Portable carrier and diving position control method

Abstract

The invention discloses a portable vehicle and a diving position control method, and the method comprises the steps: measuring the distance between the vehicle and the bottom in real time through a distance measurement and positioning sonar, and feeding back the distance to a control center; after the carrier dives to a set height position away from the bottom, a positioning function is started, and the optimal laying position of the carrier is calculated; the depth sensor collects the depth of the carrier and transmits a depth value to the control center; the magnetic compass collects the attitude of the carrier and transmits the attitude to the control center; the steering engine and rudder plate combination device comprises a steering engine and a rudder plate which are mechanically connected, the steering engine feeds back the current position of the rudder plate and conducts rudder beating according to a steering instruction of the control center, and the rudder plate is beaten to a designated position within preset time; the control center outputs the steering of the vehicle through a control algorithm according to the distance between the vehicle and the bottom, the depth value and the attitude of the vehicle; according to the invention, the problems of vertical diving and maneuvering position control of the portable vehicle can be solved, and the data accuracy of the portable vehicle during marine environment measurement is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and particularly relates to a portable carrier and a method for controlling the diving position. Background Art

[0002] Marine environment measurement is the basis for the development of marine science. Countries around the world and international ocean organizations attach great importance to the monitoring of the marine environment, and the measurement of marine characteristic information has never stopped. Fast and accurate real-time measurement technology is the new requirement for marine environment monitoring in today's society and an important research field in modern marine science. The research results can provide timely marine data and a basis for rapid and accurate decision-making for marine development, national defense construction, marine fisheries, and other types of commercial activities.

[0003] As the main measurement tool for marine monitoring, the portable carrier has the advantages of small size, convenient carrying, and easy deployment. However, its measurement method relies on the superiority of the vertical diving of the carrier and the deployment position. Summary of the Invention

[0004] In view of this, the present invention provides a portable carrier and a method for controlling the diving position, which can solve the problems of vertical diving and maneuvering control of the portable carrier, and improve the accuracy of data when the portable carrier conducts marine environment measurement.

[0005] The technical solution of the present invention is implemented as follows:

[0006] A portable carrier includes a streamlined housing of the carrier, a ranging and positioning sonar, a servo and rudder plate combination device, a control center, a depth sensor, and a magnetic compass;

[0007] The ranging and positioning sonar measures the distance between the carrier and the bottom in real time and feeds it back to the control center; when the carrier dives to a certain height position from the bottom, the positioning function is turned on, and the optimal deployment position of the carrier is calculated through calculation;

[0008] The depth sensor collects the depth where the carrier is located and transmits the depth value to the control center;

[0009] The magnetic compass collects the attitude of the carrier and transmits the attitude value to the control center;

[0010] The servo and rudder plate combination device includes a servo and a rudder plate that are mechanically connected. The servo serves as a transmission device, can transmit information with the control center, feedback the current position of the rudder plate, and steer the rudder according to the steering command of the control center to move the rudder plate to the specified position within a predetermined time;

[0011] The control center outputs the steering of the carrier through a control algorithm based on the distance between the carrier and the bottom, the depth value, and the attitude of the carrier.

[0012] Furthermore, the streamlined outer shell of the vehicle has good hydrodynamic performance, and its pressure resistance and tightness can meet the water depth requirements of the deployment position.

[0013] Furthermore, the depth sensor is a water pressure measuring device that collects the depth of the vehicle.

[0014] Furthermore, the control center is respectively connected to the ranging and positioning sonar, the depth sensor, the magnetic compass, and the steering gear through cables.

[0015] A method for controlling the diving position of a portable vehicle includes three stages: free diving, vertical diving, and maneuvering position control;

[0016] Free diving: After the portable vehicle is deployed into the water, the depth sensor and the magnetic compass are turned on to collect data on the depth and attitude of the vehicle after it is deployed into the water. During this process, only the data of the vehicle is collected, and it is not steered and controlled to dive freely;

[0017] Vertical diving: After the portable vehicle dives to the set depth, the attitude value collected by the magnetic compass is judged. If the diving attitude angle is too large, a steering command is output through the PID control algorithm to ensure the vertical diving of the vehicle during diving;

[0018] Maneuvering position control: After reaching the set depth, the control center turns on the ranging and positioning sonar. The ranging and positioning sonar real-time feedbacks the depth of the vehicle from the bottom and calculates the optimal deployment position of the vehicle. The control center takes the optimal deployment position feedback by the ranging and positioning sonar as the input, performs steering calculation through the control algorithm, transmits the steering command to the steering gear for steering, and deploys the vehicle to the optimal position.

[0019] Beneficial effects:

[0020] 1. The present invention realizes the technical research on the vertical diving and maneuvering position control of the portable vehicle, develops a control method that conforms to the diving attitude and maneuvering position control of the portable vehicle for ocean observation, and is applicable to the diving position control requirements of general ocean vehicles.

[0021] 2. Under the conditions that the diving process of the portable vehicle is extremely deep and greatly affected by the changing factors of ocean currents, and without the condition of thrust design, the present invention conducts the online motion control of unpowered diving.

[0022] 3. Under the conditions of complex control processes, the present invention realizes real-time online motion control. Description of the Drawings

[0023] Figure 1 It is a combined framework diagram of the portable vehicle according to the embodiment of the present invention.

[0024] Figure 2This is the control scheme diagram of the portable carrier according to the embodiment of the present invention.

[0025] Figure 3 This is the flowchart of the diving control position of the portable carrier according to the embodiment of the present invention. Specific embodiments

[0026] The present invention will be described in detail below with reference to the accompanying drawings and by way of examples.

[0027] See Figure 1 , a portable carrier of the present invention is composed of a streamlined outer shell of the carrier, a ranging and positioning sonar, a servo and rudder plate combination device, a control center, a depth sensor, a magnetic compass, etc.

[0028] The streamlined outer shell of the carrier has good hydrodynamic performance, and its pressure resistance and airtightness can meet the water depth requirements of the deployment position.

[0029] Ranging and positioning sonar: After the portable carrier is deployed into the water, the ranging function is turned on at a fixed water depth position. Through ranging, the distance between the carrier and the bottom position can be measured in real time and fed back to the carrier control center. When the carrier dives to a certain height position from the bottom, the positioning function is turned on, and the optimal deployment position of the carrier can be calculated.

[0030] Depth sensor: A water pressure measuring device that can accurately collect the depth where the carrier is located and transmit the depth value to the control center. To provide energy consumption, its power-on and power-off are determined by the control center according to requirements.

[0031] Magnetic compass: A carrier attitude measuring device that can accurately collect the carrier attitude and transmit the attitude value to the control center. To provide energy consumption, its power-on and power-off are determined by the control center according to requirements.

[0032] Servo and rudder plate combination device: The servo and the rudder plate are mechanically connected. The servo serves as a transmission device, can transmit information with the control center through a connecting cable, can feedback the current position of the rudder plate and steer the rudder according to the steering command of the control center, and can turn the rudder plate to the specified position within a predetermined time.

[0033] Control center: As a calculation and operation center, it can collect the depth value of the depth sensor through a connecting cable to know the real-time depth value when the portable carrier dives; collect the angle values of the three angles of the attitude angle, pitch angle, and yaw angle of the magnetic compass through a connecting cable as inputs, and output the steering of the carrier through a control algorithm; can transmit information with the ranging and positioning sonar through a connecting cable and transmit information with the servo through a connecting cable.

[0034] See Figure 3, the diving process of the portable vehicle can be divided into three parts. The first part is free diving. After the portable vehicle is placed in the water, depth sensors, magnetic compasses and other sensors are turned on to collect data on the depth and attitude of the vehicle after it is placed in the water. During this process, only the data of the vehicle is collected, and it is not steered and controlled to dive freely. The second part is vertical diving. Refer to Figure 2 the control scheme diagram of the portable vehicle. During this process, the ranging and positioning sonar are not turned on. After the portable vehicle dives to the predetermined depth, the magnetic compass attitude value is collected and judged. If the diving attitude angle is too large, the steering command will be output through the PID control algorithm to ensure the vertical diving of the vehicle during diving. The third part is the maneuvering position control process. Refer to Figure 2 the control scheme diagram of the portable vehicle. After the portable vehicle reaches the predetermined depth, the control center turns on the ranging and positioning sonar. The ranging sonar real-time feedbacks the depth of the vehicle from the bottom and calculates the optimal placement position of the vehicle. The control center takes the optimal placement position feedback by the ranging and positioning sonar as the input, conducts steering calculation through the control algorithm, transmits the steering command to the steering gear to turn the rudder, and places the vehicle at the optimal position.

[0035] In summary, the above is only the preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A portable carrier, characterized in that, It includes a streamlined housing of the vehicle, a ranging and positioning sonar, a servo and rudder plate combination device, a control center, a depth sensor, and a magnetic compass; The ranging and positioning sonar measures the distance between the vehicle and the bottom in real time and feeds it back to the control center; when the vehicle dives to a certain height above the bottom, the positioning function is turned on, and the optimal deployment position of the vehicle is calculated; The depth sensor collects the depth where the vehicle is located and transmits the depth value to the control center; The magnetic compass collects the attitude of the vehicle and transmits the attitude value to the control center; The servo and rudder plate combination device includes a servo and a rudder plate that are mechanically connected. The servo serves as a transmission device, can transmit information with the control center, feedback the current position of the rudder plate, and steer the rudder according to the steering command of the control center, and turn the rudder plate to the specified position within a predetermined time; The control center outputs the steering of the vehicle through a control algorithm based on the distance between the vehicle and the bottom, the depth value, and the attitude of the vehicle.

2. The portable carrier according to claim 1, characterized in that, The streamlined housing of the vehicle has good hydrodynamic performance, and its pressure resistance and airtightness can meet the water depth requirements of the deployment position.

3. The portable carrier according to claim 1, wherein, The depth sensor is a water pressure measuring device that collects the depth where the vehicle is located.

4. The portable carrier according to any one of claims 1-3, characterized in that, The control center is connected to the ranging and positioning sonar, the depth sensor, the magnetic compass, and the servo respectively through cables.

5. A diving control method applied to the vehicle described in claim 1, characterized in that, It includes three stages: free diving, vertical diving, and maneuvering for positioning; Free diving: After the portable vehicle is deployed into the water, the depth sensor and the magnetic compass are turned on to collect data on the depth and attitude of the vehicle after it is deployed into the water. During this process, only the data of the vehicle is collected, and it is not steered and controlled to dive freely; Vertical diving: After the portable vehicle dives to the set depth, the attitude value collected by the magnetic compass is judged. If the diving attitude angle is too large, a steering command is output through the PID control algorithm to ensure the vertical diving of the vehicle during diving; Maneuvering for positioning: After reaching the set depth, the control center turns on the ranging and positioning sonar. The ranging and positioning sonar real-time feedbacks the depth of the vehicle from the bottom and calculates the optimal deployment position of the vehicle. The control center takes the optimal deployment position feedback by the ranging and positioning sonar as the input, conducts steering calculations through the control algorithm, transmits the steering command to the servo to steer the rudder, and deploys the vehicle to the optimal position.

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