratum siltation and apparent defects of an underwater structure of a bridge island tunnel under complex hydrologic conditions, the detection means of the same time and place on the same carrying platform are usually single, only single detection objects can be detected, multiple detection of multiple targets in the same place and multiple detection of the same area aiming at different detection targets are needed to be repeated for multiple times, the detection time of the same area is prolonged, the detection efficiency is low, in addition, non-uniform space-time data of multiple detection targets in the same area can be caused, and further, three-dimensional accurate fusion of underwater multiple states is difficult, in addition, vibration, noise, bubbles and other factors in the operation process of an underwater state detection bearing device can also influence the detection data precision, and high-quality bridge island underwater state maintenance data are difficult to obtain.
Disclosure of Invention
Aiming at one or more of the defects or improvement demands in the prior art, the invention provides an unmanned platform carrying multi-detection equipment integrated design method, which can design an unmanned platform capable of simultaneously carrying out various detection demands, can realize high-efficiency synchronous work on multi-underwater detection equipment, solves the problems of non-uniform space-time data and difficult underwater state precision perception caused by a single perception mode, minimizes the interference of vibration, noise and bubbles of the unmanned platform on the underwater detection equipment, and ensures the acquisition quality of the underwater detection data.
In order to achieve the above purpose, the invention provides an unmanned platform carrying multi-detection equipment integrated design method, which comprises the following steps:
s1, determining the overall functional performance requirement of an underwater unmanned platform;
the overall functional requirements comprise the type of underwater state to be perceived under the complex hydrologic condition, the precision of detection data, the type and quantity of carrying equipment of an underwater unmanned platform, the water depth measurement error and the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of an underwater structure, the positioning of underwater detection gestures and navigation positions, the wireless control of a ship bank, the maximum navigational speed and functional positioning of an unmanned ship, the precision of tracking and hovering, the communication requirement of a shore ship and the requirements of a ship-borne power supply;
S2, performing functional overall analysis on the underwater detection platform according to overall functional performance requirements;
which comprises the following steps:
s21, analyzing the type of the underwater detection equipment to be carried, the functional performance of the underwater detection equipment and the physical parameters according to the type of the underwater state to be perceived and the accuracy of the detection data;
s22, analyzing a navigation system meeting the precision requirement according to the requirements of the underwater detection gesture and the navigation position positioning;
s23, analyzing equipment composition and functional performance indexes of a communication system according to the ship-shore communication requirements;
s24, analyzing the components of electrical system equipment according to the shipborne power supply requirements;
s25, analyzing the ship shape of the unmanned ship according to the maximum navigational speed of the unmanned ship and the requirement of the functional positioning;
s26, analyzing unmanned ship movements and stability according to the type and the number of the underwater unmanned platform carrying devices, the maximum navigational speed of the unmanned ship, the tracking precision and the hovering precision;
s3, determining the overall scheme of the underwater unmanned platform according to the functional overall analysis;
s4, carrying out integrated deployment of underwater detection equipment carried by the underwater unmanned platform according to the overall scheme.
As a further preferred aspect of the present invention, the step S3 includes the steps of:
S31, determining that the underwater detection equipment for the apparent defects of underwater topography, stratum and structure is respectively a multi-beam depth finder, a shallow stratum slope finder and an underwater detection robot ROV according to the type of the underwater detection equipment to be carried and the functional performance of the underwater detection equipment;
s32, analyzing and determining functional indexes and equipment installation forms of the underwater detection equipment including the multi-beam depth finder, the shallow ground profiler and the underwater detection robot according to the water depth measurement error, the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of the underwater structure, the type of the underwater detection equipment, the functional performance and the physical parameters of the underwater detection equipment;
s33, according to the underwater detection gesture and the navigation position positioning, and the navigation system acquires the ship gesture, the position, the speed and the time navigation parameter demand analysis result in real time, determining the navigation system composition, the equipment function index and the equipment installation form;
s34, determining equipment composition, equipment functional performance index and installation form of the shore communication system according to the shore ship communication requirements and the equipment composition and functional performance index of the communication system;
S35, determining the equipment composition of the whole ship electrical system, the equipment functional index and the installation form according to the equipment composition of the electrical system;
s36, preliminarily determining a ship type scheme of the unmanned ship according to the maximum navigational speed and the functional positioning of the unmanned ship;
s37, determining a propulsion mode, a propulsion device, a power positioning of the unmanned ship and a stability scheme of the unmanned ship according to the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship;
as a further preferred aspect of the present invention, the step S4 includes the steps of:
s41, classifying the unmanned ship cabins according to the underwater detection equipment, the navigation system, the communication system and the electrical system, and planning the size and the position of each ship cabin;
s42, carrying out ship type simulation analysis of the unmanned ship, analyzing a flow field at the bottom of the unmanned ship, planning the installation position and the installation mode of the transducer of the underwater detection equipment at the bottom of the ship, and determining ship type design;
s43, carrying out acoustic compatibility analysis and providing a reference for the use of the underwater detection equipment;
s44, performing dynamic hover analysis, and verifying dynamic and stable performances of the underwater unmanned platform;
s45, completing integrated deployment of the unmanned platform through steps S41-S44.
As a further preferred aspect of the present invention, the unmanned ship cabin in the step S41 includes an equipment cabin, an electric cabin, and a power cabin.
As a further preferred aspect of the present invention, the ship shape in the step S42 is a round bilge shape, the header is a tapered vertical stem, the flow line for the header extends to two sides, and the underwater detection device transducer is disposed at a bilge position at a position one third from the ship bow, so as to reduce interference of water flow on the underwater detection device transducer.
As a further preferred aspect of the present invention, the acoustic compatibility analysis in the step S43 includes acoustic interference source analysis, acoustic interference surround optimization design, and platform self-noise prediction.
As a further preferred aspect of the present invention, the dynamic hover analysis in the step S44 includes: modeling the unmanned ship, simulating wind speed, flow speed and sea condition, simulating thrust of a propeller and thrust of the bow side, and calculating dynamic positioning and hovering capacity by using simulation software.
As a further preferred aspect of the present invention, the method further comprises: and S5, performing functional detection and evaluation on the underwater unmanned platform after the integrated deployment is completed.
As a further preferred aspect of the present invention, the underwater unmanned platform performs functional detection and evaluation including the following detection objects: the method comprises the steps of carrying equipment types and quantity, water depth measurement errors and terrain resolution, stratum depth and resolution, apparent defect recognition rate of an underwater structure, underwater detection gesture and navigation position positioning, ship bank wireless control, maximum navigational speed and function positioning of an unmanned ship, tracking precision and hovering precision on the unmanned ship.
As a further preferred aspect of the present invention, the underwater detection platform comprises an underwater detection device, a navigation system, a communication system, an electrical system, an unmanned ship type, an unmanned ship power system.
The above-mentioned improved technical features can be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the beneficial effects compared with the prior art including:
(1) According to the integrated design method for carrying the multi-detection equipment on the unmanned platform, the detection items and operation adjustment required to be determined for detection work in the area to be detected by the underwater unmanned platform are determined, and the detection equipment, the navigation system performance, the communication system performance, the electrical system performance and the like of the underwater unmanned platform are accurately designed, so that the performance of the underwater detection platform can be ensured to stably finish accurate detection of all detection items in the area to be detected; and the overall scheme of the underwater unmanned platform is determined according to the detection requirement of the underwater unmanned platform, and the overall scheme is completely constructed and can be used for simultaneously carrying a plurality of comprehensive unmanned platforms for detecting different detection target detection devices, so that the efficient synchronous work of the plurality of underwater detection devices is realized, and the problems of non-uniform space-time data and difficult holographic stereoscopic perception of the underwater state caused by a single perception mode are solved.
(2) According to the integrated design method for carrying the multi-detection equipment on the unmanned platform, the round bilges and the sharp vertical bow columns are adopted, so that the streamline at the bow position can extend to the two sides of the ship body, and when the ship runs, bubbles can move along the streamline at the two sides, so that the bubbles are prevented from being brought to the installation area of the ship bottom detection equipment, the detection of the detection equipment is prevented from being influenced by the bubbles, and the detection precision and accuracy of the unmanned platform are improved.
(3) According to the integrated design method for the unmanned platform carrying the multiple detection devices, serial ports of all the devices of the unmanned platform are set to be connected with serial port servers with unified clock data sources, so that the time synchronization of the unmanned platform is ensured; the navigation and gesture information of the unmanned platform are uniformly accessed to the same navigation and gesture data processor by setting the same GPS/Beidou positioning signal and the same inertial measurement unit, the gesture processor is accessed to the shipborne local area network in an Ethernet mode, and then the navigation and gesture information is uniformly transmitted to each underwater detection device, so that the uniformity of space-time data is realized.
(4) According to the integrated design method for carrying the multi-detection equipment on the unmanned platform, the overall functionality required to be met of the underwater unmanned platform is rapidly and accurately determined according to the detection environment of the area to be detected and the required detection items in the detection process, the overall scheme of the underwater unmanned platform for detecting the environment and the detection items is accurately selected according to the overall functionality requirements, all detection equipment for detecting different items is integrated and adapted to the unmanned platform, so that the detection platform can simultaneously detect a plurality of detection targets, and the detection efficiency of the unmanned platform is improved. And moreover, by adopting a shipborne big data memory arranged on the unmanned platform, adopting the same navigation for each underwater detection device and adopting integrated control software designed corresponding to each underwater detection device, the high-efficiency coordination of each underwater detection device is ensured, and the information synchronism and the accuracy of three-dimensional presentation of the terrain, stratum, landform and ROV acousto-optic information fusion are further ensured. In addition, through adopting the ship-shaped structure of round bilge line type, the mode of setting up of the underwater detection equipment in the bottom of the ship reduces influence such as noise, bubble to the underwater detection equipment detection data, ensures the accuracy of detection data detection, has good economic benefits and spreading value.
Drawings
FIG. 1 is a schematic flow chart of an unmanned platform carrying multi-detection device integrated design method in the invention;
FIG. 2 is a schematic flow chart of step S2 of an unmanned platform carrying multi-detection device integrated design method in the invention;
FIG. 3 is a schematic flow chart of step S3 of an unmanned platform carrying multi-detection device integrated design method in the invention;
fig. 4 is a schematic flow chart of step S4 of the method for designing the integration of multiple detection devices carried by the unmanned platform in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Examples:
as shown in fig. 1 to 4, the unmanned platform carrying multi-detection equipment integrated design method in the preferred embodiment of the application can design an unmanned platform capable of simultaneously carrying out various detection requirements, can realize high-efficiency synchronous work on multi-underwater detection equipment, solves the problems of non-uniform space-time data and difficult underwater state precision perception caused by a single perception mode, minimizes the interference of vibration, noise and bubbles of the unmanned platform on the underwater detection equipment, and ensures the acquisition quality of the underwater detection data.
Specifically, as shown in fig. 1, in a preferred embodiment of the present application, the unmanned platform-mounted multi-detection device integrated design method includes the following steps:
s1, determining the overall functional performance requirement of an underwater unmanned platform;
s2, performing functional overall analysis on the underwater detection platform according to overall functional performance requirements;
preferably, the underwater detection platform comprises an underwater detection device, a navigation system, a communication system, an electrical system, an unmanned ship type, an unmanned ship power system, or the like.
S3, determining the overall scheme of the underwater unmanned platform according to the functional overall analysis;
s4, carrying out integrated deployment of underwater detection equipment on the underwater unmanned platform according to the overall scheme;
And S5, performing functional detection and evaluation on the underwater unmanned platform after the integrated deployment is completed.
Further, in the preferred embodiment of the present application, the overall functional requirements in step S1 include the type of underwater state to be perceived under complex hydrologic conditions, the accuracy of detection data, the type and number of equipment carried by the underwater unmanned platform, the water depth measurement error and the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of the underwater structure, the positioning of the underwater detection attitude and navigation position, the wireless operation of the shore, the maximum navigational speed and function positioning of the unmanned ship, the accuracy of tracking and hovering, the communication requirements of the shore ship, the power requirements of the ship, and the like.
Preferably, the underwater state type comprises a bridge island tunneling underwater structure peripheral terrain, stratum and underwater structure under complex hydrologic conditions. The shore ship communication requirement is that of unmanned ship on-shore remote control detection.
Further, as shown in fig. 2, in the preferred embodiment of the present application, step S2 includes the steps of:
s21, analyzing the type of the underwater detection equipment to be carried, the functional performance of the underwater detection equipment and physical parameters according to the type of the underwater state and the accuracy of detection data to be perceived;
S22, analyzing the navigation system meeting the accuracy requirements of ship body attitude, position, speed, time and the like according to the requirements of underwater detection attitude and navigation position positioning;
s23, analyzing equipment composition and functional performance indexes of a communication system according to the shore communication requirements;
preferably, the shore communication requirement is a shore communication requirement when unmanned on-shore remote control detection is performed.
S24, analyzing the components of electrical system equipment according to the requirements of the shipborne power supply;
preferably, the on-board power supply requirement is a requirement of the on-board power supply for the type of the integrated subsea detection device.
S25, analyzing the ship shape of the unmanned ship according to the maximum navigational speed and the functional positioning requirements of the unmanned ship;
s26, analyzing the movement and stability of the unmanned ship according to the type and the number of the equipment carried by the underwater unmanned platform, the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship.
Further preferably, as shown in fig. 3, in a preferred embodiment of the present application, step S3 comprises the steps of:
s31, determining that the underwater detection equipment for the apparent defects of underwater topography, stratum and structure is respectively a multi-beam depth finder, a shallow stratum slope finder and an underwater detection robot ROV according to the type of the underwater detection equipment carried on the underwater unmanned platform and the functional performance of the underwater detection equipment;
S32, analyzing and determining functional indexes and equipment installation forms of the underwater detection equipment including the multi-beam depth finder, the shallow ground profiler and the underwater detection robot according to the water depth measurement error, the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of the underwater structure, the type of the underwater detection equipment, the functional performance and physical parameters of the underwater detection equipment;
s33, determining the composition of the navigation system, the equipment function index and the equipment installation form according to the underwater detection gesture and the navigation position positioning and the navigation parameter demand analysis results such as the ship gesture, the position, the speed, the time and the like obtained by the navigation system in real time;
s34, determining equipment composition, equipment functional performance index and installation form of the shore communication system according to shore ship communication requirements, equipment composition and functional performance index of the communication system;
s35, determining equipment composition and equipment functional indexes and installation forms of the whole ship electrical system according to the equipment composition of the electrical system;
s36, preliminarily determining a ship type scheme of the unmanned ship according to the maximum navigational speed and the functional positioning of the unmanned ship;
s37, determining a propulsion mode, a propulsion device, a power positioning of the unmanned ship and a stability scheme of the unmanned ship according to the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship;
Further preferably, as shown in fig. 4, in a preferred embodiment of the present application, step S4 comprises the steps of:
s41, classifying the unmanned ship cabins according to the underwater detection equipment, the navigation system, the communication system and the electric system, and planning the size and the position of each ship cabin;
preferably, the unmanned ship cabin comprises an equipment cabin, an electric cabin and a power cabin.
S42, carrying out ship type simulation analysis of the unmanned ship, analyzing a flow field at the bottom of the unmanned ship, planning the installation position and the installation mode of the transducer of the underwater detection equipment at the bottom of the ship, and determining ship type design;
s43, carrying out acoustic compatibility analysis, and providing a reference for the use of the underwater detection equipment;
preferably, the acoustic compatibility analysis includes acoustic interference source analysis, acoustic interference surround optimization design, and platform self-noise prediction.
S44, performing dynamic hover analysis, and verifying dynamic and stable performances of the underwater unmanned platform;
preferably, the dynamic hover analysis includes: modeling the unmanned ship, simulating wind speed, flow speed and sea condition, simulating thrust of a propeller and thrust of the bow side, and calculating dynamic positioning and hovering capacity by using simulation software.
S45, completing integrated deployment of the unmanned platform through steps S41-S44.
Further, in the preferred embodiment of the present application, the performing functional detection and evaluation by the unmanned underwater platform in step S5 includes the following detection objects: the method comprises the steps of carrying equipment types and quantity, water depth measurement errors and terrain resolution, stratum depth and resolution, apparent defect recognition rate of an underwater structure, underwater detection gesture and navigation position positioning, ship bank wireless control, maximum navigational speed and function positioning of an unmanned ship, tracking precision and hovering precision on the unmanned ship.
For a better understanding of the present invention, several specific examples are now provided to briefly describe the structure and method of the present invention:
example 1:
the unmanned platform carrying multi-detection equipment integrated design method comprises the following steps:
s1, determining the overall functional performance requirement of an underwater unmanned platform;
the overall functional performance requirements of the underwater unmanned platform include: carrying underwater topography detection equipment, underwater stratum detection equipment and 1 underwater robot (set) for accurately detecting structures under ocean turbulence conditions, realizing wireless control of the underwater detection equipment, ensuring that the depth measurement error is not more than 0.2 meter and the depth measurement error is not more than 40 meters under the conditions of the underwater topography detection equipment, the acquisition resolution of underwater structure and peripheral topography data is not more than 0.5 meter and the working water depth is 50 meters, detecting the depth of an underwater bottom layer is not less than 20 meters, the vertical resolution is not more than 0.5 meter, the apparent serious defect recognition rate of key parts of the underwater structure is not less than 80 percent, the maximum navigational speed is 18 knots, the navigational speed is 6 knots under the condition of ensuring the measurement accuracy of the detection equipment, and the tracking accuracy is not more than 3 meters; the hover accuracy is no greater than 3 meters.
S2, performing functional overall analysis on the underwater detection platform according to overall functional performance requirements;
s21, analyzing the type of the underwater detection equipment to be carried, the functional performance of the underwater detection equipment and physical parameters according to the type of the underwater state and the accuracy of detection data to be perceived;
specifically, considering that the underwater detection equipment can select a multi-beam depth sounder, a shallow stratum profiler, an underwater detection robot ROV and a side-scan sonar, the underwater detection equipment needs to adapt to shallow water operation according to the water depth requirement. Further, the multi-beam depth finder is used for judging whether the periphery of the bridge pier is scoured and hollowed, the collected topography is the uneven point of the seabed, the water depth of each point is different, the information fed back by each point is actually the water depth, and the linked up topography images of the sea surface with the uneven height of the whole seabed are obtained; the side-scan sonar can feed back the shape of the submarine topography and judge whether a sunken ship, obstacle stranding and the like exist on the water body structure. The shallow stratum profiler is a submarine geological stratification, acquires the density attribute of each layer of underwater substrate through substrate stratification analysis, and can calculate the weight of sediment in a detection range by adding the acquisition range to determine, and compare with the bearing capacity of a tunnel to see whether a river channel needs to be dredged; the underwater detection robot is used for closely observing the bridge pier, carrying underwater positioning equipment, and guiding whether maintenance is needed or not by acousto-optic feedback of structural appearance forms, position information and the like (such as bridge pier cracks, steel bar leakage and other diseases).
S22, analyzing the navigation system meeting the accuracy requirements of ship body attitude, position, speed, time and the like according to the requirements of underwater detection attitude and navigation position positioning;
specifically, considering that satellite signal shielding, no satellite signal at the water bottom and the like may exist at the bridge island tunnel and other positions, a satellite+inertial navigation mode can be adopted, and the positioning accuracy of the navigation system is controlled at the centimeter level according to the requirement of the detection data resolution of the 10 centimeter level, so as to correct the detection data.
S23, analyzing equipment composition and functional performance indexes of a communication system according to the shore communication requirements;
specifically, according to the shore communication requirement during remote control detection on the unmanned ship shore, the communication system has real-time and reliable requirements, and in addition, due to the large number of underwater detection devices and large data transmission quantity, the remote control multi-beam, shallow stratum profiler and underwater detection robot ROV respectively calculate according to 2M bandwidth, the ROV is controlled to calculate according to 4M bandwidth, and other control type message transmission is calculated according to 1M bandwidth, so that at least 11M bandwidth is required.
S24, analyzing the components of electrical system equipment according to the requirements of the shipborne power supply;
specifically, the electrical system is analyzed, and considering that the ROV detection of the underwater robot needs larger power to support the power of the ROV detection, a single generator can be selected for power supply, high-voltage alternating current power supply is adopted, other underwater detection equipment with smaller power can share another generator, and low-voltage alternating current or direct current power supply can be adopted. The whole ship alternating current load is supplied by the alternating current power distribution cabinet, the direct current load is supplied by the direct current power distribution cabinet, the emergency state power supply of the generator fault is needed to be considered, the emergency storage battery pack can be selected to supply power to the important load at the moment, the basic autonomous navigation function and the normal operation of the navigation positioning equipment are ensured, and the safety of the equipment and personnel is protected.
S25, analyzing the ship shape of the unmanned ship according to the maximum navigational speed and the functional positioning requirements of the unmanned ship;
specifically, the ship type is analyzed, the ship has higher navigation speed requirement, is positioned to detect the operation ship, belongs to the transition ship type between the drainage ship and the sliding ship, designs a part of flat bottom for the installation of acoustic equipment, and simultaneously considers the interference of bubbles generated by the disturbance of the bottom flow field on acoustic equipment such as multiple beams.
S26, analyzing the movement and stability of the unmanned ship according to the type and the number of the equipment carried by the underwater unmanned platform, the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship.
Specifically, the power system is analyzed, the fact that data transmission is safe and reliable through wires between the ROV of the underwater robot and an unmanned ship is considered, the ship propeller is prevented from winding a cable, the ship power can be considered to adopt a water spraying propulsion mode of an inorganic propeller, the ROV fixed point detection needs to be accurately positioned, the power positioning system needs to be considered, meanwhile, the requirements of multi-beam and other underwater detection equipment on the stability of the ship attitude are considered, and the stability of the ship body is improved by designing the anti-rolling device.
S3, determining the overall scheme of the underwater unmanned platform according to the functional overall analysis;
s31, determining that the underwater detection equipment for the apparent defects of underwater topography, stratum and structure is respectively a multi-beam depth finder, a shallow stratum slope finder, an ROV (ROV) of the underwater detection robot and 1 underwater robot (sleeve) capable of resisting turbulence according to the type of the underwater detection equipment to be carried and the functional performance of the underwater detection equipment and the type of the underwater unmanned platform carrying equipment;
S32, analyzing and determining functional indexes and equipment installation forms of the underwater detection equipment including the multi-beam depth finder, the shallow ground profiler and the underwater detection robot according to the water depth measurement error, the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of the underwater structure, the type of the underwater detection equipment, the functional performance and physical parameters of the underwater detection equipment;
specifically, each device adopts the following scheme: the multi-beam equipment adopts a separation mode of a deck unit and a transducer, the maximum measuring range is not less than 250 meters, and the 20 meter water depth sounding error is not more than 0.2 meter; the shallow stratum profiler adopts a separation mode of a deck unit and a transducer, the working range of water depth is 0-500 m, the detection depth of silt and fine sand bottom materials is more than 20 m, and the resolution is 1-5 cm; the underwater structure accurately detects the ROV of the underwater machine and carries a binocular camera and a three-dimensional sonar, the apparent detection precision of the underwater structure is +/-30 cm, the floating or adsorption state can be dynamically positioned in water flow with the flow speed of not less than 2, and the working depth is not less than 150 meters;
s33, determining the composition of the navigation system, the equipment function index and the equipment installation form according to the underwater detection gesture and the navigation position positioning and the navigation parameter demand analysis results such as the ship gesture, the position, the speed, the time and the like obtained by the navigation system in real time;
Specifically, the navigation system scheme is: the system continuously outputs the three-dimensional attitude, position, heave, speed, time and other information of the carrier in real time; the system has two working modes of autonomous navigation and inertial navigation/defending navigation combination, wherein the default work is in the inertial navigation/defending navigation combination mode, the deep combination is preferential, and when the deep combination does not have the condition, the system works in the inertial navigation/Wei Daosong combined navigation mode; when the defend derivative data input/defend derivative data are invalid, automatically switching to an autonomous navigation mode; when the derivative of the sanitation and the navigation is recovered, automatically recovering to an inertial navigation/sanitation navigation combined navigation mode; the satellite navigation system supports receiving of multiple systems such as Beidou satellite navigation signals, GPS satellite navigation signals and the like to realize positioning, timing and speed measurement; the method has the advantages of receiving Beidou and GPS differential data in real time, and realizing the function of differential positioning and orientation of carrier phases in real time.
S34, determining equipment composition, equipment functional performance index and installation form of the shore communication system according to shore ship communication requirements, equipment composition and functional performance index of the communication system;
specifically, the shore communication system scheme is as follows: the communication system is composed of 1 microwave main link, 1 microwave auxiliary link and 1 Beidou short message link, wherein the action distance of the main link and the auxiliary link is not less than 30km (the condition of the visibility); main link user rate: uplink is not less than 100Kbps, and downlink: 18Mbps@10km,9Mbps@20km,2.2Mbps@30km; the Beidou short message equipment mainly receives a small amount of control instructions of the shore end and feeds back key information such as ship end positions, navigation states and the like under the condition that microwave link communication fails.
Meanwhile, as each underwater detection device needs time reference information, the sources of the underwater detection devices are uniformly connected into a serial server on the ship through serial ports of each device (including all devices of the unmanned platform), and the sources of the same clock data are received, and even if the time is possibly not matched, the sources of the time are completely consistent. Thus, the time stamps carried by the detection data can be completely synchronized; the space data refers to navigation and gesture data, and all the underwater detection devices are connected to the same navigation and gesture information data source. The unmanned ship is characterized in that all underwater detection equipment uses the same GPS/Beidou positioning signal and the same inertial measurement unit, navigation and gesture information is uniformly connected to the same navigation and gesture data processor on the unmanned ship, the gesture processor is connected to the shipborne local area network switch in an Ethernet mode, and the navigation and gesture information is broadcast to each underwater detection equipment in an Ethernet broadcasting mode, so that the unification of space-time data is realized.
And moreover, the high-efficiency coordination among the underwater detection devices is realized by arranging the integrated control software of the underwater detection devices for uniformly controlling the underwater detection devices carried by the unmanned ship on the shore.
And then, based on unification of time-space references of all underwater detection devices, the consistency of time and space position attributes of a certain point cloud of data collected by all the devices is ensured, the same physical point is not easy to appear, different points are perceived by sound and light, when the three-dimensional representation of subsequent topography, stratum, landform and ROV sound and light information fusion is carried out, the point clouds with the same attribute can be completely overlapped, and visual graphics can be seamlessly attached.
In more detail, the precision of each device is also required to ensure the precision of the same device, such as millimeter level and centimeter level, so as to avoid that the density of the point cloud acquired by each device is different.
S35, determining equipment composition and equipment functional indexes and installation forms of the whole ship electrical system according to the equipment composition of the electrical system;
specifically, the whole ship electrical system scheme: the whole ship electrical system mainly comprises 2 diesel generating sets, 1 shore power box, 1 alternating current power distribution cabinet, 1 direct current power distribution cabinet, 1 daily transformer, 1 emergency storage battery pack, 1 220V alternating current UPS2 main machine starting storage battery, 2 diesel generating set starting storage batteries, 1 set of lighting and navigation signal lamp and the like. The electric system is powered by one generator set in the anchoring working condition, the cruising working condition and the measuring working condition, and the ROV working condition is powered by two generator sets. The whole ship alternating current 380V and 220V loads are supplied by an alternating current power distribution cabinet, and the direct current loads are supplied by a direct current power distribution cabinet. When two generator sets all break down, enter first-level emergency state, the important direct current load power supply is given by emergent storage battery, guarantees basic autonomous navigation function and navigation positioning function, and operating time is 1.5 hours.
S36, preliminarily determining a ship type scheme of the unmanned ship according to the maximum navigational speed and the functional positioning of the unmanned ship;
specifically, the preliminary determination of the unmanned ship type scheme is as follows: the ship belongs to a semi-planing hull, adopts a matched round bilge line shape, designs a part of flat bottom for acoustic equipment installation, adopts a sharp vertical stem to enable a head streamline to extend to two sides, and avoids bringing bubbles to an acoustic equipment cabin at the bottom.
S37, determining a propulsion mode, a propulsion device, a power positioning of the unmanned ship and a stability scheme of the unmanned ship according to the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship;
specifically, the propulsion mode, the propulsion device, the unmanned ship power positioning and the unmanned ship stability scheme of the power system are determined as follows: two sets of propelling devices are used, and the two sets of propelling devices are mutually independent. When any one set of propulsion device fails, the other set of propulsion device can work independently to ensure the safe navigation of the ship. The main equipment of the propulsion device is arranged in the engine room, the jet pump is to adopt a water jet propeller as the propulsion device, and the jet pump is provided with a reverse navigation and steering device, so that the ship is convenient to operate; the bow is designed to be laterally pushed, so that the dynamic positioning precision is ensured, the ship body is provided with the stabilizing gyro to reduce the longitudinal and transverse shaking amplitude of the ship bottom, and the ship stability is enhanced.
S4, carrying out integrated deployment of underwater detection equipment on the underwater unmanned platform according to the overall scheme;
s41, classifying the unmanned ship cabins according to the underwater detection equipment, the navigation system, the communication system and the electric system, and planning the size and the position of each ship cabin;
specifically, according to the type of equipment carried by the unmanned ship, the unmanned ship cabin is classified into an equipment cabin, an electric cabin and a power cabin, wherein the equipment cabin is provided with a multi-beam and shallow stratum profiler deck unit, a ship shore communication system equipment and an inertial navigation equipment; the electric cabin is provided with electric system equipment, and the power cabin is provided with power system equipment.
S42, carrying out ship type simulation analysis of the unmanned ship, analyzing a flow field at the bottom of the unmanned ship, planning the installation position and the installation mode of the transducer of the underwater detection equipment at the bottom of the ship, and determining ship type design;
specifically, according to the simulation analysis result of the towing tank ship type, the ship type adopts a round bilge type, the head part adopts a sharp vertical stem, so that the head part streamline extends to two sides, and bubbles are prevented from being brought to acoustic equipment at the bottom. The ship bottom is designed with a part of flat bottom for installation of acoustic equipment, and the transducer of the underwater detection equipment is integrated in the suspended cabin of the ship bottom at one third of the length of the ship bow, so that the draft of the transducer is increased, the interference of water flow to the flow field near the transducer is reduced, the resistance of the ship body is reduced, the bubble generation amount at the ship bottom is reduced, and the acoustic interference of bubbles to the transducer is well avoided.
S43, carrying out acoustic compatibility analysis, and providing a reference for the use of the underwater detection equipment;
specifically, the self-noise of the unmanned ship comes from the mechanical noise, the jet pump propeller noise and the hydrodynamic noise of the platform, the self-noise level is reduced along with the increase of the frequency and is increased along with the increase of the navigational speed, so that the influence of the self-noise of the platform on the underwater detection equipment can be reduced by controlling the ship speed to be too high (not more than 6 knots in detection); meanwhile, the bubbles are also a factor influencing the normal operation of the underwater acoustic measuring equipment, when the bubbles at the bow flow to the stern along with the boundary layer during navigation, when the oblique lifting angles at the two sides of the bottom of the ship are large, the bubbles can smoothly flow to the side of the ship, and the operation of the energy converter cannot be influenced.
And the equipment is optimally designed. The ship body is provided with a sinking transducer cabin, transducers of underwater acoustic measuring equipment such as a multi-beam depth sounder, a shallow stratum profiler and the like are arranged in the transducer cabin and integrated at one third of the length of the ship bottom against the bow, and a main mechanical noise source and a jet pump propeller noise source far away from the stern of the platform are arranged, and meanwhile, the design of the nacelle increases the draft of the transducers of the acoustic measuring equipment, so that the influence of bubbles on acoustic wave propagation is reduced.
And vibration and noise reduction treatment is carried out on the mechanical equipment and accessories. The main propulsion diesel engine adopts single-stage vibration isolation, 4 vibration isolators are arranged on each vibration isolator, each vibration isolator is connected with a resin block, and the resin blocks are connected with the base; the diesel generator set, the jet pump propeller, the fan and the like all adopt single-stage vibration isolation measures; the diesel generating set pipeline adopts a flexible connecting pipe and an elastic hanging bracket mounting mode; according to the prediction results of the noise of the jet pump propeller, hydrodynamic noise and the mechanical noise component of the whole ship, the platform area self-noise of the measurement working condition in the range of 1 kHz-800 kHz frequency band at the navigational speed of 6-8kn can be predicted and obtained through the sound level energy superposition principle.
The ship underwater acoustic measurement equipment has higher working frequency, the required navigational speed is lower during working, the platform noise environment can meet the background noise requirements during working of each underwater acoustic measurement equipment according to the self-noise result of the installation area of the underwater acoustic measurement equipment obtained through forecasting, and the normal use of the underwater acoustic measurement equipment can be ensured.
S44, performing dynamic hover analysis, and verifying dynamic and stable performances of the underwater unmanned platform;
specifically, the ship is modeled according to the total length of 16.4 meters, the width of 4.8 meters, the draft of 0.8 meter and the design draft carrying capacity of 20 tons, the wind speed of 27Kn, the wave height (self-definition) and the flow speed of 1.1Kn are simulated in environmental factors, an autonomous controller+blue arrow+bow side pushing scheme is adopted by a power control system, the magnitude and the direction of output force required by a jet pump and bow side pushing are autonomously calculated by the control system, and an analysis result shows that when an unmanned ship encounters a 1.08 water-saving flow speed and 27 knots of wind are blown to the ship from the side surface of the ship (worst condition), the ship can provide corresponding force to meet the hovering index requirement in the overall functional performance requirement.
S45, completing integrated deployment of the unmanned platform through steps S41-S44.
Specifically, according to the design analysis and calculation, the unmanned ship is carried with a plurality of underwater detection devices for integrated deployment. The unmanned ship cabin is sequentially provided with an equipment cabin, an instrument cabin, a cabin and a pump cabin from the bow, the midship and the stern, and the unmanned ship is divided into an upper deck and a lower deck. The equipment cabin is provided with a multi-beam depth finder deck unit, a shallow stratum profiler deck unit, an ROV control box of the underwater robot, ship end equipment of a ship-shore communication system and inertial navigation equipment; the instrument cabin is provided with electrical system equipment and a stabilizing gyro; the engine and the generator are arranged in the engine room; the pump compartment is equipped with a propeller. A side push is arranged at the bottom of the bow, and a nacelle is designed at one third of the stem (close to the bow) to be provided with an underwater detection equipment transducer; the stern is provided with a double-water-jet propeller; a robot ROV and a retraction device are arranged above the stern and at the tail of the first deck; and equipment such as a GPS, a Beidou, a ship shore communication system equipment antenna, an inertial navigation equipment antenna, a navigation radar and the like is arranged on the top of the second deck, and the multi-underwater detection equipment comprehensive integrated autonomous underwater unmanned platform is obtained through integrated deployment.
And S5, performing functional detection and evaluation on the underwater unmanned platform after the integrated deployment is completed.
Specifically, according to the integrated design method, the functional performance of the underwater unmanned platform constructed by the scheme is checked, the sounding error is 0.112 m, and the terrain detection resolution is not lower than 0.5m; the stratum detection resolution is not lower than 0.4 meter; the apparent defect recognition rate of the structure is not less than 85%; maximum navigational speed 23 knots; when the speed of the detection task is 6 knots, the tracking precision is 1.2 meters, and the hovering precision is 2.8 meters. All indexes meet the overall functional performance requirement of the underwater unmanned platform.
According to the integrated design method for carrying the multi-detection equipment on the unmanned platform, according to the detection environment of the area to be detected and the required detection items in the detection process, the overall functionality required to be met of the underwater unmanned platform is rapidly and accurately determined, the overall scheme of the underwater unmanned platform for detecting the environment and the detection items is accurately selected according to the overall functionality requirements, all detection equipment for detecting different items is integrated into the unmanned platform, so that the detection platform can simultaneously complete simultaneous detection of a plurality of detection targets, and the detection efficiency of the unmanned platform is improved. And moreover, by adopting a shipborne big data memory arranged on the unmanned platform, adopting the same navigation for each underwater detection device and adopting integrated control software designed corresponding to each underwater detection device, the high-efficiency coordination of each underwater detection device is ensured, and the information synchronism and the accuracy of three-dimensional presentation of the terrain, stratum, landform and ROV acousto-optic information fusion are further ensured. In addition, through adopting the ship-shaped structure of round bilge line type, the mode of setting up of the underwater detection equipment in the bottom of the ship reduces influence such as noise, bubble to the underwater detection equipment detection data, ensures the accuracy of detection data detection, has good economic benefits and spreading value.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The unmanned platform carrying multi-detection equipment integrated design method is characterized by comprising the following steps of:
s1, determining the overall functional performance requirement of an underwater unmanned platform;
the overall functional requirements comprise the type of underwater state to be perceived under the complex hydrologic condition, the precision of detection data, the type and quantity of carrying equipment of an underwater unmanned platform, the water depth measurement error and the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of an underwater structure, the positioning of underwater detection gestures and navigation positions, the wireless control of a ship bank, the maximum navigational speed and functional positioning of an unmanned ship, the precision of tracking and hovering, the communication requirement of a shore ship and the requirements of a ship-borne power supply;
s2, performing functional overall analysis on the underwater detection platform according to overall functional performance requirements;
which comprises the following steps:
s21, analyzing the type of the underwater detection equipment to be carried, the functional performance of the underwater detection equipment and the physical parameters according to the type of the underwater state to be perceived and the accuracy of the detection data;
S22, analyzing a navigation system meeting the precision requirement according to the requirements of the underwater detection gesture and the navigation position positioning;
s23, analyzing equipment composition and functional performance indexes of a communication system according to the ship-shore communication requirements;
s24, analyzing the components of electrical system equipment according to the shipborne power supply requirements;
s25, analyzing the ship shape of the unmanned ship according to the maximum navigational speed of the unmanned ship and the requirement of the functional positioning;
s26, analyzing the stability of the unmanned ship according to the type and the number of the underwater unmanned platform carrying devices, the maximum navigational speed of the unmanned ship, the tracking precision and the hovering precision;
s3, determining the overall scheme of the underwater unmanned platform according to the functional overall analysis;
which comprises the following steps:
s31, determining that the underwater detection equipment for the apparent defects of underwater topography, stratum and structure is respectively a multi-beam depth finder, a shallow stratum slope finder and an underwater detection robot ROV according to the type of the underwater detection equipment to be carried and the functional performance of the underwater detection equipment;
s32, analyzing and determining functional indexes and equipment installation forms of the underwater detection equipment including the multi-beam depth finder, the shallow ground profiler and the underwater detection robot according to the water depth measurement error, the terrain resolution, the stratum depth and resolution, the apparent defect recognition rate of the underwater structure, the type of the underwater detection equipment, the functional performance and the physical parameters of the underwater detection equipment;
S33, according to the underwater detection gesture and the navigation position positioning, and the navigation system acquires the ship gesture, the position, the speed and the time navigation parameter demand analysis result in real time, determining the navigation system composition, the equipment function index and the equipment installation form;
s34, determining equipment composition, equipment functional performance index and installation form of the shore communication system according to the shore ship communication requirements and the equipment composition and functional performance index of the communication system;
s35, determining the equipment composition of the whole ship electrical system, the equipment functional index and the installation form according to the equipment composition of the electrical system;
s36, preliminarily determining a ship type scheme of the unmanned ship according to the maximum navigational speed and the functional positioning of the unmanned ship;
s37, determining a propulsion mode, a propulsion device, a power positioning of the unmanned ship and a stability scheme of the unmanned ship according to the maximum navigational speed, the tracking precision and the hovering precision of the unmanned ship;
s4, carrying out integrated deployment of underwater detection equipment carried by the underwater unmanned platform according to the overall scheme.
2. The unmanned platform-mounted multi-detection-device integrated design method according to claim 1, wherein the S4 comprises the steps of:
S41, classifying the unmanned ship cabins according to the underwater detection equipment, the navigation system, the communication system and the electrical system, and planning the size and the position of each ship cabin;
s42, carrying out ship type simulation analysis of the unmanned ship, analyzing a flow field at the bottom of the unmanned ship, planning the installation position and the installation mode of the transducer of the underwater detection equipment at the bottom of the ship, and determining ship type design;
s43, carrying out acoustic compatibility analysis and providing a reference for the use of the underwater detection equipment;
s44, performing dynamic hover analysis, and verifying dynamic and stable performances of the underwater unmanned platform;
s45, completing integrated deployment of the unmanned platform through steps S41-S44.
3. The unmanned platform-mounted multi-inspection-device integrated design method according to claim 2, wherein the unmanned ship cabin in S41 comprises an equipment cabin, an electric cabin, and a power cabin.
4. The unmanned platform carrying multi-detection device integrated design method according to claim 2, wherein the ship shape in the S42 is a round bilge line shape, the head is a sharp vertical stem, the flow line for the head extends to two sides, and the underwater detection device transducer is arranged at a bilge position which is one third away from the bow and is used for reducing interference of water flow to the underwater detection device transducer.
5. The unmanned platform-mounted multi-detection-device integrated design method according to claim 2, wherein the acoustic compatibility analysis in S43 includes acoustic interference source analysis, acoustic interference optimization design, and platform self-noise prediction.
6. The unmanned platform-mounted multi-detection-device integrated design method according to claim 2, wherein the dynamic hover analysis in step S44 comprises: modeling the unmanned ship, simulating wind speed, flow speed and sea condition, simulating thrust of a propeller and thrust of the bow side, and calculating dynamic positioning and hovering capacity by using simulation software.
7. The unmanned platform carrying multi-detection device integrated design method according to any one of claims 1 to 6, further comprising: and S5, performing functional detection and evaluation on the underwater unmanned platform after the integrated deployment is completed.
8. The unmanned platform-mounted multi-detection-device integrated design method according to claim 7, wherein the underwater unmanned platform performs functional detection and evaluation including the following detection objects: the method comprises the steps of carrying equipment types and quantity, water depth measurement errors and terrain resolution, stratum depth and resolution, apparent defect recognition rate of an underwater structure, underwater detection gesture and navigation position positioning, ship bank wireless control, maximum navigational speed and function positioning of an unmanned ship, tracking precision and hovering precision on the unmanned ship.
9. The unmanned platform carrying multi-detection-device integrated design method according to any one of claims 1 to 6 and 8, wherein the underwater detection platform comprises an underwater detection device, a navigation system, a communication system, an electrical system, an unmanned ship type, and an unmanned ship power system.
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Inventor after: Jing Qiang Inventor after: Yin Hui Inventor after: Wang Huijun Inventor after: Gao Feng Inventor after: Song Tao Inventor after: Shi Keyi Inventor after: Yuan Linfeng Inventor after: Yan Yu Inventor after: Yang Xiaowei Inventor after: Li Guohong Inventor after: Xiao Xuelu Inventor after: Ran Longjian Inventor after: Li Xiangyuan Inventor after: Ming Huifang Inventor before: Yuan Linfeng Inventor before: Song Tao Inventor before: Shi Keyi Inventor before: Yang Xiaowei Inventor before: Xiao Xuelu Inventor before: Ran Longjian Inventor before: Li Xiangyuan Inventor before: Ming Huifang Inventor before: Yin Hui Inventor before: Wang Huijun Inventor before: Gao Feng |
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Effective date of registration: 20240219 Address after: No. 368, Henglong Road, Nanping Town, Xiangzhou District, Zhuhai City, Guangdong Province 519060 Patentee after: HONG KONG-ZHUHAI-MACAO BRIDGE AUTHORITY Country or region after: China Patentee after: Wuhan Ship Communication Research Institute (722 Research Institute of China Shipbuilding Corp.) Address before: 430205 Institute of CSIC 722, No.3, zanglongdao, Jiangxia District, Wuhan City, Hubei Province Patentee before: WUHAN SHIP COMMUNICATION Research Institute (722 RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION) Country or region before: China |