Running abnormality self-checking and data transmission system for autonomous navigation type underwater robot

Abstract

The invention discloses a running abnormality self-checking and data transmission system for an autonomous navigation type underwater robot. A technology of combining a running abnormality self-checking and control module based on a digital signal processor (DSP) and 802.11 Ethernet wireless communication is adopted to detect whether the underwater robot runs abnormally, a carried water quality sensor obtains various water quality parameters, and due to real-time detection of the running abnormality self-checking and control module of the DSP, the effective and accurate water quality parameters can be obtained. The running abnormality self-checking and data transmission system is particularly suitable for a water quality detection system which is large in data information due to the facts that the water quality parameters and test points are many and the communication distance is far, and even if the underwater environment is complex or an autonomous underwater vehicle (AUV) is abnormal, a base station can be timely notified so as to make response decisions.

Description

technical field [0001] The invention relates to an autonomous navigation type underwater robot operation abnormality self-inspection and data transmission system and method that can be equipped with water quality detection sensors, and adopts the technology of combining DSP-based operation abnormality self-inspection and control module with 802.11 Ethernet wireless communication to obtain The abnormal signal of the underwater robot, as well as the data of whether the water quality sensor is working normally or not, and self-inspection. The invention belongs to the technical field of signal processing and automatic detection. Background technique [0002] With the rapid development of the national economy and the expansion of industrial production scale, facing the severe situation of water environment protection, some cities have installed some automatic water quality detection equipment, which greatly improved the detection frequency and the accuracy and timeliness of detec...

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Problems solved by technology

[0003] Looking at the data analysis and processing system of the existing robot water quality detection system in China, there are still the following deficiencies: First, GPS cannot penetrate the water surface to accurately locate the robot, and the underwater robot needs to navigate and locate underwater for a long time Second, the existing AUV water quality detection usually works in a relatively mild environment, and the accuracy of the water quality parameters measured in the complex water surface environment cannot be guaranteed, especially once the robot fails, it is likely that the communication interruption will cause the base station to be out of control. Therefore, the work efficiency is low, and the effectiveness is low; third, there are many problems in some networked systems, mainly manifested in the unstable operation of the existing system, high failure rate, and the inability to meet the requirements of high performance and stability; data transmission The method is outdated, the cost is high, and there are still many defects and deficiencies in monitoring data collection and monitoring mode, wide-area access to remote communication, system fault tolerance, long-term system stability, data processing analysis and management, and environmental decision support; , the communication system of underwater detection and land base station is relatively simple, and only stays in data transmission, query retrieval and statistical functions, and has not been transformed into the data used for analysis and decision-making required by relevant staff

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