Small unmanned stable mechanism control system

Abstract

The utility model relates to an unmanned small-sized stable mechanism control system, which is designed for image sonar, can counteract the swing of a ship in real time and keep the relative stability of the attitude of sonar equipment, and comprises a navigation angle acquisition unit and a main control unit, the input end of the main control unit is connected with the navigation angle acquisition unit through a bus, and the navigation angle acquisition unit sends the calculated ship attitude angle information to the main control unit; and a communication serial port at one end of the main control unit is also provided with a network communication unit. The control system receives an angle instruction sent by a remote device through a network, and feeds back the current attitude of the sonar device. Inertial navigation and equipment rotation in-place angles are collected in real time, and after coordinate transformation calculation, a rotating shaft is finally driven to control the rotation angle and direction, so that isolation from ship swinging motion is realized, and the relative stability of the attitude of sonar equipment is kept.

Description

Technical Field

[0001] The utility model relates to the technical field of sonar motion control devices in ships, in particular to an unmanned small stabilizing mechanism control system. Background Art

[0002] Image sonar can reliably track and identify underwater targets in the dynamic environment of ships. At the same time, in order to protect the safety of personnel, ships performing combat, reconnaissance, surveillance, search and rescue tasks have increasingly higher requirements for unmanned and miniaturized operations, and therefore need to be equipped with a stable mechanism control system.

[0003] Therefore, the present invention aims at the design goals of miniaturization and stability, and adopts a motor solution with a built-in reducer, which greatly reduces the size and weight of the underwater stabilization mechanism. Utility Model Content

[0004] To solve the above technical problems, the utility model provides an unmanned small stabilization mechanism control system. The control system is designed for image sonar and can offset the ship's swaying in real time to maintain the relative stability of the sonar equipment's attitude. The control system includes a navigation angle acquisition unit and a main control unit. The navigation angle acquisition unit reads the ship's navigation equipment information through a serial port, and the input end of the main control unit is connected to the navigation angle acquisition unit through a bus. The navigation angle acquisition unit sends the calculated ship attitude angle information to the main control unit.

[0005] A network communication unit is also provided at one end of the communication serial port of the main control unit, and a power management unit is provided at one end of the network communication unit, wherein the power management unit is used for external power supply. A host computer is also provided at one end of the network communication unit. The main control unit transmits the existing operating status data to the host computer through the network communication unit, and then the host computer performs the specific work of calculating the attitude angle information of the ship.

[0006] In one embodiment of the present invention, the other end of the main control unit is connected to a motion control unit, and the motion control unit receives the calculated position angles of the pitch axis and roll axis, as well as the rotation control angle information sent by the main control unit. The control angle information part is also designed with software limit protection.

[0007] In one embodiment of the present invention, a power drive unit is provided on one side of the motion control unit, wherein the output end of the motion control unit is connected to the input end of the power drive unit, and the power drive unit is used to receive a drive signal sent by the motion control unit.

[0008] In one embodiment of the present invention, a motor is provided on one side of the power drive unit, wherein the output end of the power drive unit is connected to the drive serial port of the motor, and an encoder is also provided on one side of the motor, and a feedback information loop is provided between the encoder and the power drive unit.

[0009] In one embodiment of the present invention, the power drive unit transmits the information fed back from the encoder to the main control unit again through the motion control unit, and the main control unit receives the rotation angle data, combines it with the ship attitude angle information, and simultaneously solves the current motor position through the encoder, calculates the relative position, configures the power drive unit angle, speed, acceleration, deceleration, etc., to realize the rotation control of the motor.

[0010] The above-mentioned technical solution of the present invention offers the following advantages over existing technologies: The control system of the present invention, in which the control equipment is centralized in a single plug-in box, is highly adaptable. Angle commands sent by a remote device are received via the network to provide feedback on the current attitude of the sonar device. Inertial navigation and device rotation angles are collected in real time. After coordinate transformation and calculation, the rotation axis is driven to control the rotation angle and direction, thereby isolating the device from the vessel's swaying motion and maintaining relative stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0012] Figure 1 This is a block diagram of the control system of the unmanned small stabilizing mechanism of the utility model;

[0013] Figure 2 It is a work flow chart of the control system of the utility model. DETAILED DESCRIPTION

[0014] like Figure 1 As shown, this embodiment provides an unmanned small stabilization mechanism control system. The control system is designed for image sonar and can offset the ship's swaying in real time to maintain the relative stability of the sonar equipment's attitude. The control system includes a navigation angle acquisition unit and a main control unit. The navigation angle acquisition unit reads the ship's navigation equipment information through a serial port, and the main control unit's input end is connected to the navigation angle acquisition unit through a bus. The navigation angle acquisition unit sends the calculated ship attitude angle information to the main control unit.

[0015] The other end of the main control unit is connected to the motion control unit, and the motion control unit receives the calculated position angles of the pitch axis and roll axis, and the rotation control angle information sent by the main control unit, and the control angle information part is also designed with software limit protection; the output end of the motion control unit is connected to the input end of the power drive unit, and the power drive unit is used to receive the drive signal sent by the motion control unit; the output end of the power drive unit is connected to the drive serial port of the motor, and at the same time, an encoder is provided on one side of the motor and an information loop with feedback is provided between the power drive unit; the power drive unit transmits the information fed back in the encoder to the main control unit again through the motion control unit, and the main control unit will receive the rotation angle data, combine it with the ship attitude angle information, and solve the current motor position through the encoder, calculate the relative position, configure the power drive unit angle, speed, acceleration, deceleration, etc., to realize the rotation control of the motor.

[0016] A network communication unit is also provided at one end of the communication serial port of the main control unit, and a power management unit is provided at one end of the network communication unit, wherein the power management unit is used for external power supply. A host computer is also provided at one end of the network communication unit. The main control unit transmits the existing operating status data to the host computer through the network communication unit, and then the host computer performs the specific work of calculating the attitude angle information of the ship.

[0017] like Figure 2 As shown, the control system described in this embodiment, in actual operation, specifically includes:

[0018] Step 1: Receive remote control instructions

[0019] The network communication unit receives the command information from the host computer through Ethernet, calculates the pitch angle and sends it to the main control unit.

[0020] Step 2: Navigation Angle Collection and Processing

[0021] The navigation angle acquisition unit reads the navigation device information through the serial port, calculates the attitude angle information of the ship, and then sends it to the main control unit.

[0022] Step 3: Calculate the rotation angle

[0023] The main control unit calculates the position angle and rotation control angle of the pitch axis and roll axis through coordinate transformation, and then sends the rotation angle to the motion control unit, and is designed with software limit protection.

[0024] Step 4: Motor rotation control

[0025] The motion control unit receives the rotation angle data and uses the encoder to resolve the current motor position and calculate the relative position.

[0026] Therefore, the control system described in this embodiment can offset the impact of the ship's swaying on the sonar equipment in real time, and keep the posture of the sonar equipment relatively stable.

[0027] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An unmanned small stabilization mechanism control system, designed for image sonar, capable of offsetting ship sway in real time and maintaining the relative stability of the sonar equipment, characterized by: It includes a navigation angle acquisition unit and a main control unit, wherein the navigation angle acquisition unit reads the navigation equipment information of the ship through the serial port, and the input end of the main control unit is connected to the navigation angle acquisition unit through a bus, and the navigation angle acquisition unit sends the calculated ship attitude angle information to the main control unit; One end of the communication serial port of the main control unit is also provided with a network communication unit, and one end of the network communication unit is provided with a power management unit, wherein the power management unit is used for external power supply, and one end of the network communication unit is also provided with a host computer, and the main control unit transmits the existing operating status data to the host computer through the network communication unit.

2. The control system according to claim 1, characterized in that: The other end of the main control unit is connected to a motion control unit, and the motion control unit receives information sent by the main control unit to calculate the position angles of the pitch axis and the roll axis, as well as the rotation control angle information.

3. The control system according to claim 2, characterized in that: A power drive unit is provided on one side of the motion control unit, wherein the output end of the motion control unit is connected to the input end of the power drive unit.

4. The control system according to claim 3, characterized in that: A motor is provided on one side of the power drive unit, wherein the output end of the power drive unit is connected to the drive serial port of the motor. At the same time, an encoder is provided on one side of the motor and an information loop with feedback is provided between the encoder and the power drive unit.

5. The control system according to claim 4, characterized in that: The power drive unit transmits the information fed back from the encoder to the main control unit again through the motion control unit.

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