CN113920695A - Emergency alarm system for underwater autonomous robot - Google Patents
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- CN113920695A CN113920695A CN202111247078.XA CN202111247078A CN113920695A CN 113920695 A CN113920695 A CN 113920695A CN 202111247078 A CN202111247078 A CN 202111247078A CN 113920695 A CN113920695 A CN 113920695A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/185—Electrical failure alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/187—Machine fault alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/009—Signalling of the alarm condition to a substation whose identity is signalled to a central station, e.g. relaying alarm signals in order to extend communication range
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
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- H—ELECTRICITY
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- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
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- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
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Abstract
The invention discloses an emergency alarm system for an underwater autonomous robot. The underwater autonomous robot emergency alarm system is established by comprehensively utilizing underwater acoustic communication and an ejection type satellite beacon, and comprises a robot state detection and core control subsystem, a mother ship emergency communication subsystem based on the underwater acoustic communication and an ejection type underwater beacon satellite communication alarm subsystem. When a fault occurs, the emergency alarm core control module firstly sends a distress signal to the underwater acoustic communicator of the working mother ship through underwater sound, and the underwater acoustic communicator of the working mother ship returns reply information; if the reply information is not received after the distress signal is sent for many times, the emergency alarm core control module controls the electromagnetic ejection device to eject the satellite communication beacon. In addition, a standby power supply control delay relay is further arranged, when the system power supply is turned off, the preset relay controls the beacon to be ejected, and the alarm under the abnormal condition is guaranteed. The system has double emergency alarm modes, is not limited by the application sea area range, and is stable and reliable.
Description
Technical Field
The invention belongs to the technical field of robot control and communication, and mainly relates to an emergency alarm system for an underwater autonomous robot, in particular to an emergency alarm system for the underwater autonomous robot when encountering an operation accident.
Background
An autonomous underwater robot is a special robot working in a complex underwater environment. Because of the harsh underwater environment and the limited diving depth of human beings, the underwater autonomous robot has become an important tool for ocean exploration. The underwater autonomous robot can replace manpower to work underwater for a long time in a high-risk environment, a polluted water area and a zero-visibility water area, and therefore, the underwater autonomous robot is widely applied to the fields of maritime safe search and rescue, submarine pipeline inspection, ocean resource detection, ocean scientific research and the like.
The underwater environment is complex and changeable, extreme phenomena such as sea waves, ocean currents, internal waves and the like occur frequently, obstacles such as winding waterweeds, marine organisms, reef rocks and the like exist, various sensors equipped by the robot are not necessarily reliable, and a motion control system of the underwater autonomous robot is not stable, so that the probability that the underwater autonomous robot meets various operation accidents is high. Once an accident happens to the underwater autonomous robot, manual rescue is very difficult, and a large property loss is often caused. Therefore, the emergency alarm scheme of the underwater autonomous robot when meeting various operation accidents is very important.
At present, the underwater autonomous robot generally adopts a self-checking sensor to realize load throwing self-rescue, and the method can realize self-rescue of the underwater autonomous robot in the fault under the conditions of small sea area and simple underwater environment. However, if the underwater environment is very complex or the autonomous underwater robot has system faults, the self-rescue function cannot be guaranteed and the timely transmission of rescue information cannot be realized. The ultra-short baseline positioning system (USBL) can realize the positioning of the underwater autonomous robot and can accurately position the rescue position when the robot breaks down. However, this method requires several underwater positioning base stations, which is difficult to deploy and very costly to deploy. The underwater autonomous robot mutual rescue system based on multiple underwater autonomous robots realizes mutual communication of the multiple underwater autonomous robots by using underwater acoustic communication, and when a certain robot breaks down, other underwater autonomous robots can execute rescue programs. The method adopts multi-robot underwater acoustic communication to realize fault information transmission, but currently, the method only stays at a theoretical research level, and the practical application of the method is severely limited by low-efficiency underwater communication in practical situations.
Reference 1(201510818712.9) proposes a positioning communication and supervision emergency control system and method for an underwater robot, which uses data acquisition and load rejection commands of an automatic driving unit to realize emergency control. Reference 2(201910345205.6) proposes an emergency protection device, which achieves emergency floating by air bag floating and weight control. The comparison document 3(201410023248.X) mainly realizes the emergency load rejection function from a mechanical angle, and not only can realize the reliable release of the ballast block, but also can realize the fixed installation of the ballast block when the equipment works normally. The comparison files 4(201611129257.2), 5(202011147873.7), 6(202010126259.6), 7(201811009861.0) and the like all strive to realize the emergency recovery of the underwater robot in various load rejection modes.
In conclusion, the underwater autonomous robot, which is an important tool for humans to explore the ocean, is prone to accidents and faults when performing various underwater tasks. According to practical application requirements and technical research results, the problem that entanglement such as underwater obstacles cannot be overcome by means of a traditional throwing and loading recovery mode is found, and the problem cannot be solved well by the existing scheme. Through analysis, in the field of emergency rescue of underwater robots, the most important thing is to confirm the state and the position of the underwater robot, but not to simply control the floating recovery.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an emergency alarm system for an underwater autonomous robot, which comprehensively utilizes underwater acoustic communication to carry out emergency communication and ejection type underwater beacon satellite communication alarm on a mother ship, thereby confirming the accurate position information of the underwater robot, establishing the underwater autonomous robot emergency alarm system with the underwater acoustic communication alarm function and the ejection beacon alarm function, and solving the alarm communication problem of abnormal fault processing of the underwater autonomous robot.
An emergency alarm system for an underwater autonomous robot comprises a robot state detection and core control subsystem, a mother ship emergency communication subsystem based on underwater acoustic communication and an ejection type underwater beacon satellite communication alarm subsystem.
The robot state detection and core control subsystem is connected with the underwater autonomous robot by a watertight cable, is used for identifying the fault type of the underwater autonomous robot, and comprises a robot state detection module and an emergency alarm core control module; the robot state detection and core control subsystem defines a universal fault diagnosis interface and is compatible with different types of underwater autonomous robots.
The robot state detection module collects data detected by a sensor mounted on the underwater autonomous robot, judges the state of the underwater autonomous robot through the sensor data, and sends an emergency early warning signal to the emergency warning core control module when the underwater autonomous robot has a fault.
The emergency alarm core control module receives an early warning signal from the robot state detection module and controls the mother ship emergency communication subsystem and the ejection type underwater beacon satellite communication alarm subsystem based on underwater acoustic communication to work according to a preset emergency communication strategy.
Preferably, the sensors carried by the underwater autonomous robot include a water depth detection sensor, a water leakage detection sensor, a rotation speed measurement sensor, an electric quantity measurement sensor, and an underwater position sensor. The water depth sensor measures the underwater depth of the underwater autonomous robot and judges whether the underwater autonomous robot submerges too deep to give an early warning; the water leakage detection sensor detects the tightness of the underwater autonomous robot and judges whether the underwater autonomous robot has water leakage or not; the rotation speed measuring sensor detects the rotation speed of a motor and a steering engine of the underwater autonomous robot and judges whether the underwater autonomous robot has a motion fault; the electric quantity measuring sensor detects the residual energy and the energy efficiency curve of the underwater autonomous robot and judges whether the electric quantity consumption is normal or not; the underwater position sensor obtains the position information of the underwater autonomous robot through comprehensive calculation of the water surface positioning device and the inertial navigation device.
The mother ship emergency communication subsystem based on underwater acoustic communication comprises an underwater robot end underwater acoustic communicator and a working mother ship underwater acoustic communicator; the underwater acoustic communication-based mother ship emergency communication subsystem receives a control signal from the emergency alarm core control module, the underwater acoustic communicator at the underwater robot end sends a distress signal to the underwater acoustic communicator of the working mother ship through underwater sound, and sends reply information returned by the underwater acoustic communicator of the working mother ship to the emergency alarm core control module. And the underwater acoustic communicator of the working mother ship analyzes and judges the fault type and the position information of the underwater autonomous robot according to the received distress signal, and takes corresponding emergency measures.
The ejection type underwater beacon satellite communication alarm subsystem comprises a coupling communication module, an electromagnetic ejection device, a standby power supply, a delay relay and a satellite communication beacon; the electromagnetic ejection device consists of a large-current electromagnetic switch and an ejector and utilizes an electromagnetic field to generate reverse thrust to eject the satellite communication beacon. Before the satellite communication beacon is ejected, the underwater robot body continuously sends self position information and state information to the satellite communication beacon through the coupling communication module, the satellite communication beacon is ejected and floats to the water surface and then carries out wireless electromagnetic communication with the satellite, the obtained latest information is sent, the position information and the state information of the underwater robot are accurate, and position deviation caused by drift in the floating process of the satellite communication beacon is avoided. The satellite communication beacon carries a Beidou satellite antenna, a positioning antenna, a pressure sensor and a microprocessor, is designed to be positively buoyant, and floats to the water surface after being ejected. The ejection type underwater beacon satellite communication alarm subsystem receives a control signal from the emergency alarm core control module, the electromagnetic ejection device ejects a satellite communication beacon, and the satellite communication beacon is communicated with a satellite through wireless electromagnetic communication; and the satellite system analyzes and judges the fault type and the position information of the underwater autonomous robot according to the received distress signal. In order to improve the robustness of the emergency alarm system of the underwater autonomous robot, when a system power supply stops working, a standby power supply is started to supply power to a delay relay, and after a preset working duration, the delay relay controls a satellite communication beacon to pop up, so that the position and the state of the underwater robot under a long-time abnormal condition are uploaded.
Preferably, the emergency communication strategy preset by the system is as follows: when the underwater autonomous robot of the robot state detection module has a fault, an emergency early warning signal is sent to an emergency warning core control module; the emergency alarm core control module firstly controls the underwater robot end underwater acoustic communicator to send a distress signal to the working mother ship underwater acoustic communicator through underwater sound, the working mother ship underwater acoustic communicator returns reply information after receiving the distress signal, and the emergency alarm core control module controls the underwater autonomous robot to wait for rescue after receiving the reply information; if the underwater acoustic communicator at the underwater robot end does not receive the reply information after sending the distress signal for many times, the emergency alarm core control module sends the underwater robot position information to the satellite communication beacon through the coupling communication module and controls the electromagnetic ejection device to eject the satellite communication beacon. After the satellite communication beacon floats to the water surface, the accurate position information of the underwater robot body is sent to the operation mother ship through satellite communication for assisting rescue.
Preferably, the underwater acoustic communicator at the underwater robot end sends a distress signal every 1 minute, and the number of times of sending the distress signal and waiting for a reply message is 10. The distress signal comprises position data, fault information and other information which can assist rescue and are acquired by the underwater robot, and the reply information comprises emergency rescue information such as reversal, load rejection and power failure.
The invention has the following beneficial effects:
1. the provided ejection type floating satellite beacon alarming method is not limited by the application sea area range, and can be applied to emergency communication and alarming rescue systems of autonomous robots under offshore and deep sea water.
2. The method for transmitting the accurate position data of the underwater robot to the satellite beacon by using the non-contact coupling communication is provided, and the conventional method can only search the underwater robot by using the position of the satellite beacon and has larger position error.
3. The underwater acoustic communication is comprehensively utilized to give an alarm to the mother ship emergency communication and the ejection type underwater beacon satellite communication, and the underwater acoustic communication system has dual emergency alarm modes and ensures the reliability of the emergency alarm system.
4. The emergency rescue mode that the ejection satellite communication beacon is started when the standby power supply is used for controlling the preset maximum working time of the delay relay is provided, and the reliability of the system is further improved.
Drawings
FIG. 1 is a schematic diagram of an emergency alarm system of an underwater autonomous robot;
FIG. 2 is a general block diagram of the emergency alert system of the present invention;
FIG. 3 is a block diagram of a robot state self-detection and core control subsystem;
FIG. 4 is a structural diagram of an ejection type underwater beacon satellite communication alarm subsystem;
fig. 5 is a flow chart of emergency alarm in the embodiment.
Detailed Description
The invention is further explained below with reference to the drawings.
Fig. 1 is a schematic view of an application of an emergency alarm system of the underwater autonomous robot in this embodiment, including a mother work ship, the underwater autonomous robot, an emergency alarm system for the underwater robot, a satellite communication buoy, and a satellite system. When the underwater autonomous robot works, a mother ship is generally arranged nearby and used for releasing and recovering the underwater robot. Therefore, the mother ship can also be used as a receiver of the underwater robot emergency alarm signal. Moreover, the working mother ship is generally provided with an underwater sound scanning device and an underwater sound communication device, and corresponding functions can be realized without any modification.
As shown in fig. 2, the emergency alarm system for the underwater autonomous robot is composed of a robot state detection and core control subsystem, a mother ship emergency communication subsystem based on underwater acoustic communication, and an ejection type underwater beacon satellite communication alarm subsystem.
As shown in fig. 3, the robot state detection and core control subsystem includes a robot state detection module and an emergency alarm core control module. The robot state detection module is the first link of an emergency system. The robot state detection module comprises a water pressure sensor, a water leakage detection sensor, a rotating speed detection sensor and a voltage detection sensor.
The water pressure sensor is mainly responsible for measuring the ocean depth where the underwater autonomous robot is located: on one hand, the underwater autonomous robot can be prevented from moving beyond the limit depth, and on the other hand, when the underwater autonomous robot breaks down and cannot move, depth reference data can be provided for rescue workers. In the embodiment, the water pressure sensor adopts an MS5837B30 depth sensor, the pressure resistance range is 300 meters, and the detection error is 50 mbar.
The water leakage detection sensor is mainly responsible for detecting the tightness of the underwater autonomous robot, and if the underwater autonomous robot causes damage to a sealed cabin due to collision, the water leakage detection sensor can detect faults at the first time, so that the robot can conveniently start an emergency rescue program. In the embodiment, the water leakage detection sensor adopts an SHT30 module, the maximum error range is 3% relative humidity, the response time of the collected data is 1 second, and the response can be timely made under the condition that the sealed cabin leaks water.
The rotation speed detection sensor is mainly used for checking whether a pusher of the underwater autonomous robot breaks down or not, the difference value between the driving rotation speed and the actual rotation speed is compared in a program, and if the difference value exceeds a threshold value, the pusher of the robot is considered to break down, and an emergency communication system needs to be started. The rotating speed detection sensor in the embodiment adopts an E6B2-CWZ6C encoder as the rotating speed detection sensor of the impeller, and can respond to the pulse frequency of 100kHz at most and measure the rotating speed of 6000 r/min.
The voltage detection sensor is mainly responsible for predicting whether the electric quantity of the underwater autonomous robot can maintain the energy required by the movement of the underwater autonomous robot, and when the electric quantity can only maintain the return voyage, a signal is fed back to the processor so as to realize the self-rescue function of the underwater autonomous robot. In this embodiment, the ADS1265 high-precision analog-to-digital conversion module is used to detect the electric quantity of the voltage battery, and has an analog-to-digital conversion resolution of 24 bits and a sampling rate of 30 kpbs.
The underwater autonomous robot state detection system senses the environment by using a high-precision sensor, obtains the motion parameters of the robot and provides data reference for the processor to open the emergency communication system. Because the sensors configured for various underwater robots are different, the robot state detection module is required to be compatible with the data interface and the data format commonly used in the market at present. The invention carries out universal design on the sensor interface commonly used in the field of the current underwater robot in the interface hardware design and software design of the underwater autonomous robot state detection system.
The emergency alarm core control module is mainly responsible for collecting and processing data uploaded by the underwater autonomous robot state detection system and making logic judgment. When the underwater autonomous robot breaks down, the underwater autonomous robot is communicated and positioned with the satellite through the beacon system. In the embodiment, the core control module of the emergency alarm adopts an STM32F103 series microprocessor developed by an intentional semiconductor as a core of the system, and has higher working frequency, stronger logic processing capability, rapid interrupt signal processing capability and abundant external interaction interfaces. The alarm core control module is mainly used for obtaining the state judgment of the underwater autonomous robot through comprehensive processing of state data of various sensors. Once the underwater autonomous robot works abnormally, the data of the state sensors are integrated to obtain an analysis result.
The mother ship emergency communication subsystem based on underwater acoustic communication comprises an underwater robot end underwater acoustic communicator and a working mother ship underwater acoustic communicator. Due to the multipath effect and the time-varying effect of the channel, the underwater acoustic communication system can be used for narrow frequency bandwidth and serious signal attenuation, particularly in long-distance transmission, the speed of underwater acoustic communication is very low compared with wired communication, but the communication distance of the underwater acoustic communication system can reach several kilometers to tens of kilometers, and the bidirectional interaction between the underwater acoustic communication system and a working mother ship can be met under general conditions, so that the underwater acoustic communication is still the most common technical mode in the current underwater communication field. In the embodiment, a Benthos underwater acoustic communication system is adopted, the maximum data baud rate of 15360bps is achieved, and the maximum working depth is 500 meters. Because the underwater acoustic communication mode cannot be effectively implemented in some occasions, emergency alarm only relying on the underwater acoustic communication still has great risk. When the underwater robot is detected to have abnormal conditions, the underwater acoustic communication emergency alarm data can be continuously sent for 10 times, and if a reply is received, the emergency alarm function is completed; if the reply is not received, the ejection type underwater beacon satellite communication alarm can be started, so that the reliability of emergency alarm is improved.
The ejection type underwater beacon satellite communication alarm subsystem is shown in fig. 4 and comprises a coupling communication module, an electromagnetic ejection device, a standby power supply, a time delay relay and a satellite communication beacon. The satellite communication beacon is tied to the underwater robot body, and the release mechanism can be triggered by the coupling communication module. The electromagnetic ejection device is loaded on the underwater robot body, consists of a large-current electromagnetic switch and an ejector, and drives the electromagnetic generation device to generate reverse thrust, so that the satellite communication beacon is ejected at a certain initial speed. Before the satellite communication beacon is ejected, the underwater robot body continuously transmits the position information and the state information of the underwater robot body to the satellite communication beacon through the coupling communication module. The satellite communication beacon carries a Beidou satellite antenna, a positioning antenna, a pressure sensor and a microprocessor, is designed to be positively buoyant, and can automatically float to the water surface after being ejected. The ejection type underwater beacon satellite communication alarm subsystem receives a control signal from the emergency alarm core control module and ejects the satellite communication beacon by the electromagnetic ejection device. The satellite communication beacon sends distress information through the Beidou satellite. And finally, analyzing the distress signal, and judging the fault type and the position information of the underwater autonomous robot. The satellite communication beacon is composed of a Beidou global positioning communication and communication module, a micro-power consumption processor, a power supply battery and a waterproof shell. The micro-power processor is in state interaction with the underwater autonomous robot through the coupling communication module, and receives and sends positioning data through the Beidou global positioning communication and the communication module. The ejection device is composed of a high-power electromagnetic switch and an ejector, and ensures that enough power is available for ejecting the satellite communication beacon to the water surface. According to the method, accurate position data of the underwater robot are sent to the satellite beacons through non-contact coupling communication, the underwater robot can only be searched through the positions of the satellite beacons in the traditional method, and large position errors exist. In the method, accurate position information of the underwater robot is sent after the satellite communication beacon floats upwards, so that errors caused by position drift in the floating process of the satellite communication beacon are avoided. In order to improve the robustness of the emergency alarm system of the underwater autonomous robot, when a system power supply is turned off, a standby power supply is started to supply power to a delay relay, and after a preset working duration, the delay relay controls a satellite communication beacon to pop up, so that the position and the state of the underwater robot under a long-time abnormal condition are uploaded.
As shown in fig. 5, the robot state detection module collects data of a water depth detection sensor, a water leakage detection sensor, a rotating speed measurement sensor, an electric quantity measurement sensor, an underwater position sensor and the like which are equipped in the underwater autonomous robot body, and the emergency alarm core control module comprehensively analyzes and judges fault information of the underwater autonomous robot. If the emergency alarm core control module judges that the state of the underwater autonomous robot is abnormal, the emergency alarm core control module sends fault information to the mother ship through the underwater robot end underwater acoustic communication machine. If the underwater acoustic communicator of the working mother ship can receive the signal, the emergency received reply message is immediately sent. And the working mother ship judges the fault type and the position information of the underwater autonomous robot according to the emergency code and takes emergency measures in time. And if the underwater acoustic communication machine of the working mother ship does not reply the response information, the underwater acoustic communication machine at the underwater robot terminal retransmits the information, and the response is not received after 10 times of attempts, then the ejection type underwater beacon satellite communication alarm subsystem is triggered. After the launch type underwater beacon satellite communication alarm subsystem is started, the satellite communication beacon can be launched upwards at a certain initial speed by matching with the positive buoyancy design. In order to improve the robustness of the underwater autonomous robot emergency alarm system, a standby power supply is used for supplying power to a delay relay under the condition that a system power supply is turned off, the maximum working time is preset, and a launching satellite communication beacon is started when the time is up. When the satellite communication beacon arrives at the water surface, the accurate position and the fault information of the underwater robot are sent to the satellite receiving end of the working mother ship through the Beidou satellite.
Compared with the prior art, the method provides the ejection type floating satellite beacon alarming method which is not limited by the application sea area range and can be applied to emergency communication and alarming rescue systems of autonomous robots under offshore and deep sea water; the underwater acoustic communication is comprehensively utilized to give an alarm to the mother ship emergency communication and the ejection type underwater beacon satellite communication, and the underwater acoustic communication system has dual emergency alarm modes, ensures the reliability of the emergency alarm system and provides accurate position information of the underwater robot body. The method overcomes the defect of the traditional throwing, floating and self-rescue, and can provide a reliable emergency alarm mode once the underwater autonomous robot generates abnormity, thereby providing technical support for subsequent rescue.
Claims (9)
1. The utility model provides an emergent alarm system of autonomous robot under water which characterized in that: the system comprises a robot state detection and core control subsystem, a mother ship emergency communication subsystem based on underwater acoustic communication and an ejection type underwater beacon satellite communication alarm subsystem;
the robot state detection and core control subsystem is connected with the underwater autonomous robot and comprises a robot state detection module and an emergency alarm core control module; the robot state detection and core control subsystem defines a universal fault diagnosis interface and is compatible with different underwater autonomous robots;
the robot state detection module collects data detected by a sensor loaded on the underwater autonomous robot, judges the state of the underwater autonomous robot through the sensor data, and sends an emergency early warning signal to the emergency warning core control module when the underwater autonomous robot has a fault;
the emergency alarm core control module receives an early warning signal from the robot state detection module and controls the mother ship emergency communication subsystem and the ejection type underwater beacon satellite communication alarm subsystem based on underwater acoustic communication to work according to a preset emergency communication strategy;
the mother ship emergency communication subsystem based on underwater acoustic communication comprises an underwater robot end underwater acoustic communicator and a working mother ship underwater acoustic communicator; the underwater acoustic communication-based mother ship emergency communication subsystem receives a control signal from the emergency alarm core control module, the underwater acoustic communicator at the underwater robot end sends a distress signal to the underwater acoustic communicator of the working mother ship through underwater sound, and sends reply information returned by the underwater acoustic communicator of the working mother ship to the emergency alarm core control module;
the ejection type underwater beacon satellite communication alarm subsystem comprises a coupling communication module, an electromagnetic ejection device, a standby power supply, a delay relay and a satellite communication beacon; the ejection type underwater beacon satellite communication alarm subsystem receives a control signal from the emergency alarm core control module, and the electromagnetic ejection device ejects a satellite communication beacon; before the satellite communication beacon is ejected, the satellite communication beacon is continuously communicated with the underwater robot through the coupling module to acquire the position and state information of the underwater robot, and after the satellite communication beacon is ejected and floats to the water surface, the satellite communication beacon is in wireless electromagnetic communication with the satellite and sends the position and state information of the underwater robot acquired last time to the satellite;
when the system power supply stops working, the standby power supply is started to supply power to the time delay relay, and after the preset working time, the time delay relay controls the satellite communication beacon to pop up.
2. The underwater autonomous robot emergency alarm system of claim 1, wherein: the sensors loaded by the underwater autonomous robot comprise a water depth detection sensor, a water leakage detection sensor, a rotating speed measurement sensor, an electric quantity measurement sensor and an underwater position sensor.
3. The underwater autonomous robot emergency alarm system of claim 1 or 2, wherein: the water depth sensor measures the underwater depth of the underwater autonomous robot and judges whether the underwater autonomous robot submerges too deep to give an early warning; the water leakage detection sensor detects the tightness of the underwater autonomous robot and judges whether the underwater autonomous robot has water leakage or not; the rotation speed measuring sensor detects the rotation speed of a motor and a steering engine of the underwater autonomous robot and judges whether the underwater autonomous robot has a motion fault; the electric quantity measuring sensor detects the residual energy and the energy efficiency curve of the underwater autonomous robot and judges whether the electric quantity consumption is normal or not; the underwater position sensor obtains the position information of the underwater autonomous robot through comprehensive calculation of the water surface positioning device and the inertial navigation device.
4. The underwater autonomous robot emergency alarm system of claim 1, wherein: the emergency communication strategy preset by the system is as follows: when the underwater autonomous robot of the robot state detection module has a fault, an emergency early warning signal is sent to an emergency warning core control module; the emergency alarm core control module firstly controls the underwater robot end underwater acoustic communicator to send a distress signal to the working mother ship underwater acoustic communicator through underwater sound, the working mother ship underwater acoustic communicator returns reply information after receiving the distress signal, and the emergency alarm core control module controls the underwater autonomous robot to wait for rescue after receiving the reply information; if the underwater acoustic communicator at the underwater robot end does not receive the reply information after sending the distress signal for many times, the emergency alarm core control module sends the underwater robot position information to the satellite communication beacon through the coupling communication module and controls the electromagnetic ejection device to eject the satellite communication beacon.
5. The underwater autonomous robot emergency alarm system of claim 1 or 4, wherein: the underwater acoustic communicator at the underwater robot end sends a distress signal every 1 minute, and the number of times of sending the distress signal and waiting for information reply is 10.
6. The underwater autonomous robot emergency alarm system of claim 1 or 4, wherein: and the underwater acoustic communicator of the working mother ship analyzes and judges the fault type and the position information of the underwater autonomous robot according to the received distress signal, and takes corresponding emergency measures.
7. The underwater autonomous robot emergency alarm system of claim 1, wherein: the electromagnetic ejection device consists of a high-current electromagnetic switch and an ejector, and the satellite communication beacon is ejected by utilizing the reverse thrust generated by an electric field.
8. The underwater autonomous robot emergency alarm system of claim 1, wherein: the satellite communication beacon carries a Beidou satellite antenna, a positioning antenna, a pressure sensor and a microprocessor, is designed to be positive buoyancy, floats to the water surface after being ejected, sends distress signals to a satellite system, receives information returned by the satellite system, and realizes bidirectional communication with the emergency alarm core control module through a coupling communication module.
9. The underwater autonomous robot emergency warning system of claim 1 or 8, wherein: the satellite system analyzes and judges the fault type and the position information of the underwater autonomous robot according to the received distress signal, returns emergency rescue information of inversion, load rejection or power failure to the satellite communication beacon and controls the underwater autonomous robot to save self.
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