CN107168314B - Buoy data information transfer device based on unmanned ship system - Google Patents
Buoy data information transfer device based on unmanned ship system Download PDFInfo
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- CN107168314B CN107168314B CN201710358514.8A CN201710358514A CN107168314B CN 107168314 B CN107168314 B CN 107168314B CN 201710358514 A CN201710358514 A CN 201710358514A CN 107168314 B CN107168314 B CN 107168314B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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Abstract
The invention relates to a buoy data information transfer device based on an unmanned ship system, which is based on the unmanned ship system; the industrial control host comprises a built-in WIFI module; the camera module, the radar module and the Beidou module are externally connected; a circuit board provided with a motor module for controlling the propeller and the steering engine; the host computer further includes a program for performing the steps of: acquiring unmanned ship position information and a target task instruction through a Beidou module, planning a navigation track, and issuing a path control instruction to a circuit board; collecting image information of a camera module and identifying a buoy; starting a radar module, and detecting the obstacle condition of the surrounding environment of the unmanned ship; determining the position of the buoy and issuing a bypassing control instruction to the circuit board; and the WIFI module is started, data information stored in the buoy is received and stored in an external storage device. The invention can acquire the data information stored in the buoy in a short distance and sail back to the shore base station for data uploading, thereby improving the efficiency of the information acquisition process.
Description
Technical Field
The patent relates to a data transfer device and a method, in particular to a buoy data information transfer device based on an unmanned ship system, and particularly relates to a data transfer device and a method capable of acquiring information stored in an underwater buoy device.
Background
With the vigorous development of the intelligent mariculture industry, the electric buoy system is gradually introduced into the fields of water body detection, culture environment monitoring and the like, has embodied obvious application effect and application value, and can realize integrated and integrated acquisition and analysis of the environment and effective storage and transmission of related data information by carrying various sensors and video modules.
However, in view of the long distance from the shore, high-speed big data wireless communication networks represented by radio frequency networks and WIFI networks cannot be effectively built, and the amount of data information carried by satellite signals is limited, so that continuous transmission of a large amount of data cannot be satisfied.
Aiming at the bottleneck problem of information transmission, the current solution is only to periodically transmit a small amount of necessary information through satellite signals, and regularly drive a ship to sail to a buoy to manually extract a data storage card storing information such as video data. The method not only lags the acquisition cycle of the data information greatly, but also improves the cost of acquiring the information, so that the efficiency of the information acquisition process of the buoy monitoring system is low, which is the defect of the prior art.
Therefore, how to efficiently and conveniently acquire data information stored in the buoy becomes an urgent problem to be solved in the process of carrying out ocean monitoring by the current buoy device.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a buoy data information transfer device and method based on an unmanned ship system, which can acquire data information stored in a buoy in a short distance and sail back to a shore base station for data uploading.
In one aspect of the present invention, a data transferring device for obtaining information stored in an underwater buoy is provided, which is characterized in that: the device is based on an unmanned ship system; the industrial control host comprises a built-in WIFI module; the high-definition camera module, the laser radar module and the Beidou satellite module are externally connected; a circuit board provided with a motor module for controlling the propeller and the steering engine; the host computer includes a program that performs the steps of:
acquiring unmanned ship position information and a target task instruction through a Beidou satellite module, planning a navigation track, and issuing a path control instruction to a circuit board;
collecting image information of a high-definition camera module, and identifying a buoy;
starting a laser radar module, and detecting the obstacle condition of the surrounding environment of the unmanned ship;
determining the position of the buoy and issuing a bypassing control instruction to the circuit board;
and the WIFI module is started, data information stored in the buoy is received and stored in an external storage device.
Further, the program further includes the steps of:
controlling a rotating tripod head connected with a camera of the high-definition camera module to change the shooting direction;
collecting image information of a high-definition camera module, and identifying an obstacle;
and designing obstacle avoidance requirements according to the current navigation track and the position of the obstacle.
Preferably, the motor module of the circuit board includes:
STC89C52 singlechip;
a double-winding bipolar stepping motor control chip UDN2916 LB;
MAX232 serial port communication chip.
Further, the apparatus further comprises:
and the beacon light is connected to the circuit board and used for prompting other autonomous aircrafts to effectively avoid.
In another aspect of the present invention, a data transferring method for obtaining information stored in an underwater buoy is provided, which is characterized by comprising the following steps:
the industrial control host acquires the position information of the unmanned ship and a target task instruction through the Beidou satellite module, plans a navigation track and issues a path control instruction to an external circuit board;
collecting image information of a high-definition camera module, and identifying a buoy;
starting a laser radar module, and detecting the obstacle condition of the surrounding environment of the unmanned ship;
determining the position of the buoy and issuing a bypassing control instruction to an external circuit board;
and the WIFI module is started, data information stored in the buoy is received and stored in an external storage device.
Further, the method comprises the following steps:
controlling a rotating tripod head connected with a camera of the high-definition camera module to change the shooting direction;
collecting image information of a high-definition camera module, and identifying an obstacle;
and designing obstacle avoidance requirements according to the current navigation track and the position of the obstacle.
Preferably, the method further comprises the steps of:
the system self-checks, if the fault enters fault-tolerant control, the unmanned ship system carries out software correction according to a self-checking fault report;
if the fault is not solved, the Beidou module is used for sending the current state information of the system, and the heading is reset and returned to the base station.
The method has the advantages that the data stored in the buoy can be efficiently and conveniently acquired, and the unmanned ship system determines the position of the unmanned ship system through the positioning function of the Beidou satellite signal receiving module; acquiring the position information of the target buoy through the information function of the Beidou satellite signal receiving module; setting a navigation track by analyzing the current position and the target buoy position; the camera module on the ship is used for realizing the identification of the water surface barrier in the sight distance range; the shape of the cataract in a close range is identified by laser radars positioned at the front section and the rear end of the deck; adjusting the navigation track by analyzing the position of the obstacle; the WIFI module on the buoy in a certain range is matched with the WIFI routing module for acquiring data information stored in the buoy.
Drawings
Fig. 1 is a schematic structural diagram of a data transfer device for acquiring information stored in a water buoy according to the invention.
Fig. 2 is a block diagram of a data relay device for acquiring information stored in a water buoy according to the present invention.
Fig. 3 is a circuit diagram of the peripheral of the data relay device for acquiring the information stored in the underwater buoy of the invention.
Fig. 4 is a flowchart of the program of the data transferring device for acquiring the information stored in the underwater buoy according to the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a schematic structural diagram of the data information transfer device of the present invention is shown, wherein a1 is a buoy fixed in a specific area through a suspension cable a10 for collecting hydrological information and environmental information in the area. A2 is a Beidou satellite data module used for periodically sending necessary data information and releasing buoy position information. A3 is a solar panel to provide power to the buoy system. A4 is buoy top layer turntable, and provides 360 for camera module A6 by rotation0And (5) shooting the visual angle. A5 is LED beacon light. A7 is a weather station for testing the weather, wind direction and air temperature of buoy. A8 is a WIFI module, and after the WIFI module acquires a routing signal on the unmanned ship device, a data communication link with the unmanned ship device is established. A13 is underwater camera module turntable, which provides 360 degrees for an underwater camera module A12 by rotating0And (5) shooting the visual angle. A11 is an underwater platform that provides support for a turntable a 13. A9 is a temperature sensor module for detecting water temperature. A14, A15 and A16 are underwater detection modules which are fixed on a suspension cable and used for detecting hydrological information under different water depths, and each module is solidified with sensors of temperature, pH value, dissolved oxygen, conductivity, turbidity, chlorophyll a, blue-green algae, phosphate PO4 and ammonia nitrogen NH 3.
In fig. 1, the unmanned ship system B1 of the present invention includes propellers B2, two of which are symmetrically disposed on both sides of a steering engine B4 to provide sailing force for the unmanned ship. Steering engine B4 changes the unmanned ship heading through angular deflection. The unmanned ship also comprises laser radar modules B5 and B10, which are used for detecting obstacle blocking around the unmanned ship body; the WIFI routing module B6 is used for receiving data information of the buoy WIFI module A8; the solar panel B7 is used for providing an electric energy source for the unmanned ship system; a high-definition camera module B8, which provides 360 degrees for the unmanned ship through the rotation of a built-in tripod head0And shooting the view angle, and taking the view angle as a signal source for target identification. A Beidou satellite module B9 for acquiring self-position informationReceiving buoy position information and unmanned ship control task instructions through a satellite link; and the unmanned ship beacon lamp B11 is used for prompting other autonomous aircrafts to effectively avoid.
Referring to fig. 2, a block diagram of a buoy data information transfer device based on an unmanned ship system is shown. The unmanned ship system takes an industrial control host as a data information processing core, and is connected with a camera module B8 (including a rotary holder) and laser radar modules B5 and B10 through a USB port carried by the host. And a WIFI module built in the industrial personal computer equipment is used as a WIFI routing module B6. And the Beidou satellite module B9 and the external storage device B12 carry out data transmission with the industrial personal computer through the serial port of the industrial personal computer. The motor control module A connected with the propeller B2, the motor control module B connected with the steering engine B4, the beacon light B11 and the voltage stabilizing module are solidified on a unified peripheral circuit.
Fig. 3 is a circuit diagram of the buoy data information transfer device based on the unmanned ship system. The total input voltage VIN of the power supply is 12V, and is introduced by a power supply interface G, and the introduced end of the positive pole of G is connected with a key switch X, so that the power supply is switched on and off. The other end of X is connected with pin 1 of 7805 (U3). U3 pin 2 is suspended, pin 3 outputs 5V working voltage (Vcc), pin 4 is grounded, capacitors C1 and C2 connected between pins 1 and 4 and capacitors C3 and C4 connected between pins 3 and 4 are noise reduction capacitors, one end of a resistor R1(1.5k omega) is connected with Vcc (+5V power supply) and the other end is connected with one end of a light emitting diode D1, and the other end of D1 is grounded.
The data processing chip selected by the patent is an STC89C52 single chip microcomputer (U1), a pin 38 of the chip is connected with 5V working voltage, a pin 16 of the chip is connected with GND, two pins of a quartz crystal oscillator 11.0592MHz (Y1) are respectively connected with a pin 13(XTAL1) and a pin 14(XTAL2) of U1, one ends of capacitors C13(30pF) and C12(30pF) are respectively connected with Y1(XTAL1 and XTAL2), and the other end of the capacitors is grounded; the capacitor C5(10uF) and the series branch composed of the key S1 and the resistor R4(1k omega) are connected between the U1 pin 4(RST) and the +5V power supply, and the resistor R3(10k omega) is connected between RST and GND. Resistor R2(10k Ω) is connected between pin 29 of U9 and the +5V power supply. The exclusion RP1 is a9 pin 10k omega exclusion with pin 1 connected to Vcc (+5V power) and pins 2 through 9 connected to pin 37 through pin 30 of U9, respectively. Q1 is a triode whose collector is connected to +12V and base is connected to pin 41 of U1. P2 is a beacon light interface, pin 1 of which is connected with the emission set of Q1, and pin 2 is connected with GND. P3 is a steering engine servo device interface, pin 1 is connected with +12V, pin 2 is connected with U1 pin 40, pin 3 is connected with +5V, and pin 4 is connected with GND.
U2 is MAX232 serial port communication chip, its pin 6 connects behind electric capacity C9(0.1uF) ground connection, pin 2 connects behind electric capacity C8(0.1uF) and connects +5V power supply, pin 16 connects +5V power supply, pin 15 connects GND, pin 4 connects C10(0.1uF) between pin 5, pin 1 connects indirect C11(0.1uF) between pin 3, pin 12(RX) connects U1 pin 5, pin 11(TX) connects U1 pin 7, 4-pin interface P1 is the serial port communication terminal, its pin 1 connects +5V power supply, pin 2 connects GND, pin 3 connects U2 pin 14, pin 4 connects U2 pin 13. And the P1 is connected with the industrial personal computer to realize data communication between the external circuit board and the industrial personal computer.
U4 is a dual winding bipolar stepper motor control chip UDN2916LB with associated circuitry for controlling the drone screw propulsion motor. Pin 11(PH1) of U4 is connected with pin 3 of U1, pin 3(PH2) is connected with pin 2 of U1, pin 13(I01) is connected with pin 1 of U1, pin 12(I11) is connected with pin 44 of U1, pin 1(I02) is connected with pin 43 of U1, pin 2(I12) is connected with pin 42 of U1, and U1 controls the rotation speed of the propeller motor through the ports. U4 pins 4, 6, 7, 10, 18 and 19 are connected to GND, pin 8 is connected to Vcc (+5V power supply), and pin 24 is connected to Vin (+12V power supply). The resistor R9(56k omega) and the capacitor C16(470pF) are connected in parallel between the U4 pin 9 and Vcc (+5V power supply), the resistor R10(56k omega) and the capacitor C17(470pF) are connected in parallel between the U4 pin 5 and Vcc (+5V power supply), two ends of the resistor R6(1k omega) are respectively connected with the U4 pin 21 and the pin 22, two ends of the resistor R5(1.43 omega) and the capacitor C14(4700pF) are connected in parallel between the U4 pin 22 and GND, two ends of the resistor R8(1k omega) are respectively connected with the U4 pin 15 and the pin 16, and two ends of the resistor R7(1.43 omega) and the capacitor C15(4700pF) are connected in parallel between the U4 pin 15 and GND. Pins 1 to 4 of the 4-pin interface P4 are connected to pin 17, pin 14, pin 20, and pin 23 of U4, respectively. And pins 1 and 2 of P4 are respectively connected with two ends of a left propeller motor coil, and pins 3 and 4 of P1 are respectively connected with two ends of the left propeller motor coil.
Referring to fig. 4, a flow chart of a program of the buoy data information transfer device based on the unmanned ship system is shown, and an embedded program of an industrial personal computer runs as follows:
step 9, the unmanned ship system plans the unmanned ship traveling track according to the current position coordinates, the obtained buoy position and the estimated barrier condition on the navigation line, and the step 10 is carried out after the unmanned ship traveling track is finished;
step 13, the industrial personal computer collects and identifies the image information of the camera through the USB interface, determines the position of the buoy, and enters step 14 after the buoy position is determined;
and step 23, the industrial personal computer controls the rotating pan-tilt involved by the camera through the USB interface, changes the shooting direction and returns to the step 10 after the shooting is finished.
Although the present invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (3)
1. A data transfer device for obtaining information stored in an underwater buoy is characterized in that: the device is based on an unmanned ship system; the industrial control host comprises a built-in WIFI module; the high-definition camera module, the laser radar module and the Beidou satellite module are externally connected; a circuit board provided with a motor module for controlling the propeller and the steering engine; the industrial control host comprises a program for executing the following steps:
the unmanned ship position information and the task instruction are obtained through the Beidou satellite module, the navigation track is planned by taking the buoy as a target, and a path control instruction is issued to the circuit board;
collecting image information of a high-definition camera module, and identifying a buoy;
starting a laser radar module, and detecting the obstacle condition of the surrounding environment of the unmanned ship;
determining the position of the buoy and issuing a bypassing control instruction to the circuit board;
the WIFI module is started, data information stored in the buoy is received and stored in an external storage device;
the data transfer device acquires the information stored by the underwater buoy through the following steps:
also comprises the following steps:
controlling a rotating tripod head connected with a camera of the high-definition camera module to change the shooting direction;
collecting image information of a high-definition camera module, and identifying an obstacle;
designing obstacle avoidance requirements according to the current navigation track and the position of the obstacle;
also comprises the following steps:
the system self-checks, if the system is abnormal, fault-tolerant control is carried out, and the unmanned ship system carries out software correction according to a self-checking fault report;
if the fault is not solved, the Beidou module is used for sending the current state information of the system, and the heading is reset and returned to the base station.
2. The data relay device for acquiring information stored in an underwater buoy as claimed in claim 1, wherein the motor module of the circuit board comprises:
STC89C52 singlechip;
a double-winding bipolar stepping motor control chip UDN2916 LB;
MAX232 serial port communication chip.
3. The data relay device for acquiring information stored in an underwater buoy as claimed in claim 1, wherein: the system also comprises a beacon light connected to the circuit board and used for prompting other autonomous aircrafts to effectively avoid.
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| CN112364678B (en) * | 2019-09-30 | 2023-04-07 | 山东省科学院海洋仪器仪表研究所 | Buoy identification and positioning method based on NPU board card and shipborne device thereof |
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| CN111880192B (en) * | 2020-07-31 | 2021-06-29 | 湖南国天电子科技有限公司 | Ocean monitoring buoy device and system based on water surface and underwater target early warning |
| CN114435550B (en) * | 2022-03-28 | 2023-07-14 | 南通市融信信息科技有限公司 | Unmanned ship underwater measurement system |
| CN116588253A (en) * | 2023-07-17 | 2023-08-15 | 山东省科学院海洋仪器仪表研究所 | Deep sea buoy observation system and control method thereof |
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| CN107168314A (en) | 2017-09-15 |
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