A kind of small autonomous formula underwater vehicle based on raspberry pieTechnical field
The invention belongs to underwater submariner fields, are related to a kind of small autonomous formula underwater vehicle based on raspberry pie.
Background technique
Earth surface product 71% is about occupied in ocean, possesses the energy and mineral abundant.With the fast development of marine economy,Each state all accelerates the development paces to marine settings.China assigns construction ocean power as national strategy, ocean development simultaneouslyA close attention point is had become with utilizing.With being continued to increase to including waters explorations such as ocean lakes, to autonomous type waterThe quantity demand and technical requirements of lower submariner device are also being continuously improved.The autonomous underwater submariner body architecture master of mainstream at presentWill there are three types of:
1. being cooperated based on several pieces of PC104 card for industrial computer；
2. being based on the general PC platform of Intel；
The general PC platform combination PC104 of 3.Intel.
Current autonomous underwater submariner device technology has following shortcoming:
1, volume is big.Main control part and various expensive larger sensors occupy a large amount of volumes, therefore autonomous underwater submarinerDevice can not be in narrow channel (such as trench and narrow river) interior operation；Also it is unfavorable for the hidden of autonomous underwater submariner device simultaneouslyHiding.
2, power consumption is big.Since automatically controlled system is too fat to move many and diverse, redundant module and function are too many, so that autonomous underwater submariner devicePower consumption is very big, therefore cruising ability is poor, cannot execute oceangoing voyage journey task.
3, with high costs.Either master control system or sensor and navigation system, all using expensive device；EspeciallySensor: laser radar, Imaging sonar instrument, Doppler anemometer etc. are all sensors costly.
4, it is mostly special exploitation, does not have versatility, be unfavorable for transplanting, be unfavorable for extending, and long term maintenance is at high cost.
5, mostly military, public information is insufficient, is unfavorable for extending to civil field.
Summary of the invention
The present invention to solve the above-mentioned problems, propose it is a kind of using embedded as master control, it is miniaturization, commercialization, lowThe small autonomous formula underwater vehicle of cost.
To achieve the above object, the technical solution of the present invention is as follows: a kind of underwater submariner of small autonomous formula based on raspberry pieDevice, including control panel, sensor module, driving plate, propeller, movable plate and power management module, wherein
The control panel include master control borad and auxiliary control panel, when master control borad working condition is normal by its to other parts intoRow control, controls other parts by auxiliary control panel in master control borad operation irregularity；
The sensor module includes depth transducer, camera, GPS module and attitude transducer, depth transducer andCamera contacts outside sealed compartment with the external world；GPS module and attitude transducer are arranged in sealed compartment；
The driving plate is controlled by control panel, is driven to propeller and movable plate；
The propeller is arranged outside sealed compartment, promotes to the navigation of submariner device；
The movable plate is arranged outside sealed compartment, converts the direction of submariner device and keeps balance；
The power management module is that control panel and sensor module are powered.
Preferably, the master control borad includes raspberry pie 3B+, and auxiliary control panel includes STM 32F103RCT7.
Preferably, the power management module includes charge management circuit, lithium battery, mono- circuit of VICOR, bis- electricity of VICORRoad and LDO circuit, charge management circuit are connect with lithium battery, carry out charge and discharge to lithium battery；The voltage difference of lithium battery outputGive mono- circuit of VICOR and VICOR bis- circuits, mono- circuit of VICOR is exported again to depth transducer and driving plate, bis- circuit of VICORIt exports through LDO circuit to auxiliary control panel, master control borad, GPS module and attitude transducer.
Preferably, the propeller includes athwartships propeller and longitudinal thruster, and athwartships propeller is arranged in sealed compartment tailPortion, longitudinal thruster are arranged in sealed compartment bottom.
Preferably, the movable plate includes that the controlled activity fin keel of sealed compartment head surrounding is arranged in and is arranged in sealed compartmentThe fixed cross tail plate of tail portion surrounding.
Preferably, further include the LED light that sealed compartment head center is set, be camera light filling and flash caution.
It preferably, further include that the antenna part on sealed compartment top is set, including GPS antenna and near-field communication aerial.
Preferably, further include several clump weights being dispersed in sealed compartment, guarantee the buoyancy of submariner device.
It preferably, further include the charging interface being arranged in outside sealed compartment, with the power management module inside sealed compartmentIn charge management circuit connection.
Preferably, the charge management circuit includes BQ25703A charging management chip.
Compared with prior art, the invention has the benefit that
1. master control borad use the very high raspberry pie of integrated level, greatly reduce volume, length less than 90 centimetres, diameter less thanIt 20 centimetres, is very easy in waters operations such as trench, narrow rivers, and be easy to hiding；
2. one piece of auxiliary control panel is added, the safety self-saving module of autonomous underwater submariner device can be used as.When master control is crashedOr when there are other failures, auxiliary control panel (safety self-saving module) can make a response according to corresponding situation, such as quick emersionThe water surface simultaneously issues signal etc., greatly improves autonomous underwater submariner device security performance.
3. sensor module uses common, inexpensive sensor, control quality is improved by algorithm, is substantially reducedEquipment cost is very beneficial for extending to civil field.
4. due to volume very little and electric-control system is simplified, power consumption can continue a journey for a long time with regard at a fairly low, execute it is remote,Big voyage task.
5. controlling software is based on ROS exploitation, performance is stablized excellent, and carrys out Development of Modular various pieces using ROS nodeFunction program realizes each inter-node communication using ROS topic, is highly convenient for maintenance upgrade and Function Extension in the future.
6. controlling software to develop based on ROS, it can be used on the platform that can run ROS, shield bottom hardwareDifference, versatility and portability are high.
7. camera is placed in the middle part of sealed compartment, and angled with autonomous underwater submariner device cabin central axes, canThe front and front lower place for observing autonomous underwater submariner device simultaneously, in this way can be before autonomous underwater submariner device lands justIt can see the bottom, to take corresponding bottom measure, eliminate from bottom height sensor.
8. attitude transducer is to incorporate the MEMS of gyroscope and accelerometer, which is mounted on autonomous underwater submarinerThe physics center of gravity of device can make optimum measurement to the autonomous underwater submariner device motion state under Newton's laws of motion.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the small autonomous formula underwater vehicle based on raspberry pie of the specific embodiment of the invention；
Fig. 2 is the structural block diagram of the small autonomous formula underwater vehicle based on raspberry pie of the specific embodiment of the invention；
Fig. 3 is the Navigation Control process of the small autonomous formula underwater vehicle based on raspberry pie of the specific embodiment of the inventionFigure；
Fig. 4 is the path planning process of the small autonomous formula underwater vehicle based on raspberry pie of the specific embodiment of the inventionFigure；
Fig. 5 is the power management frame of the small autonomous formula underwater vehicle based on raspberry pie of the specific embodiment of the inventionFigure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, rightThe present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, andIt is not used in the restriction present invention.
On the contrary, the present invention covers any substitution done on the essence and scope of the present invention being defined by the claims, repairsChange, equivalent method and scheme.Further, in order to make the public have a better understanding the present invention, below to of the invention thinIt is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the artThe present invention can also be understood completely in description.
Referring to Fig. 1-5, it show a kind of small autonomous formula underwater vehicle knot based on raspberry pie of the embodiment of the present inventionStructure schematic diagram, block diagram, Navigation Control and path planning process figure, power management block diagram, including control panel 10, sensor module30, driving plate 40, propeller 60, movable plate 70 and power management module 50, wherein
The control panel 10 includes master control borad 11 and auxiliary control panel 12, by it to it when 11 working condition of master control borad is normalHe partially controls, and is controlled by auxiliary control panel 12 other parts in 11 operation irregularity of master control borad；
The sensor module 30 includes depth transducer 31, camera 32, GPS module 33 and attitude transducer 34, deepSensor 31 and camera 32 are spent outside sealed compartment, are contacted with the external world；GPS module 33 and attitude transducer 34 are arranged in sealed compartmentIt is interior；
The driving plate 40 is controlled by control panel 10, is driven to propeller 60 and movable plate 70；
The propeller 60 is arranged outside sealed compartment, promotes to the navigation of submariner device；
The movable plate 70 is arranged outside sealed compartment, converts the direction of submariner device and keeps balance；
The power management module 50 is that control panel 10 and sensor module 30 are powered.
In specific embodiment, master control borad 11 includes raspberry pie 3B+, and auxiliary control panel 12 includes STM32F103RCT7.Referring toFig. 5, power management module 50 include charge management circuit 51, lithium battery 52, mono- circuit 53 of VICOR, bis- circuit of VICOR, 54 andLDO circuit 55, charge management circuit 51 are connect with lithium battery 52, carry out charge and discharge to lithium battery 52；The electricity that lithium battery 52 exportsPressure gives bis- circuit 54 of mono- circuit 53 of VICOR and VICOR respectively, and mono- circuit 53 of VICOR exports 24V pressure stabilizing to depth transducer 31 againWith driving plate 40, bis- circuit 54 of VICOR export 12V pressure stabilizing through LDO circuit 55 export 5V pressure stabilizing to auxiliary control panel 12, master control borad11, GPS module 33 and attitude transducer 34.Propeller 60 includes athwartships propeller 62 and longitudinal thruster 61, athwartships propeller62 settings are arranged in sealed compartment tail portion, longitudinal thruster 61 in sealed compartment bottom.Movable plate 70 includes being arranged on sealed compartment headThe controlled activity fin keel 71 of surrounding and the fixed cross tail plate 72 that sealed compartment tail portion surrounding is set.
Further include the LED light 80 that sealed compartment head center is set, is 32 light filling of camera and flash caution.It is arranged closeThe antenna part 35 on batten down top, including GPS antenna and near-field communication aerial.Several clump weights being dispersed in sealed compartment guaranteeThe buoyancy of submariner device.Charging interface 90 outside sealed compartment is set, in the power management module 50 inside sealed compartmentCharge management circuit 51 connects, and is water-tight type, is sealed when not in use with vulcanized rubber plug.Charge management circuit 51 includesBQ25703A charging management chip.
Be Navigation Control flow chart referring to Fig. 3, receive GPS module 33 provide initial position message and lash ship by near field withoutAfter the task order that line issues, with 31 dynamic acquisition motion state data of attitude transducer 34 and depth transducer, using correspondingData anastomosing algorithm and navigation algorithm complete navigation feature；Underwater environment image is obtained using underwater camera 32 is located atAnd barrier avoiding function is completed by corresponding image processing algorithm.It is secondary in conjunction with this after GPS module 33 obtains initial position messageThe task of execution calculates path, is embodied as calculating three axial displacements；Then what is recycled sentences according to 32 data of cameraIt is disconnected whether to execute Robot dodge strategy；The displacement moved is calculated according to 34 data of attitude transducer, while being adjusted autonomousThe motion state of formula underwater vehicle.Main formula underwater vehicle is available to the integrated acceleration in 34 data of attitude transducerSpeed, then the displacement of main formula underwater vehicle is available to rate integrating.
Motion control and path planning process is explained further in conjunction with Fig. 4, by attitude transducer 34 and depth transducer 31Data input to Kalman filter (data Kalman filter) carry out data part filter, obtain respective smooth numberAccording to rear, then filtered data are sent into next Kalman filter (navigation kalman filter) and carry out data fusion, soAfter update corresponding autonomous underwater submariner device motion state matrix, provide new navigation data；New navigation data enters oneA PID controller calculates the offset for needing to adjust, and then driving plate 40 drives propeller 60 and movable plate 70 to make accordinglyAdjustment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the inventionMade any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.