A long-term residence control system and method for underwater robots based on base station

Abstract

The present invention relates to the field of underwater equipment, and in particular to a long-term residence control system and method for an underwater robot based on a base station. It includes an underwater robot end and a base station end; the underwater robot end includes a main control unit, a sleep, silence and wake-up switch, a secondary battery pack energy source, a wireless charging unit power receiving end, and an underwater optical communication unit A end connected in sequence, the main control unit is connected to other node devices of the underwater robot, and the wireless charging unit power receiving end is connected to the sleep, silence and wake-up switch; the base station end includes a base station control unit, a base station energy source, a wireless charging unit power sending end, and an underwater optical communication unit B end. The base station control unit is respectively connected to the base station energy source, the wireless charging unit power sending end, and the underwater optical communication unit B end, and the base station energy source is connected to the wireless charging unit power sending end. The present invention can realize the long-term residence of the underwater robot in the base station, greatly improving the operating efficiency and flexibility of the underwater robot.

Description

Technical Field

[0001] The present invention relates to the field of underwater equipment, and in particular to a long-term residence control system and method for an underwater robot based on a base station. Background Art

[0002] As one of the important platforms for exploring the ocean, underwater robots are playing an increasingly important role in marine scientific research, marine resource exploration, marine mapping, underwater target detection, maritime search and rescue and other fields.

[0003] Due to the limitation of the energy that underwater robots can carry, underwater robots need to frequently surface when performing deep-sea operations, and complete energy replenishment and data exchange with the support of the operating mother ship or surface support platform. This not only consumes a lot of time, but also interrupts the continuity of the operation. With the support of underwater base stations, the energy replenishment and data exchange of underwater robots can be realized directly through the base station, and the underwater robot can also be put into silent sleep or awakened and started according to the operation requirements. This is an effective way to achieve long-term continuous operation of underwater robots. Therefore, it is necessary to develop a long-term resident control system and related control methods for underwater robots based on base stations. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide a long-term residence control system and method for an underwater robot based on a base station, wherein the control system and method are suitable for long-term continuous operation of the underwater robot.

[0005] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a long-term residence control system of an underwater robot based on a base station, comprising an underwater robot end and a base station end;

[0006] The underwater robot end includes a main control unit, a sleep, silence and wake-up switch, a secondary battery pack energy source, a wireless charging unit power receiving end, and an underwater optical communication unit A end connected in sequence. The main control unit is connected to the underwater optical communication unit A end and other node devices of the underwater robot, and the wireless charging unit power receiving end is connected to the sleep, silence and wake-up switch;

[0007] The base station end includes a wireless charging unit power sending end, a base station energy source, a base station control unit, and an underwater optical communication unit B end connected in sequence. The base station control unit is connected to the wireless charging unit power sending end; the wireless charging unit power sending end is used to perform wireless energy transmission to the wireless charging unit power receiving end, and the underwater optical communication unit B end is used to communicate with the underwater optical communication unit A end.

[0008] The wireless charging unit power receiving end is used in pair with the wireless charging unit power transmitting end to wirelessly supply energy from the base station to the secondary battery pack energy at the underwater robot end.

[0009] The underwater optical communication unit A end is paired with the underwater optical communication unit B end for two-way wireless transmission of information and data between the base station end and the underwater robot end.

[0010] The sleep, silence and wake-up switch is a magnetic holding switch, which is used to realize the on and off actions of the switch through an external control signal and maintain the current on and off state of the switch.

[0011] The secondary battery pack energy of the underwater robot is used to supply power to the main control unit through the sleep and wake-up switch;

[0012] The main control unit is used to control the operation of the underwater optical communication unit A and other node devices of the underwater robot, and to control the disconnection of the sleep and wake-up switches;

[0013] The power receiving end of the wireless charging unit is used to charge the secondary battery pack energy, control the operation of the A end of the underwater optical communication unit, and control the connection of the sleep, silent and wake-up switches.

[0014] The base station energy source is used to supply power to the base station control unit and the power transmission end of the wireless charging unit;

[0015] The base station control unit is used to control the operation of the power transmission end of the wireless charging unit and the B end of the underwater optical communication unit.

[0016] The long-term residence control method of an underwater robot, including an energy supply control method, comprises the following steps:

[0017] The base station control unit periodically sends a start control signal to the power transmission end of the wireless charging unit and sends an energy supply control command to the B end of the underwater optical communication unit;

[0018] The power receiving end of the wireless charging unit converts the sensed energy into power through internal voltage stabilization to supply power to the A end of the underwater optical communication unit, making it work;

[0019] After receiving the energy supply control command from the underwater optical communication unit B, the underwater optical communication unit A forwards it to the power receiving end of the wireless charging unit;

[0020] The power receiving end of the wireless charging unit starts the internal charging circuit to charge the secondary battery pack energy according to the received energy supply control command; the charging adopts the method of constant current first and constant voltage later. During the charging process, the power receiving end of the wireless charging unit detects the charging current in real time. When the actual charging current is less than the set threshold, the charging output is automatically stopped, and the charging completion status is sent through the A end of the underwater optical communication unit to inform the base station that the underwater robot has completed the charging action;

[0021] After receiving the charging completion status, the base station control unit sends a closing control signal to the power sending end of the wireless charging unit, and stops sending commands to the B end of the underwater optical communication unit, thus ending the charging action.

[0022] The underwater robot long-term residence control method also includes the dormant silent control method, and the steps are as follows:

[0023] The underwater robot enters the base station, and the main control unit on the underwater robot side transmits operation data to the base station through the underwater optical communication unit A and the underwater optical communication unit B. After completing the operation data transmission, the base station is informed that the underwater robot enters the shutdown state; after completing the handshake confirmation, the main control unit sends a disconnect control signal to disconnect the sleep silence and wake-up switches, and the underwater robot shuts down and sleeps.

[0024] The underwater robot long-term residence control method also includes a wake-up start control method, the steps are as follows:

[0025] When the base station needs to wake up the underwater robot, the base station control unit sends a start control signal to the power supply end of the wireless charging unit and sends a wake-up start control command to the B end of the underwater optical communication unit;

[0026] The power receiving end of the wireless charging unit converts the sensed energy into power through internal voltage stabilization to supply power to the A end of the underwater optical communication unit, making it work;

[0027] After receiving the wake-up start control command sent by the underwater optical communication unit B, the underwater optical communication unit A forwards it to the power receiving end of the wireless charging unit;

[0028] The power receiving end of the wireless charging unit starts the internal wake-up circuit according to the received wake-up start control command, sends a connection signal to the dormant silent and wake-up switch, and starts the main control unit of the underwater robot;

[0029] After the main control unit completes the startup action, it sends the completion wake-up startup status through the underwater optical communication unit A to inform the base station that the underwater robot has completed the charging action;

[0030] After receiving the completion of the wake-up start-up state, the base station control unit sends a shutdown control signal to the power transmission end of the wireless charging unit, and stops sending commands to the B end of the underwater optical communication unit, that is, the wake-up start-up action is terminated.

[0031] The present invention has the following beneficial effects and advantages:

[0032] 1. The present invention is suitable for underwater working environments and can realize energy replenishment and data exchange of underwater robots through base stations. It is an effective way to realize long-term continuous operation of underwater robots.

[0033] 2. The present invention can put the underwater robot into silent sleep or wake it up and start it according to operational requirements, making the operation of the underwater robot more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of a long-term residence control system of an underwater robot based on a base station of the present invention;

[0035] Figure 2 This is a functional schematic diagram of a long-term residence control system of an underwater robot based on a base station of the present invention;

[0036] Figure 3 is a flow chart of the sleep and silence control method of the present invention;

[0037] Figure 4 is a flow chart of the energy replenishment control method of the present invention;

[0038] Figure 5 It is a flow chart of the wake-up start control method of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] like Figure 1 As shown, the present invention provides a base station-based underwater robot long-term residence control system, including an underwater robot end and a base station end;

[0041] The underwater robot end includes a main control unit, a sleep, silence and wake-up switch, a secondary battery pack energy source, a wireless charging unit power receiving end, and an underwater optical communication unit A end. The main control unit, the sleep, silence and wake-up switch, the secondary battery pack energy source, the wireless charging unit power receiving end, and the underwater optical communication unit A end are connected in sequence, the main control unit is connected to other node devices of the underwater robot, and the wireless charging unit power receiving end is connected to the sleep, silence and wake-up switch;

[0042] The base station end includes a base station control unit, a base station energy source, a wireless charging unit power transmission end, and an underwater optical communication unit B end. The base station control unit is respectively connected to the base station energy source, the wireless charging unit power transmission end, and the underwater optical communication unit B end, and the base station energy source is connected to the wireless charging unit power transmission end.

[0043] like Figure 2As shown, the present invention provides a long-term residence control system for underwater robots based on base stations, wherein the power receiving end of the wireless charging unit is composed of a power receiving coil, a power receiving control circuit, a wake-up circuit, a charging circuit, and a voltage stabilizing circuit, and the power transmitting end of the wireless charging unit is composed of a power transmitting coil and a power transmitting control circuit. The power transmitting coil can transfer energy from the base station energy to the power receiving coil in the form of electromagnetic induction; the power receiving control circuit can work when the power supply to the A end of the underwater optical communication unit is supplied through the voltage stabilizing circuit, and obtain the control command issued by the A end of the underwater optical communication unit, and at the same time, the energy induced by the power receiving coil is transferred to the wake-up circuit, the charging circuit, and the voltage stabilizing circuit, and the three are controlled separately according to the control command of the A end of the underwater optical communication unit; the voltage stabilizing circuit can provide the power required for the power supply to the A end of the underwater optical communication unit; the wake-up circuit can control the connection of the sleep and silent and wake-up switches; the charging circuit can realize the charging function of the secondary battery pack energy; the power transmitting control circuit can control the power transmitting coil to work according to the command of the base station control unit. The power receiving end of the wireless charging unit and the power transmitting end of the wireless charging unit are used in pairs for wireless transmission of energy from the base station to the energy of the underwater robot.

[0044] The underwater optical communication unit A end is used in pair with the underwater optical communication unit B end for two-way wireless transmission of information and data between the base station and the underwater robot.

[0045] The sleep and wake-up switch is a magnetic holding switch, which can be turned on and off by an external control signal and can maintain the current on and off state of the switch.

[0046] The secondary battery pack energy at the underwater robot end supplies power to the main control unit through the sleep, silence and wake-up switch; the main control unit can further control the operation of the underwater optical communication unit end A and other node devices of the underwater robot, and can also control the sleep, silence and wake-up switch to be disconnected; the wireless charging unit receiving end can charge the secondary battery pack energy, control the operation of the underwater optical communication unit end A, and can also control the sleep, silence and wake-up switch to be connected.

[0047] The base station energy at the base station end supplies power to the base station control unit and the power transmission end of the wireless charging unit; the base station control unit can control the operation of the power transmission end of the wireless charging unit and the B end of the underwater optical communication unit.

[0048] like Figure 3 , Figure 4 , Figure 5 As shown, the present invention provides a long-term residence control method for an underwater robot based on a base station, which specifically includes a sleep and silence control method, an energy replenishment control method and a wake-up and start control method.

[0049] like Figure 3 As shown, the specific process of the sleep and silence control method is as follows:

[0050] The underwater robot enters the base station, and the main control unit of the underwater robot transmits operation data to the base station through the underwater optical communication unit A and the underwater optical communication unit B. After completing the operation data transmission, the base station is informed that the underwater robot enters the standby shutdown state; after completing the "handshake" confirmation, the main control unit sends a disconnect control signal to disconnect the sleep silence and wake-up switches, and the entire system of the underwater robot is shut down and sleeps;

[0051] like Figure 4 As shown, the specific process of the energy replenishment control method is as follows:

[0052] The base station control unit periodically sends a start control signal to the power sending end of the wireless charging unit, and sends an energy supply control command to the underwater optical communication unit B end. The power receiving end of the wireless charging unit converts the sensed energy into power supply to the underwater optical communication unit A end through internal voltage stabilization, so that it works. After receiving the energy supply control command sent by the underwater optical communication unit B end, the underwater optical communication unit A end forwards it to the power receiving end of the wireless charging unit. The power receiving end of the wireless charging unit starts the internal charging circuit to charge the secondary battery pack energy according to the received energy supply control command. The charging adopts the method of constant current first and then constant voltage. During the charging process, the power receiving end of the wireless charging unit detects the charging current in real time. When the actual charging current is less than the set threshold, the charging output is automatically stopped, and the charging completion status is sent through the underwater optical communication unit A end to inform the base station underwater robot that the charging action has been completed. After receiving the charging completion status, the base station control unit sends a closing control signal to the power sending end of the wireless charging unit, and stops sending commands to the underwater optical communication unit B end at the same time, that is, the charging action is terminated.

[0053] like Figure 5 As shown, the specific process of the wake-up start control method is:

[0054] When the base station needs to wake up the underwater robot, the base station control unit sends a start control signal to the power supply end of the wireless charging unit, sends a wake-up start control command to the underwater optical communication unit B end, and the power receiving end of the wireless charging unit converts the sensed energy into power supply to the underwater optical communication unit A end through internal voltage regulation to make it work; after receiving the wake-up start control command sent by the underwater optical communication unit B end, the underwater optical communication unit A end forwards it to the power receiving end of the wireless charging unit, and the power receiving end of the wireless charging unit starts the internal wake-up circuit according to the received wake-up start control command, and sends a connection signal to the sleep, silence and wake-up switch, at which time the sleep, silence and wake-up switch is turned on, so that the main control unit of the underwater robot is started. After completing the start action, the wake-up start status is sent through the underwater optical communication unit A end to inform the base station that the underwater robot has completed the charging action; after receiving the wake-up start status, the base station control unit sends a shutdown control signal to the power supply end of the wireless charging unit, and stops sending commands to the underwater optical communication unit B end, that is, the wake-up start action ends.

[0055] The present invention is suitable for underwater working environments and can realize energy replenishment and data exchange of underwater robots through base stations. It is an effective way to realize long-term continuous operation of underwater robots. At the same time, the underwater robot can be put into silent sleep or awakened and started according to operation requirements, making the operation of the underwater robot more flexible.

[0056] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for controlling an underwater robot for long-term residence based on a base station underwater robot long-term residence control system, characterized in that: A base station-based underwater robot long-term residence control system, comprising an underwater robot end and a base station end; The underwater robot end includes a main control unit, a sleep, silence and wake-up switch, a secondary battery pack energy source, a wireless charging unit power receiving end, and an underwater optical communication unit A end connected in sequence. The main control unit is connected to the underwater optical communication unit A end and other node devices of the underwater robot, and the wireless charging unit power receiving end is connected to the sleep, silence and wake-up switch; The base station end includes a wireless charging unit power sending end, a base station energy source, a base station control unit, and an underwater optical communication unit B end connected in sequence, wherein the base station control unit is connected to the wireless charging unit power sending end; the wireless charging unit power sending end is used to perform wireless energy transmission to the wireless charging unit power receiving end, and the underwater optical communication unit B end is used to communicate with the underwater optical communication unit A end; The wireless charging unit power receiving end is paired with the wireless charging unit power transmitting end to wirelessly supply energy from the base station to the secondary battery pack energy at the underwater robot end; The underwater optical communication unit A end is paired with the underwater optical communication unit B end for bidirectional wireless transmission of information and data between the base station end and the underwater robot end; The secondary battery pack energy of the underwater robot is used to supply power to the main control unit through the sleep and wake-up switch; The main control unit is used to control the operation of the underwater optical communication unit A and other node devices of the underwater robot, and to control the disconnection of the sleep and wake-up switches; The wireless charging unit power receiving end is used to charge the secondary battery pack energy, control the operation of the underwater optical communication unit A end, and control the sleep and wake-up switches to be turned on; The base station energy source is used to supply power to the base station control unit and the power transmission end of the wireless charging unit; The base station control unit is used to control the operation of the power transmission end of the wireless charging unit and the B end of the underwater optical communication unit; The dormancy and quiescence switch is a magnetic holding switch, which is used to realize the on and off action of the switch through an external control signal and maintain the current on and off state of the switch; The energy supply control method includes the following steps: The base station control unit periodically sends a start control signal to the power transmission end of the wireless charging unit and sends an energy supply control command to the B end of the underwater optical communication unit; The power receiving end of the wireless charging unit converts the sensed energy into power through internal voltage stabilization to supply power to the A end of the underwater optical communication unit, making it work; After receiving the energy supply control command from the underwater optical communication unit B, the underwater optical communication unit A forwards it to the power receiving end of the wireless charging unit; The power receiving end of the wireless charging unit starts the internal charging circuit to charge the secondary battery pack energy according to the received energy supply control command; the charging adopts the method of constant current first and constant voltage later. During the charging process, the power receiving end of the wireless charging unit detects the charging current in real time. When the actual charging current is less than the set threshold, the charging output is automatically stopped, and the charging completion status is sent through the A end of the underwater optical communication unit to inform the base station that the underwater robot has completed the charging action; After receiving the charging completion status, the base station control unit sends a shutdown control signal to the power transmission end of the wireless charging unit, and stops sending commands to the B end of the underwater optical communication unit, thus ending the charging action; It also includes a sleep and silence control method, the steps are as follows: The underwater robot enters the base station, and the main control unit at the underwater robot end transmits operation data to the base station through the underwater optical communication unit A and the underwater optical communication unit B. After completing the operation data transmission, the base station is informed that the underwater robot enters the standby shutdown state; after completing the handshake confirmation, the main control unit sends a disconnect control signal to disconnect the sleep silence and wake-up switches, and the underwater robot shuts down and sleeps; It also includes a wake-up start control method, the steps are as follows: When the base station needs to wake up the underwater robot, the base station control unit sends a start control signal to the power supply end of the wireless charging unit and sends a wake-up start control command to the B end of the underwater optical communication unit; The power receiving end of the wireless charging unit converts the sensed energy into power through internal voltage stabilization to supply power to the A end of the underwater optical communication unit, making it work; After receiving the wake-up start control command sent by the underwater optical communication unit B, the underwater optical communication unit A forwards it to the power receiving end of the wireless charging unit; The power receiving end of the wireless charging unit starts the internal wake-up circuit according to the received wake-up start control command, sends a connection signal to the dormant silent and wake-up switch, and starts the main control unit of the underwater robot; After the main control unit completes the startup action, it sends the completion wake-up startup status through the underwater optical communication unit A to inform the base station that the underwater robot has completed the charging action; After receiving the completion of the wake-up start-up state, the base station control unit sends a shutdown control signal to the power transmission end of the wireless charging unit, and stops sending commands to the B end of the underwater optical communication unit, that is, the wake-up start-up action is terminated.

Images