Portable shipboard control system for UUV and application method

Abstract

The application relates to a portable shipborne control system for a UUV and an application method, which comprises a reinforced computer, a display control module of the reinforced computer, a surface control box and the like. The surface control box is an integrated control box with an IP65 protection level, which is composed of a communication positioning module, a sonar module, a WIFI communication module, an interface switching module, a remote control module and a power module. The communication positioning module is used for realizing wireless communication and Beidou short message communication between the shipborne control system and the UUV. The sonar module is used for realizing underwater acoustic communication between the shipborne control system and the UUV. The application can solve the problems of complicated operation of the current shore-based operation, can realize portability of the shore-based terminal equipment, is flexible in movement and carrying, and is convenient for cooperation with small and medium-sized UUVs to execute tasks.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater vehicle technology field, in particular to a portable shipborne control system for UUV and application method. BACKGROUND

[0002] The UUV shipborne control system generally includes a shore-based antenna communication terminal, a Beidou / GPS positioning terminal, a shore-based communication machine and a computer (including display control software). The operator can realize the state inspection, remote control, task presetting and UUV system recovery of the UUV system through the system.

[0003] The current shipborne control end is generally scattered in the arrangement of various devices, and is relatively cumbersome in the use process, which needs the participation of multiple people, and cannot meet the demand of portability, and lacks expansibility. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a portable shipborne control system for UUV and application method, which can conveniently and quickly realize the deck state inspection, task presetting, parameter configuration, state monitoring, task data recording and export and emergency handling operation of the UUV, realize the route planning and safe deployment and recovery, solve the problem of cumbersome operation of the current shore-based operation, realize the portability of the shore-based equipment, and facilitate the cooperation of small and medium-sized UUV to perform tasks.

[0005] The technical solution of the present application is to provide a portable shipborne control system for UUV, which comprises,

[0006] A ruggedized computer, the ruggedized computer comprises a display control module, which is used for information monitoring and navigation task planning of the UUV, and assists in completing the deployment and recovery of the UUV;

[0007] A surface control box, the surface control box is an integrated control box with IP65 protection level, which comprises a communication positioning module, a sonar module, a WIFI communication module, an interface conversion module, a remote control module and a power module, the communication positioning module is used for realizing wireless communication and Beidou short message communication between the shipborne control system and the UUV; the sonar module is used for underwater acoustic communication between the shipborne control system and the UUV; the WIFI communication module is used for communication between the shipborne control system and the UUV, and is used for remote login or large-capacity data copying; the interface conversion module is used for mutual conversion of network ports and serial ports; the remote control module is used for remote manual control of the UUV to drive away from the mother ship and recovery; and the power module is used for power supply for the devices in the surface control box;

[0008] The surface control box and the ruggedized computer are connected only through a communication cable.

[0009] The display control module comprises:

[0010] (1) Provide a desktop software, which can realize information interaction with UUV through the communication mode, deck state inspection, parameter configuration, task preset, state monitoring, task data record export and emergency handling operation, etc., realize route planning and safe deployment back, and can obtain the state information of UUV underwater task execution through underwater acoustic communication.

[0011] (2) Remote login UUV main control board access software through WIFI, remote update software, modify configuration file and copy large capacity data, etc.

[0012] As preferred, the communication positioning module comprises a communication positioning box, a feeder, an antenna terminal and a Beidou terminal.

[0013] As preferred, the sonar module comprises a sonar communication board, a feeder and sonar communication.

[0014] As preferred, the WIFI communication module comprises a WIFI communication module, a feeder and a WIFI antenna terminal.

[0015] As preferred, the remote control module comprises a remote control handle.

[0016] The application also provides an application method of the portable shipborne control system for UUV.

[0017] Connect the surface control box with each communication terminal, and ensure correct connection; and establish network communication connection between the reinforced computer and the surface control box.

[0018] Power on the surface control box; start the display control software of the reinforced computer, connect the antenna communication and Beidou communication positioning through the software, and ensure that each communication mode can be normally used.

[0019] Check the sensor and equipment state of UUV by using the display control module, judge whether the equipment sensor works normally through feedback information; plan the route by using the display control module, plan the sea scanning route according to the task demand, and issue the task; use the remote control module to drive UUV away from the mother ship, and monitor the equipment state information uploaded by UUV at the same time.

[0020] After the task of UUV is completed, find the position of UUV by using the shipborne control system, when the mother ship approaches UUV, remotely control UUV to approach the mother ship for recovery by using the remote control module.

[0021] After UUV is recovered, use the shipborne control system to export the data in UUV (modify the configuration file, upgrade the software), etc.

[0022] When UUV executes the task underwater, receive external information through the underwater acoustic communication mode.

[0023] Compared with the prior art, the application has the following advantages:

[0024] (1) The application provides an integrated portable shipborne control system for remote control and state monitoring of a UUV, avoids the disadvantages of extra manpower occupation caused by the dispersed use of multiple devices on a ship, and realizes single-person control.

[0025] (2) The application adopts the form of separating a reinforced computer and a water surface control box, so that the application has high safety and reliability and maintainability on the basis of portability, and has low maintenance cost during use.

[0026] (3) Compared with a highly integrated console system, the application has small volume and small space occupation, and the portable reinforced computer is self-contained, so that different configurations can be replaced according to task requirements. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a principle of the portable shipborne control system of the application;

[0028] Figure 2 is a schematic view of a water surface control box;

[0029] Figure 3 is a partial schematic view of the water surface control box;

[0030] Figure 4 is another partial schematic view of the water surface control box;

[0031] Figure 5 is a flowchart of use of a display control module;

[0032] Figure 6 is a flowchart of an application method of the portable shipborne control system of the application.

[0033] In the figure, 1 is an operation panel, 2 is an interface adapter module, 3 is a communication positioning module, 4 is a WIFI module, 5 is a sonar module, 6 is a power module, 7 is a water surface control box box body, 8 is a remote control module storage space, 9 is an antenna support, 10 is an antenna U-shaped slot, 11 is a feeder interface, A is a water surface control box, A1 is a remote control module, A2 is a Beidou terminal, A3 is an antenna terminal, A4 is a sonar terminal, A5 is a WIFI terminal, and B is a computer reinforced machine. DETAILED DESCRIPTION

[0034] The application will be further described in combination with the specific embodiments and the accompanying drawings:

[0035] The application provides a universal portable shipborne control system integrating wireless, WIFI, underwater acoustic and Beidou short message communication modes for UUV control, which assists an operator to plan a UUV task route, enables the operator to master UUV task state information in real time and acquire task data in time.

[0036] As shown in Figures 1-4 The water surface control box A of the system is an integrated control box with IP65 protection level and portable handle design; the opening cover is an operation panel 1, each side of the operation panel 1 has a handle capable of being folded by 90 degrees, the operation panel 1 is lifted by pulling the handle with both hands, the operation panel 1 below includes a power module 6, a sonar module 5, a WIFI module 4, a communication positioning module 3, an interface conversion module 2 and a support for fixing each device, and a storage space 8 of a remote control module is designed on the operation panel; interfaces located on the side of the water surface control box A are connected with a Beidou terminal and an antenna terminal through feeder cables respectively, and an antenna support 9 located on the side of the water surface control box A is used for fixing an antenna and a WIFI terminal A5. The reinforced computer B is a portable reinforced notebook computer, and includes a display control module and communicates with the water surface control box A through a network cable.

[0037] The communication positioning module 3 is connected with the antenna terminal A3 and the Beidou terminal A2 through the feeder interface 11 on the side of the water surface control box A on one side, and is connected with the interface conversion module 2 through internal serial signal lines on the other side, and communicates with the reinforced computer B through a network port; the sonar module 5 is connected with the interface conversion module 2 through internal serial signal lines on one side, and is connected with the sonar terminal A4 through the side feeder interface 11 on the other side.

[0038] The WIFI module 4 is connected with the WIFI terminal A5 through the feeder interface 11 on the water surface control box A on one side, and is connected with the interface conversion module 2 through a network port on the other side; the interface conversion module 2 has network port and serial port conversion functions, and has a switch function.

[0039] The antenna support 9 is composed of an antenna U-shaped groove 10 and a support, the antenna U-shaped groove 10 is fixed on the side of the water surface control box A, and the support is designed to be quickly detachable, and the support can be taken down when the device is stored.

[0040] The application method of the portable shipborne control system will be described in detail below. Figure 5 、 Figure 6 The working process of the shipborne control system in the embodiment includes the following steps:

[0041] (1) Device preparation. Select a position with an open view, and reasonably place each device of the shore-based control system.

[0042] (2) Equipment connection and start-up. The water surface control box is connected with the wireless antenna terminal, WIFI terminal, sonar terminal and Beidou terminal by a feeder. The water surface control box is connected with the ruggedized computer by a network cable. After confirming that the connection is completed, power on and start up. According to the requirement, the length of the feeder is selected. When the antenna needs to be mounted on the ship, a long feeder should be selected.

[0043] (3) Deck state inspection. The display control module on the ruggedized computer is opened, and a communication connection is established with the software vendor. The state inspection phase of the UUV equipment is entered, and the sensors and single-acting equipment of the UUV equipment are tested through the remote control module or query instruction.

[0044] (4) Parameter configuration. The UUV equipment is configured through the display control module; the configuration file is modified, and the software is upgraded through remote login of the UUV.

[0045] (5) Task presetting. The current execution task route of the UUV is planned through the display control module, the navigation task way points are selected by using the map component, and the load task performed by the specified way points is customized.

[0046] (6) State monitoring. The UUV equipment information is received through the display control module, a visual window is provided for the operator to monitor the UUV equipment state, and all the received data is recorded and saved.

[0047] (7) Finding and recycling. After the UUV completes the task, it floats to the water surface. At this time, the ship-borne control system obtains the UUV equipment position information through the antenna terminal and Beidou terminal, approaches the UUV, and controls the UUV for recycling by using the remote control module.

[0048] (8) Data export. The shore-based control system is used to connect the UUV equipment and export the internal recording data of the UUV equipment.

[0049] The integrated shore-based end control equipment design of the application can conveniently and quickly realize the deck state inspection, task presetting, parameter configuration, state monitoring, task data recording and export and emergency handling operation of the UUV, realize the route planning and safe deployment and recycling, solve the problem of complicated shore-based operation, realize the portability of the shore-based end equipment, and facilitate the cooperation of small and medium-sized UUVs in executing tasks.

[0050] The above only describes the preferred embodiments of the application, but cannot be understood as limiting the claims. Any equivalent structure or equivalent process transformation made by using the specification of the application is included in the patent protection scope of the application.

Claims

1. A portable shipborne control system for a UUV, characterized by: include, A reinforced computer includes a display and control module, which is used to monitor UUV information and plan navigation missions, and also assist in the deployment and recovery of the UUV. The surface control box is an integrated control box with IP65 protection grade, which consists of a communication and positioning module, a sonar module, a WIFI communication module, an interface adapter module, a remote control module and a power module. The communication and positioning module is used to realize wireless communication and Beidou short message communication between the shipboard control system and the UUV; The sonar module is used for underwater acoustic communication between the shipboard control system and the UUV; The WIFI communication module is used for communication between the shipboard control system and the UUV, as well as for remote login or large-capacity data copying; the interface adapter module is used for network port and serial port conversion; the remote control module is used by the shore-based end to remotely and manually control the UUV to leave the mother ship and recover it; the power module is used to power the equipment in the surface control box; The surface control box and the reinforced computer are connected via a communication cable.

2. The portable shipborne control system for UUV according to claim 1, characterized in that: The communication and positioning module includes a communication and positioning box, a feeder, an antenna terminal and a Beidou terminal.

3. The portable shipborne control system for UUV according to claim 1, characterized in that: The sonar module includes a sonar communication board, feeder and sonar communication.

4. The portable shipborne control system for UUV according to claim 1, characterized in that: The WIFI communication module includes a WIFI communication module, a feeder and a WIFI antenna terminal.

5. The portable shipborne control system for UUV according to claim 1, characterized in that: The remote control module includes a remote control handle.

6. The method for using the portable shipborne control system for UUV according to any one of claims 1 to 5, characterized in that: The following steps are included: Connect the surface control box to each communication terminal and ensure that the connection is correct; establish a network cable communication connection with the reinforced computer; Power on the surface control box; start the display and control software on the reinforced computer, and connect the antenna communication and Beidou communication positioning through the software to ensure that all communication methods can be used normally; Use the display and control module to check the sensor and equipment status of the UUV, and judge whether the equipment sensor is working normally through the feedback information; Use the display and control module to plan the route, plan the sea-sweeping route according to the mission requirements, and issue the mission; use the remote control module to drive the UUV away from the mother ship, and monitor the equipment status information uploaded by the UUV; After the UUV mission is completed, the ship's control system is used to find the UUV's location. When the mother ship approaches the UUV, the remote control module is used to remotely control the UUV to approach the mother ship for recovery. After the UUV is recovered, the data inside the UUV is exported using the shipboard control system.

7. The method for applying the portable shipborne control system for UUV according to claim 6, characterized in that: When UUV performs tasks underwater, it receives external information through underwater acoustic communication.

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