CN105223898A - Submarine observation network is plugged into the control system of base station - Google Patents
Submarine observation network is plugged into the control system of base station Download PDFInfo
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- CN105223898A CN105223898A CN201510612552.2A CN201510612552A CN105223898A CN 105223898 A CN105223898 A CN 105223898A CN 201510612552 A CN201510612552 A CN 201510612552A CN 105223898 A CN105223898 A CN 105223898A
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- base station
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- underwater vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/15—Plc structure of the system
- G05B2219/15078—Modules, construction of system
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of submarine observation network to plug into the control system of base station, this system comprises the first relay, second relay, electric current and voltage sampling module, ICPT module, primary coil, voltage reduction module, PLC, host computer, for control base station towards submersible machine, for docking provides the range light guiding light source, Underwater Camera, for underwater camera provides the illuminating lamp of light source, for the underwater acoustic communication device of Real-time Obtaining autonomous underwater vehicle attitude and positional information, for being clamped during autonomous underwater vehicle docking, plugged into the fixing electromagnetic clamp device in base station relatively in its position, for obtaining the electronic compass of base station orientation information of plugging into and the ADCP for obtaining ocean current direction and speed, native system realizes control to total system based on PLC, and is connected with host computer by netting twine, makes staff can the Real-time Obtaining autonomous underwater vehicle docking various data of plugging into, control is stablized, be easy to operation.
Description
Technical field
The present invention relates to deep seafloor observational network joint technology field, particularly relate to a kind of deep seafloor observational network and to plug into the control system of base station.
Background technology
Cover the treasure that the ocean of the earth 70% is human social, the living resources that are richly stored with and mineral resources, have great impact to the ecologic environment of the earth and climate change.In order to better obtain oceanographic data, the mankind are facilitated more to understand ocean, the many ocean observation apparatus of man invented, submarine observation network is one of important device of oceanographic observation, high voltage electric energy and express network communication signal are passed to seabed to support that various kinds of sensors and equipment are in seabed long-time running by special extra large cable by seabed observation network, and base station detection data real-time Transmission returned on the bank, analyze for staff.
But, deep seafloor observational network belongs to static observation network, belong to point observation type, in order to more comprehensively three-dimensional acquisition nautical mile data, need by means of mobile observation platform, as autonomous underwater vehicle (AUV) etc., because autonomous underwater vehicle is by internal battery powers, hours underway is limited, needs to charge to it, this just needs to set up base station of plugging on deep seafloor observational network, convenient to autonomous underwater vehicle charging and information transmission.
CN102320362A discloses one autonomous boat letter device and submarine observation network docking facilities under water, this patent describes the physical construction composition of submarine observation network POP, but be not described the control device of docking system, the plug into control circui of base station and delivery of electrical energy, Signal transmissions of autonomous underwater vehicle and deep-sea observational network is a key issue.
Summary of the invention
The object of the invention is to the problem for prior art, the control system that a kind of submarine observation network controlling to stablize, be easy to operate plugs into base station is provided.
For solving the problem, the technical solution used in the present invention is as follows:
Submarine observation network of the present invention is plugged into the control system of base station, be input as 375V direct current, after the first relay, ICPT (inverter circuit plate) module is input to again through electric current and voltage sampling module, electric current and voltage sampling module is used for the voltage and current value of Gather and input ICPT module, ICPT module transfers direct current 375V to 375V alternating current, supplies the primary coil of plugging in the charging module of base station, charges for autonomous underwater vehicle, this control system also comprises the second relay, it is input as 375V direct current, connect voltage reduction module 375V direct current being dropped to 24V direct current, 24V direct current after step-down and PLC, submersible machine, range light, illuminating lamp, underwater camera, underwater acoustic communication device, electromagnetic clamp device, electronic compass and ADCP (acoustic Doppler surveys current section plotter) provide power supply respectively, steering order is sent on PLC by netting twine by the host computer on bank base, PLC output terminal has eight road signals, control submersible machine respectively, range light, illuminating lamp, underwater camera, underwater acoustic communication device, electromagnetic clamp device, electronic compass and ADCP, underwater camera, underwater acoustic communication device, electronic compass and ADCP all by obtain information feed back to PLC,
Described submersible machine for control POP towards, make it all the time towards the direction of the docking of autonomous underwater vehicle, facilitate the smooth docking of autonomous underwater vehicle and carry out Signal transmissions, instruction issuing, electric energy charge;
Described range light be used for provide guiding light source for during autonomous underwater vehicle docking, make autonomous underwater vehicle distance plug into base station nearer time the docking of vision guided navigation algorithm can be adopted to plug into;
Described illuminating lamp is used for providing light source for underwater camera, and underwater camera for monitoring the process of autonomous underwater vehicle docking, and passes data back situation that host computer facilitates staff to understand autonomous underwater vehicle docking in real time to plug into by PLC;
Described underwater acoustic communication device be used for plugging into base station and autonomous underwater vehicle carries out communication, the attitude information of Real-time Obtaining autonomous underwater vehicle and positional information, and sends the data to PLC, is convenient to PLC analysis and treament and information is passed to host computer.
Described electromagnetic clamp device is used for clamping autonomous underwater vehicle when autonomous aircraft docking is plugged under water, base station of relatively plugging into, its position is fixed, be convenient to it and carry out electric energy and Signal transmissions with base station of plugging into, the concrete structure of electromagnetic clamp device can with reference to CN103114774A.
Described electronic compass for obtaining the orientation information of base station of plugging into, and passes information back back host computer to PLC again, facilitates staff to understand the orientation information of base station of plugging in time.
Described ADCP for obtaining ocean current direction near base station of plugging into and ocean current speed, and by information back to PLC, for autonomous underwater vehicle docking provides data reference.
Native system realizes control to total system based on PLC, and is connected with host computer by netting twine, makes staff can the Real-time Obtaining autonomous underwater vehicle docking data of plugging into; And Systematical control of the present invention is stablized, be easy to operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of control system of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
With reference to Fig. 1, deep seafloor observational network is plugged into the control system of base station, comprise: the first relay 2, second relay 3, electric current and voltage sampling module 4, ICPT module 5, the primary coil 6 of plugging in the charging module of base station, voltage reduction module 7, PLC8, host computer 9, for control to plug into base station towards submersible machine 10, for autonomous underwater vehicle docking provides the range light 11 guiding light source, for monitoring the Underwater Camera 13 of autonomous underwater vehicle, for underwater camera provides the illuminating lamp 12 of light source, for the underwater acoustic communication device 14 of Real-time Obtaining autonomous underwater vehicle attitude and positional information, for being clamped during autonomous underwater vehicle docking, plugged into the fixing electromagnetic clamp device 15 in base station relatively in its position, for obtaining the electronic compass 16 of base station orientation information of plugging into and the ADCP17 for obtaining ocean current direction and speed,
375V direct current 1 inputs the first relay 2 and the second relay 3 respectively, first relay 2 connects electric current and voltage sampling module 4, electric current and voltage sampling module 4 connects ICPT (inverter circuit plate) module 5, electric current and voltage sampling module 4 is for gathering the voltage and current value of ICPT module input, ICPT module transfers direct current 375V to 375V alternating current, supply the primary coil 6 of plugging in the charging module of base station, charge for autonomous underwater vehicle, second relay 3 connects voltage reduction module 7, 375V direct current is dropped to 24V direct current by voltage reduction module 7, to PLC8, submersible machine 10, range light 11, illuminating lamp 12, underwater camera 13, underwater acoustic communication device 14, electromagnetic clamp device 15, electronic compass 16, ADCP17 (acoustic Doppler surveys current section plotter) provides power supply respectively, steering order to be sent on PLC8 by netting twine and to receive the passback of PLC8 by the host computer 9 on bank base, PLC8 output terminal has eight road signals, connection control submersible machine 10 respectively, range light 11, illuminating lamp 12, underwater camera 13, underwater acoustic communication device 14, electromagnetic clamp device 15, electronic compass 16, ADCP17, underwater camera 13, underwater acoustic communication device 14, electronic compass 16 and ADCP17 all by obtain information feed back to PLC8,
Described submersible machine 10 for the base station that controls to plug into towards, make it all the time towards the direction of the docking of autonomous underwater vehicle, facilitate the smooth docking of autonomous underwater vehicle and carry out Signal transmissions, instruction issuing, electric energy charge;
Described range light 11 for providing guiding light source for during autonomous underwater vehicle docking, make autonomous underwater vehicle distance plug into base station nearer time can adopt the docking of vision guided navigation algorithm and plug into;
Described illuminating lamp 12 is for providing light source for underwater camera, and underwater camera 13 for monitoring the process of autonomous underwater vehicle docking, and passes data back situation that host computer facilitates staff to understand autonomous underwater vehicle docking in real time to plug into by PLC.
Described underwater acoustic communication device 14 carries out communication, the attitude information of Real-time Obtaining autonomous underwater vehicle and positional information for plug into base station and autonomous underwater vehicle in distant, and feeds back to PLC.
Described electromagnetic clamp device 15, for clamping autonomous underwater vehicle when autonomous aircraft docking is plugged under water, makes base station of relatively plugging into, its position fix, is convenient to it and carries out electric energy and Signal transmissions with base station of plugging into.
Described electronic compass 16 for obtaining the orientation information of base station of plugging into, and passes information back back host computer to PLC again, facilitates staff to understand the orientation information of base station of plugging in time.
Described ADCP17 for obtaining ocean current direction near base station of plugging into and ocean current speed, and by information feed back to PLC, for autonomous underwater vehicle docking provides data reference.
Native system realizes control to total system based on PLC, and is connected with host computer by netting twine, makes staff can the Real-time Obtaining autonomous underwater vehicle docking data of plugging into; This Systematical control is stablized, be easy to operation.
Claims (1)
1. submarine observation network is plugged into the control system of base station, it is characterized in that, comprising: the first relay (2), second relay (3), electric current and voltage sampling module (4), ICPT module (5), the primary coil (6) of plugging in the charging module of base station, voltage reduction module (7), PLC (8), host computer (9), for control to plug into base station towards submersible machine (10), for autonomous underwater vehicle docking provides the range light (11) guiding light source, for monitoring the Underwater Camera (13) of autonomous underwater vehicle, for underwater camera provides the illuminating lamp (12) of light source, for the underwater acoustic communication device (14) of Real-time Obtaining autonomous underwater vehicle attitude and positional information, for being clamped during autonomous underwater vehicle docking, plugged into the fixing electromagnetic clamp device (15) in base station relatively in its position, for obtaining the electronic compass (16) of base station orientation information of plugging into and the ADCP (17) for obtaining ocean current direction and speed,
375V direct current inputs the first relay (2) and the second relay (3) respectively, first relay (2) connects electric current and voltage sampling module (4), electric current and voltage sampling module (4) connects ICPT module (5), for voltage and the current value of Gather and input ICPT module (5), ICPT module (5) is for transferring 375V direct current to 375V alternating current, connect primary coil (6), second relay (3) connects the voltage reduction module (7) 375V direct current being transferred to 24V direct current, voltage reduction module (7) connects PLC (8) respectively, host computer (9), submersible machine (10), range light (11), underwater camera (13), illuminating lamp (12), underwater acoustic communication device (14), electromagnetic clamp device (15), electronic compass (16) and ADCP (17),
Host computer (9) connects PLC (8), and eight output terminals of PLC (8) connect submersible machine (10), range light (11), illuminating lamp (12), underwater camera (13), underwater acoustic communication device (14), electromagnetic clamp device (15), electronic compass (16) and ADCP (17) respectively;
Underwater camera (13), underwater acoustic communication device (14), electronic compass (16) and ADCP (17) by obtain information feed back to PLC (8).
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| CN201510612552.2A CN105223898A (en) | 2015-09-23 | 2015-09-23 | Submarine observation network is plugged into the control system of base station |
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Cited By (5)
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| CN107831336A (en) * | 2017-10-26 | 2018-03-23 | 长江水利委员会水文局长江中游水文水资源勘测局 | A kind of hydrology flow measuring system based on PLC |
| CN108583826A (en) * | 2018-04-03 | 2018-09-28 | 广州航海学院 | A kind of type of extension underwater operation platform |
| CN108988449A (en) * | 2018-07-27 | 2018-12-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of seabed electric power station system applied to submarine navigation device |
| CN109141539A (en) * | 2018-10-26 | 2019-01-04 | 中国科学院深海科学与工程研究所 | A kind of underwater Multifunctional AC motor control and test device |
| CN111427275A (en) * | 2020-04-24 | 2020-07-17 | 上海查湃智能科技有限公司 | Electric control method and system for water surface power supply type underwater robot |
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| CN111427275A (en) * | 2020-04-24 | 2020-07-17 | 上海查湃智能科技有限公司 | Electric control method and system for water surface power supply type underwater robot |
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