CN102937795A - Autonomous underwater sailing observation platform security assurance device - Google Patents
Autonomous underwater sailing observation platform security assurance device Download PDFInfo
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- CN102937795A CN102937795A CN2012104683802A CN201210468380A CN102937795A CN 102937795 A CN102937795 A CN 102937795A CN 2012104683802 A CN2012104683802 A CN 2012104683802A CN 201210468380 A CN201210468380 A CN 201210468380A CN 102937795 A CN102937795 A CN 102937795A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 71
- 238000004891 communication Methods 0.000 claims abstract description 43
- 239000003550 marker Substances 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 abstract 2
- 239000002243 precursor Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000017525 heat dissipation Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- -1 structure Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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Abstract
The invention discloses an autonomous underwater sailing observation platform security assurance device. The autonomous underwater sailing observation platform security assurance device comprises a monitoring device, a positioning device, an electronic compass, a temperature and humidity sensor, a water leakage sensor, a forward-looking sonar, a load rejection release device, an acoustic beacon, a satellite communication device, a wireless communication device, a power supply control module and a sailing control system. The positioning, navigation and communication devices are connected with a motoring sensor, an unloading load rejection release device and the sailing control system through the monitoring device. By means of data analyzing, accident precursors are searched, problems are found, and measures are timely adopted to solve the problems, collision avoiding and emergent floating are achieved, accordingly underwater operation of the autonomous underwater sailing observation platform is enabled to be safe and reliable.
Description
Technical field
The present invention relates to independently navigate by water observation device under water, particularly relate to and independently navigate by water the safety convenience instrument of observation platform under water.
Background technology
Along with the quickening of exploring the ocean paces, people recognize that more and more the ocean of taking up an area ball 75% area will become the frontier of human survival and development, will play an important role to human development and social progress.Yet because the complicacy of marine environment, people are still very limited to the understanding of ocean so far, and the method that present people obtain oceanographic data also is limited.It is a kind of new and high technology of ocean environment observation that small underwater independently navigates by water the observation platform technology, is the domestic and international hot technology of research and development at present and in the future a period of time, is forefront and the commanding elevation of marine technology exploitation.That the observation platform that independently navigates by water under water is mainly used in is unmanned, on a large scale, for a long time underwater environment observation, and the approaching observation in the scene of oceanographic engineering aspect, the key element of observation comprises physics parameter, marine geology and geophysics mathematic(al) parameter, thalassochemistry parameter, sea life mathematic(al) parameter etc.
The principal feature of observation platform of independently navigating by water under water is can be according to the needs of observation mission, carry needed observation instrument and equipment, independently navigate by water on the course line of setting and walk the aerial survey amount under water, the data communication device of acquisition is crossed effective means of communication (satellite, network) and is sent to the user.The platform action distance is at tens to up to a hundred kilometers.
The observation platform that independently navigates by water under water is the unmanned systems of a complexity, in order to replace the mankind to carry out complexity, arduous work, it relates to the multi-door subjects such as electronics, computing machine, fluid, structure, material, hydraulic pressure, the underwater sound, Navigation Control, it is existing that independently to navigate by water the gordian technique that observation platform relates under water more, main concern platform technology is own in the process of research and development, seldom considers the safety convenience instrument of platform.Peer machine is installed acoustic marker or Forward-looking Sonar at observation platform, when can not find its position in observation platform transmission accident, determines the position of observation platform by acoustic marker; When barrier appears in observation platform the place ahead, realize avoiding barrier by Forward-looking Sonar.But the observation platform safety convenience instrument that independently navigates by water under water lacks particular study and exploitation.
Marine environment is complicated and changeable, and the safety of observation platform of independently navigating by water under water seems particularly important, and any accident all may cause losing of equipment.Independently navigate by water observation platform technical sophistication, expensive under water, reliability requirement is high, and the special research and development of its safety convenience instrument are very necessary.
Summary of the invention
The observation platform working environment is complicated for independently navigating by water under water, reliability requirement is high, its safety convenience instrument lacks again to be specialized in and develops, the present invention releases a kind of observation platform safety convenience instrument that independently navigates by water under water, its purpose is by supervising device location, navigation, communicator and monitoring sensor, throwing year releasing means and navigation control system to be connected, by data analysis, searching accident tendency, pinpoint the problems and in time take measures to solve, realize collision prevention and emergency ascent, make that independently to navigate by water the underwater operation of observation platform under water safe and reliable.
The observation platform safety convenience instrument that independently navigates by water under water that the present invention relates to comprises that supervising device, locating device, electronic compass, Temperature Humidity Sensor, leakage sensor, Forward-looking Sonar, throwing carry releasing means, acoustic marker, satellite communication apparatus, radio communication device, energy supply control module and navigation control system.Releasing means and energy supply control module are carried in supervising device connection locator, electronic compass, acoustic marker, Temperature Humidity Sensor, leakage sensor, throwing, navigation control system connects Forward-looking Sonar, satellite communication apparatus, radio communication device and energy supply control module, and supervising device and navigation control system hold on a correspondence.
Supervising device is installed in that independently to navigate by water the observation platform sail body under water inner, is made of the single-chip microcomputer with mass data storage ability.Supervising device is connected with locating device, electronic compass, navigation control system and acoustic marker by the RS232 serial line interface, is connected with leakage sensor by the A/D port, is connected releasing means by the I/O port with Temperature Humidity Sensor, energy supply control module and throwing and is connected.
Navigation control system is installed in that independently to navigate by water the observation platform sail body under water inner, is the control system that large functional machine forms.Navigation control system is connected the RS232 serial line interface with supervising device, satellite communication apparatus, radio communication device and Forward-looking Sonar and is connected.
Electronic compass is installed in that independently to navigate by water the observation platform sail body under water inner, and electronic compass should be installed in the geometric center of observation platform, and the direct north of electronic compass should point to the head of observation platform sail body simultaneously.
Temperature Humidity Sensor is installed in that independently to navigate by water the observation platform sail body under water inner, is installed near the equipment of the heat dissipation capacity maximum cabin in, and whether the temperature of monitoring in the sail body cabin is normal.
Whether leakage sensor is installed in the bottom in the sail body cabin, leak in order in time find sail body.
Because observation platform cabin inner volume is limited, the installation site of supervising device and electronic compass, Temperature Humidity Sensor, leakage sensor should not be excessively far away, can reduce wire length like this, reduces the complexity of line.
The computer function of navigation control system is powerful, and heat dissipation capacity is very large, and the heat radiator of computing machine is linked the bulkhead of sail body by sheet metal, and heat sheds by the bulkhead of sail body.
Acoustic marker is installed in the observation platform front upper part, and deck unit can be determined the position of observation platform by the signal that acoustic marker sends sound.
Forward-looking Sonar is installed in the front bottom of observation platform, and navigation control system is surveyed the barrier in the place ahead by Forward-looking Sonar.
Throw to carry a releasing means and be installed in and independently navigate by water the observation platform middle and lower part under water, by releasing mechanism with throw loading and form.When observation platform met accident, supervising device started releasing mechanism, will throw loading and abandon, and makes observation platform have positive buoyancy, on float to the sea.
Supervising device automatically gathers and position, direction, attitude, temperature, the humidity of storage observation platform, the information such as whether leak, and timing obtains the state parameter of observation platform from navigation control system, by data analysis, searching accident tendency is pinpointed the problems and is in time taken measures to solve.Find attitude, temperature, the humidity of observation platform when supervising device and occur unusually perhaps being checked through observation platform and leaking that supervising device starts throwing and carries releasing means, and the throwing loading that observation platform carries is abandoned, and makes observation platform have positive buoyancy, realizes emergency ascent.Observation platform is located after arriving the water surface automatically, and communicator and radio communication device send to deck unit with position and the status information of observation platform via satellite, are beneficial to reclaim as early as possible.When supervising device and navigation control system communication abnormality, perhaps by analyzing the state parameter of navigation control system, find the observation platform operation irregularity, supervising device cuts off the power supply to navigation control system by energy supply control module, delay time after 10 seconds, supervising device re-powers to navigation control system by energy supply control module, and navigation control system restarts, and makes navigation control system recover normal operation.If navigation control system is cisco unity malfunction still, supervising device also can start throws a year releasing means, makes observation platform realize emergency ascent.
Navigation control system is organized the various device on the observation platform and system effectively, can co-ordination, finish autonomous navigating platform mission task under water.Mainly finish the functions such as overall control, navigation and attitude control, collection and communication, navigation and location.Navigation control system via satellite communicator and radio communication device and deck unit carries out radio communication, receives the deck unit order, transmits simultaneously position and the status information of observation platform to deck unit.
Navigation control system utilizes Forward-looking Sonar to survey the barrier in the place ahead, and when there was barrier in the place ahead, navigation control system started the program that keeps in obscurity, and realized collision prevention.When observation platform occurs when unusual, supervising device starts to throw and carries a releasing means, and the throwing loading that observation platform carries is abandoned, and makes observation platform have positive buoyancy, realizes emergency ascent.Observation platform is located automatically after arriving the water surface, and communicator and radio communication device send to deck unit with position and the status information of observation platform via satellite, are beneficial to reclaim as early as possible.If observation platform because fortuitous event floats to the water surface on not, and deck unit can be determined by the acoustic marker on the observation platform position of observation platform, is implemented to salvage.
After observation platform is finished the work, state parameter under each operating mode of playback supervising device storage, can reappear the history run process of observation platform, historical data is carried out necessary analysis, thereby economy, reliability to observation platform are assessed, and provide reliable basis for improvement and the optimization of the control strategy of sail body.
Description of drawings
Fig. 1 be the present invention relates to independently navigate by water observation platform contour structures synoptic diagram under water.
Fig. 2 is for independently navigating by water observation platform safety convenience instrument functional block diagram under water.
Description of symbols among the figure:
1, sail body 2, satellite communication apparatus
3, radio communication device 4, deck unit
5, a releasing means is carried in locating device 6, throwing
7, acoustic marker 8, Forward-looking Sonar
9, navigation control system 10, supervising device
11, electronic compass 12, Temperature Humidity Sensor
13, energy supply control module 14, leakage sensor
Embodiment
By reference to the accompanying drawings technical scheme of the present invention is further described.Fig. 1 shows that small underwater independently navigates by water the observation platform safety convenience instrument and carries the basal conditions of instrument and equipment, and Fig. 2 is for independently navigating by water observation platform safety convenience instrument functional block diagram under water.
As shown in the figure, the observation platform safety convenience instrument that independently navigates by water under water that the present invention relates to comprises supervising device 10, locating device 5, electronic compass 11, Temperature Humidity Sensor 12, leakage sensor 14, Forward-looking Sonar 8, throws and carry releasing means 6, acoustic marker 7, satellite communication apparatus 2, radio communication device 3, energy supply control module 13 and navigation control system 9.Releasing means 6 and an energy supply control module 13 are carried in supervising device 10 connection locators 5, electronic compass 11, acoustic marker 7, Temperature Humidity Sensor 12, leakage sensor 14, throwing, navigation control system 9 connects Forward-looking Sonar 8, satellite communication apparatus 2, radio communication device 3 and energy supply control module 13, and supervising device 10 and navigation control system 9 hold on a correspondence.
Independently navigate by water under water and carry satellite communication apparatus 2, radio communication device 3, locating device 5 on the fairshaped sail body 1 of observation platform, throw and carry releasing means 6, acoustic marker 7 and a Forward-looking Sonar 8.Locating device 5 is installed in the middle and upper part of sail body 1, obtains the positional information of navigation observation platform by locating device 5.Satellite communication apparatus 2 and radio communication device 3 are installed in the middle and upper part of sail body 1, will have the status information of positional information to send to the deck unit 4 that discharges on the lash ship, simultaneously, receive the control command of deck unit 4.Throw and carry the centre that releasing means 6 is positioned at sail body 1 bottom, after assurance throwing loading was thrown and carried, sail body 1 possesses positive buoyancy and the sail body attitude remains unchanged.Acoustic marker 7 is installed in the front upper part of sail body 1, is convenient to carry out sound communication with deck unit 4.Acoustic marker 7 is connected with supervising device 10, and is independently-powered, regularly sends positional information to deck unit 4, promptly throws to carry when observation platform and floats unsuccessfully, and deck unit 4 can be determined observation platform in marine position by acoustic marker 7, and enforcement is salvaged.Forward-looking Sonar 8 is installed in the front bottom of sail body 1, and Forward-Looking Sonar 8 is used for finding the barrier in sail body 1 the place ahead.
For guaranteeing that observation platform has higher communication success ratio, the antenna height of satellite communication apparatus 2 should be not less than 20 centimetres, and the antenna height of radio communication device 3 should be not less than 35 centimetres, otherwise can affect the communication efficiency of observation platform; For guaranteeing that observation platform has higher position success rate, the antenna height of locating device 5 should be not less than 35 centimetres, guarantees the position success rate of observation platform.
Supervising device 10 is installed in sail body inside, by the control system that single-chip microcomputer consists of, possesses at least 4 RS232 serial line interfaces, 1 A/D port, 4 I/O ports, and supervising device 10 possesses the mass data storage ability, is used for the data of storage of collected.
Supervising device 10 is connected by the RS232 serial line interface with locating device 5, electronic compass 11, and supervising device 10 is connected by the A/D port with leakage sensor 14, and supervising device 10 is connected by 2 I/O ports with Temperature Humidity Sensor 12.The data of supervising device 10 self-timing collections and store location device 5, electronic compass 11, Temperature Humidity Sensor 12, leakage sensor 14 obtain position, orientation, attitude, temperature, the humidity information of observation platform, and are stored in the mass storage.
Temperature Humidity Sensor 12 is installed in and independently navigates by water observation platform sail body 1 inside under water, is installed near the equipment of heat dissipation capacity maximum in the cabin, and whether the temperature in monitoring sail body 1 cabin is normal.Temperature Humidity Sensor 12 is installed near the PC104 industrial computer of navigation control system 9.
Whether leakage sensor 14 is installed in the bottom in the body of sail body cabin, leak in order in time find sail body.
Supervising device 10 carries a releasing means 6 with throwing and is connected by the I/O port, and throwing is carried releasing means 6 and is comprised of releasing mechanism and throwing loading two parts, and when sail body needed emergency ascent, supervising device 10 started releasing mechanisms, will throw the loading throwing and carry, and made the sail body come-up.
Supervising device 10 is connected communication with navigation control system 9 by the RS232 serial line interface, gathers and store the state parameter of observation platform.
Supervising device 10 is connected by the I/O port with energy supply control module 13, supervising device 10 by energy supply control module 13 control navigation control systems 9 power on, power down.
Navigation control system 9 is installed in sail body inside, consists of control system by the PC104 industrial computer.
Navigation control system 9 is connected by the RS232 serial line interface with Forward-looking Sonar 8, and navigation control system 9 utilizes Forward-looking Sonar 8 to survey the barrier in the place ahead, and when there was barrier in the place ahead, navigation control system 9 started the program that keeps in obscurity, and made observation platform realize collision prevention.
Navigation control system 9 is connected with radio communication device with satellite communication apparatus 2 and is connected by the RS232 serial line interface, navigation control system 9 via satellite communicator 2 and radio communication device 3 carries out radio communication with deck unit 4, receive the order of deck unit 4, transmit simultaneously position and the status information of observation platform to deck unit 4.
Claims (3)
1. one kind is independently navigated by water the observation platform safety convenience instrument under water, it is characterized in that: comprise supervising device, locating device, electronic compass, Temperature Humidity Sensor, leakage sensor, Forward-looking Sonar, throw and carry releasing means, acoustic marker, satellite communication apparatus, radio communication device, energy supply control module and navigation control system, the supervising device connection locator, electronic compass, acoustic marker, Temperature Humidity Sensor, leakage sensor, throw and carry releasing means and energy supply control module, navigation control system connects Forward-looking Sonar, satellite communication apparatus, radio communication device and energy supply control module, supervising device and navigation control system hold on a correspondence; Supervising device is installed in that independently to navigate by water the observation platform sail body under water inner, single-chip microcomputer by the mass data storage ability consists of, be connected with locating device, electronic compass, navigation control system and acoustic marker by the RS232 serial line interface, be connected with leakage sensor by the A/D port, be connected releasing means by the I/O port with Temperature Humidity Sensor, energy supply control module and throwing and be connected; Navigation control system is installed in that independently to navigate by water the observation platform sail body under water inner, is the control system that large functional machine forms, and is connected the RS232 serial line interface with supervising device, satellite communication apparatus, radio communication device and Forward-looking Sonar and is connected.
2. the observation platform safety convenience instrument that independently navigates by water under water according to claim 1, it is characterized in that: described acoustic marker is installed in the observation platform front upper part, and deck unit can be determined by the signal that acoustic marker sends sound the position of observation platform; Described Forward-looking Sonar is installed in the front bottom of observation platform, and navigation control system is surveyed the barrier in the place ahead by Forward-looking Sonar.
3. the observation platform safety convenience instrument that independently navigates by water under water according to claim 1 is characterized in that: described throwing is carried releasing means and is installed in and independently navigates by water the observation platform middle and lower part under water, by releasing mechanism with throw loading and form; When observation platform met accident, supervising device started releasing mechanism, will throw loading and abandon, and makes observation platform have positive buoyancy, on float to the sea.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104683802A CN102937795A (en) | 2012-11-19 | 2012-11-19 | Autonomous underwater sailing observation platform security assurance device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104683802A CN102937795A (en) | 2012-11-19 | 2012-11-19 | Autonomous underwater sailing observation platform security assurance device |
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| CN102937795A true CN102937795A (en) | 2013-02-20 |
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| CN2012104683802A Pending CN102937795A (en) | 2012-11-19 | 2012-11-19 | Autonomous underwater sailing observation platform security assurance device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104943836A (en) * | 2015-05-21 | 2015-09-30 | 中国科学院声学研究所 | Emergent safety system of deep sea towed body |
| CN105711786A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Miniature modular AUV tail arrangement structure |
| CN108363083A (en) * | 2018-02-23 | 2018-08-03 | 鲁东大学 | A kind of unmanned independent navigation observation platform |
| CN108445801A (en) * | 2018-03-15 | 2018-08-24 | 西北工业大学 | A kind of portable autonomous submarine navigation device multifunctional safe warning device and alarming logic control method |
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Cited By (5)
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Application publication date: 20130220 |