阅读说明：本技术 一种基于无人船的数据智能处理装置 (Data intelligent processing device based on unmanned ship ) 是由 秦世伟 孙炎 包扬娟 其他发明人请求不公开姓名 于 2021-05-19 设计创作，主要内容包括：本发明公开了一种无人船智能数据处理装置,主要包括姿态传感器、异步控制模块和数据传输模块三部分,通过多接口与无人船上的RTK和单波束测深仪相连,在无人船作业时读取三维坐标和水深数据,并对数据进行实时的校准与传输工作。姿态传感器主要负责测量无人船在工作时的三轴角度,然后通过串口传输到装置内部的主控芯片中进行姿态数据的处理和保存。异步控制模块负责实现RTK、测深仪以及姿态数据的同频率接收。数据传输模块在接收到数据信号后通过5G信号实时发送数据至本地上位机或者云端服务器。该装置采用5G通讯技术、智能滤波先进技术手段,操作简便,设计智能,可开发程度高,能够实现对多因素干扰条件下无人船测量数据的实时校准与传输。(The invention discloses an unmanned ship intelligent data processing device which mainly comprises three parts, namely an attitude sensor, an asynchronous control module and a data transmission module, wherein the three parts are connected with an RTK (real time kinematic) and a single-beam depth sounder on an unmanned ship through a plurality of interfaces, three-dimensional coordinates and water depth data are read when the unmanned ship works, and real-time calibration and transmission work is carried out on the data. The attitude sensor is mainly responsible for measuring the three-axis angle of the unmanned ship during working and then transmitting the three-axis angle to a main control chip in the device through a serial port to process and store attitude data. The asynchronous control module is responsible for realizing the same-frequency receiving of the RTK, the depth finder and the attitude data. The data transmission module sends data to a local upper computer or a cloud server in real time through 5G signals after receiving the data signals. The device adopts 5G communication technology, intelligent filtering advanced technology means, and is easy and simple to handle, and design intelligence can be developed the degree height, can realize the real-time calibration and the transmission to unmanned ship measured data under the multi-factor interference condition.)

1. The utility model provides a data intelligence processing apparatus based on unmanned ship which characterized in that: the protection box is made of corrosion-resistant materials and is a sealed box body, and the attitude sensor, the asynchronous control module and the data transmission module are sealed in the protection box; the attitude sensor is used for detecting the attitude parameters of the unmanned ship in real time; the data transmission module transmits the data transmitted by the data transmission module to the asynchronous control module, the asynchronous control module calculates and processes the data, and then the data transmission module outputs attitude correction information to a control system of the unmanned ship; the asynchronous control module is also in signal connection with an RTK (real time kinematic) and a single-beam depth finder on the unmanned ship through a plurality of interfaces, reads three-dimensional coordinates and water depth data during operation of the unmanned ship, calibrates the data in real time and transmits information through the data transmission module.

2. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: the protection box is a sealed box body made of cast aluminum materials, and the inner side of the protection box is coated with polyurethane which is a waterproof and heat-insulating material to form a waterproof and heat-insulating sealing layer.

3. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: a self-recovery fuse is added between a power supply and GND, so that the situation that collector parts are burnt out due to short circuit caused by wiring problems when the intelligent data processing device is connected to an unmanned ship is avoided.

4. The unmanned-vessel-based data intelligent processing device according to claim 3, wherein: the self-recovery fuse has the functions of overcurrent and overheat protection and automatic recovery, when abnormal large current occurs to a circuit, the resistance of the self-recovery fuse can become large, high temperature is generated, the current is prevented from passing through the self-recovery fuse, and when the temperature is recovered to be normal, the resistance of the self-recovery fuse becomes small again, so that the circuit is recovered to be conducted.

5. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: an external power supply is used to form a detachable power supply device structure.

6. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: the attitude sensor measures the three-axis angle of the unmanned ship during working, and then transmits the three-axis angle to a main control chip of STEM32 arranged in the intelligent data processing device through a serial port, and a built-in program of a STEM32 host chip quickly reads a sensor single-bus signaling and processes and stores attitude data.

7. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: by adopting a double-isolation mode, the intelligent data processing device collects various data transmission signals through the singlechip A, then sends the collected data to the singlechip B, and the singlechip B sends the data to a background for backup or output through the 5G module.

8. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: and an automatic filtering algorithm is built in, and before the data detected by the depth finder is transmitted to the host, the artificial intelligence algorithm is used for filtering the mutation points in the water depth data to obtain the validity data of the depth finder.

9. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: the asynchronous control module judges whether data of the RTK, the depth finder and the attitude sensor are asynchronously transmitted or not by using a signal frame header matching algorithm, and uniqueness and authenticity of data of a measured data point are guaranteed through signal matching.

10. The unmanned-vessel-based data intelligent processing device according to claim 1, wherein: the data transmission module adopts multiple schemes to transmit data, and ensures the safe transmission of the data under different external operation conditions; A5G card slot is arranged in the device, and after the 5G card is inserted, data is transmitted remotely.

Technical Field

The invention relates to a multifunctional intelligent data processing device based on an unmanned ship, relates to the technical field of electronics, and can assist the unmanned ship in measuring underwater three-dimensional terrains such as riverways, reservoirs, mining areas and the like. The device can provide technical support for large-scale application of the unmanned ship through real-time filtering calibration of the unmanned ship measurement data.

Background

With the acceleration of national infrastructure and intelligent development pace, the requirements of China on the precision and timeliness of underwater topographic mapping and monitoring work are higher and higher, and the accuracy and rapidity of underwater topographic measurement become key links for restricting the construction speed of hydraulic engineering. The underwater topography measurement in the traditional surveying and mapping field needs to consume a large amount of resources such as manpower and material resources, and the unmanned ship can complete tasks such as surveying and mapping in a remote control or automatic control mode as the latest intelligent and informatization scientific research achievement at present, and has the advantages of shallow draft, high maneuverability, low energy consumption and the like. However, although the unmanned ship equipment for underwater topography measurement of river channels and reservoirs is supported by certain research and development at present, related inventions of a complete unmanned ship data intelligent processing device are still relatively lacked. The intellectualization and integration are inevitable trends of future measurement development, so that the unmanned ship data processing device which is convenient and efficient to study and design and is applied to underwater terrain monitoring has important significance. With the development of the 5G technology, the intelligent control technology and the related filtering algorithm, through the research and development of the intelligent data processing device, the unmanned ship can be promoted to be converted into a multifunctional data processing system from a water surface carrying platform, the dependence on manual intervention is gradually reduced, the unmanned ship completely has independent and accurate data processing capacity, a system driven by a control end instruction is gradually developed into an event-driven distributed system, and the traditional data internal processing work can be replaced to a certain degree. Therefore, the research and development of the high-efficiency and scientific unmanned ship information processing device has profound significance for improving the underwater terrain data in China.

Disclosure of Invention

In order to solve the problem of data correction in unmanned ship measurement in the prior art, the invention aims to overcome the defects in the prior art and provide an intelligent unmanned ship-based data processing device, which can realize intelligent filtering and attitude correction of unmanned ship data and can transmit measured data in real time. The device is simple and convenient to install, high in reliability, capable of effectively improving the processing speed and the measurement accuracy of underwater topographic survey data of the unmanned ship, and good in engineering application prospect.

In order to achieve the purpose of the invention, the invention adopts the following technical scheme:

an unmanned ship-based intelligent data processing device comprises a protection box, and an attitude sensor, an asynchronous control module and a data transmission module which are arranged in the protection box, wherein the protection box is made of corrosion-resistant materials into a sealed box body, and the attitude sensor, the asynchronous control module and the data transmission module are sealed in the protection box; the attitude sensor is used for detecting the attitude parameters of the unmanned ship in real time; the data transmission module transmits the data transmitted by the data transmission module to the asynchronous control module, the asynchronous control module calculates and processes the data, and then the data transmission module outputs attitude correction information to a control system of the unmanned ship; the asynchronous control module is also in signal connection with an RTK (real time kinematic) and a single-beam depth finder on the unmanned ship through a plurality of interfaces, reads three-dimensional coordinates and water depth data during operation of the unmanned ship, calibrates the data in real time and transmits information through the data transmission module. The cast aluminum protection box is used outside the device, the design of the protection box is light and convenient, and the waterproof seal is arranged at the interface, so that the short circuit caused by water immersion of the device in the driving process of the unmanned ship is avoided.

Preferably, the protection box is a sealed box body made of cast aluminum materials, and the inner side of the protection box is coated with waterproof and heat-insulating polyurethane materials to form a waterproof and heat-insulating sealing layer.

Preferably, a self-recovery fuse is added between the power supply and the GND, so that the situation that collector parts are burnt out due to short circuit caused by wiring problems when the intelligent data processing device is connected to an unmanned ship is avoided. The invention adopts the preventing device, short circuit is caused by misoperation when the connector is installed, and the automatic recovery function of the preventing device avoids frequent operation when the fuse is replaced, thereby effectively protecting the electronic element of the device.

Preferably, the self-recovery fuse has the dual functions of overcurrent and overheat protection and automatic recovery, when abnormal large current occurs in the line, the resistance of the self-recovery fuse becomes large, high temperature is generated, and therefore the current is prevented from passing through the self-recovery fuse, and when the temperature returns to be normal, the resistance of the self-recovery fuse becomes small, and therefore the line conduction is restored again.

Preferably, an external power supply is used to form a detachable power supply device structure.

Preferably, the attitude sensor measures the three-axis angle of the unmanned ship during working, and then transmits the three-axis angle to a main control chip of the STEM32 arranged in the intelligent data processing device through a serial port, and a built-in program of the STEM32 host chip quickly reads the single-bus signaling of the sensor and processes and stores the attitude data.

Preferably, the invention uses BWT901CL attitude sensor, can measure the speed of three axes accurately when the unmanned ship measures, and the precision can reach + -0.01 °, effectively guarantee the precision of the attitude measurement data.

Preferably, a double-isolation mode is adopted, the intelligent data processing device collects various data transmission signals through the single chip microcomputer A, then sends the collected data to the single chip microcomputer B, and the single chip microcomputer B sends the data to a background for backup or output through the 5G module. The invention adopts double isolation technology to complete the matching and unpacking of RTK and single-beam depth sounder data streams at the same time, and the chip also adopts anti-electromagnetic digital identification technology, thereby ensuring the safety and accuracy of data transmission. And the main control chip is internally implanted with a water depth abnormal value filtering algorithm and an asynchronous control module, so that the authenticity and uniqueness of data received by the equipment are ensured.

Preferably, an automatic filtering algorithm is built in, and before the data detected by the depth finder is transmitted to the host, the artificial intelligence algorithm is used for filtering the catastrophe points in the water depth data to obtain the validity data of the depth finder.

Preferably, the asynchronous control module judges whether asynchronous transmission of data of the RTK, the depth finder and the attitude sensor occurs or not by using a signal frame header matching algorithm, and uniqueness and authenticity of data of a measured data point are guaranteed through signal matching.

Preferably, the data transmission module adopts multiple schemes to transmit data, and ensures the safe transmission of the data under different external operation conditions; A5G card slot is arranged in the device, and after the 5G card is inserted, data is transmitted remotely. The invention can ensure that the data can be uploaded in real time under various environments, and ensures the stability, flexibility and convenience of data transmission while being not limited by the transmission distance.

Compared with the prior art, the invention has the following obvious and prominent substantive characteristics and remarkable advantages:

1. the multifunctional data intelligent processing device can automatically correct the attitude error of the unmanned ship while providing the three-dimensional coordinates of the underwater topographic point in real time, does not need to worry about the storage problem of the measured data, can realize the refinement and the intellectualization of the whole unmanned ship measuring process, and provides service for improving the scientificity of the unmanned ship measured data;

2. the invention adopts advanced technical means such as 5G communication, intelligent filtering and the like, has simple and convenient operation, intelligent design and high development degree, and can realize the real-time calibration and transmission of unmanned ship measurement data under the condition of multi-factor interference.

Drawings

Fig. 1 is an external form view of the attitude sensor of the present invention.

FIG. 2 is a schematic diagram of a motherboard circuit of the device of the present invention.

FIG. 3 is a schematic diagram of a motherboard of the apparatus of the present invention.

Fig. 4 is a cross-sectional view of the installation position of the device of the invention on the unmanned ship.

Fig. 5 is a schematic structural diagram of the installation position of the device on the unmanned ship.

Detailed Description

The above-described scheme is further illustrated below with reference to specific embodiments, which are detailed below:

the first embodiment is as follows:

in this embodiment, referring to fig. 1, 4 and 5, an unmanned ship-based intelligent data processing device includes a protection box, and an attitude sensor, an asynchronous control module and a data transmission module which are arranged in the protection box, wherein the protection box is made of a corrosion-resistant material into a sealed box body, and the attitude sensor, the asynchronous control module and the data transmission module are sealed in the protection box; the attitude sensor is used for detecting the attitude parameters of the unmanned ship in real time; the data transmission module transmits the data transmitted by the data transmission module to the asynchronous control module, the asynchronous control module calculates and processes the data, and then the data transmission module outputs attitude correction information to a control system of the unmanned ship; the asynchronous control module is also in signal connection with an RTK (real time kinematic) and a single-beam depth finder on the unmanned ship through a plurality of interfaces, reads three-dimensional coordinates and water depth data during operation of the unmanned ship, calibrates the data in real time and transmits information through the data transmission module.

The device can realize intelligent filtering and attitude correction of unmanned ship data and can transmit measured data in real time. The device is simple and convenient to install, high in reliability, capable of effectively improving the processing speed and the measurement accuracy of underwater topographic survey data of the unmanned ship, and good in engineering application prospect.

Example two:

this embodiment is substantially the same as the first embodiment, and is characterized in that:

in this embodiment, the protection box is made of cast aluminum material to form a sealed box body, and the inner side of the protection box is coated with polyurethane which is waterproof and heat-insulating material to form a waterproof and heat-insulating sealing layer. The modules are arranged in a cast aluminum protection box, so that sensitive elements of the device are prevented from being damaged by water immersion due to unmanned ship running or severe weather. The light high-strength cast aluminum material is used, the integral rigidity is good, the inner side of the protection box is coated with the polyurethane which is a waterproof and heat-insulating material, and the processing device is prevented from stopping working due to the influence of rainwater or external high temperature.

In the embodiment, a self-recovery fuse is added between the power supply and the GND, so that the situation that collector parts are burnt out due to short circuit caused by wiring problems when the intelligent data processing device is connected to an unmanned ship is avoided.

In this embodiment, the self-recovery fuse has overcurrent and overheat protection and automatic recovery functions, when abnormal large current occurs in the line, the resistance of the self-recovery fuse becomes large, high temperature is generated, and therefore the current is prevented from passing through the self-recovery fuse, and when the temperature is recovered to be normal, the resistance of the self-recovery fuse becomes small again, so that the line is recovered to be conducted again.

In this embodiment, an external power source is used to form a detachable power supply device structure. The detachability of the battery is ensured, and the continuity of data transmission is improved.

In this embodiment, the attitude sensor measures the three-axis angle of the unmanned ship during operation, and then transmits the three-axis angle to a main control chip of the STEM32 arranged inside the data intelligent processing device through a serial port, and a built-in program of a STEM32 host chip quickly reads a sensor single-bus signaling, and processes and stores attitude data. The built-in program can read complete sensor single bus signaling in a very short time, the problem of time sequence transmission of the sensor is solved, and the stability and the accuracy of data can be effectively improved.

In this embodiment, a double-isolation mode is adopted, the intelligent data processing device collects various data transmission signals through the single-chip microcomputer A, then sends the collected data to the single-chip microcomputer B, and the single-chip microcomputer B sends the data to the background backup or output through the 5G module. The stability and the security of measuring data transmission are effectively improved.

In this embodiment, an automatic filtering algorithm is built in, and before data detected by the depth finder is transmitted to the host, the artificial intelligence algorithm is used for filtering the mutation points in the water depth data to obtain the validity data of the depth finder data. The invention utilizes the artificial intelligence algorithm to filter the mutation points in the water depth data, and ensures the validity of the data of the depth finder.

In this embodiment, the asynchronous control module determines whether data of the RTK, the depth finder, and the attitude sensor have asynchronous transmission problem by using a signal frame header matching algorithm, and guarantees uniqueness and authenticity of data of a measured data point through signal matching.

In this embodiment, the data transmission module adopts multiple schemes to transmit data, and ensures the safe transmission of data under different external operating conditions; A5G card slot is arranged in the device, and after the 5G card is inserted, data is transmitted remotely. And the transmission condition is not limited by the field working environment.

The multifunctional data intelligent processing device can automatically correct the attitude error of the unmanned ship while providing the three-dimensional coordinates of the underwater topographic point in real time, does not need to worry about the storage problem of the measured data, can realize the refinement and the intellectualization of the whole unmanned ship measuring process, and provides service for improving the scientificity of the unmanned ship measured data; the invention adopts advanced technical means such as 5G communication, intelligent filtering and the like, has simple and convenient operation, intelligent design and high development degree, and can realize real-time calibration and transmission of unmanned ship measurement data under the condition of multi-factor interference

Example three:

this embodiment is substantially the same as the above embodiment, and is characterized in that:

in this embodiment, the protection box size is for setting up 120X 200X 30mm, and the protection box shell adopts light high strength material, and the bulk rigidity is high, and is light and handy and conveniently carry, can furthest guarantee the normal work of inside on-the-spot collector, and waterproof thermal insulation material polyurethane is paintd to the inner wall, prevents on the one hand that the inside of unmanned ship measurement in-process device is intake and is damaged, still can avoid outdoor sunshine to penetrate directly and lead to inside high temperature part to burn out.

Fig. 1 is a BWT901CL attitude sensor sample diagram, the sensor collects the three-axis dynamic angles of the unmanned ship through the MCU and transmits them to the main control chip of the processing device, the BWT901CL attitude sensor has fast sampling frequency and high measurement accuracy, the static accuracy is ± 0.05 °, and the dynamic accuracy can reach ± 0.1 °.

Fig. 2 is a schematic circuit diagram of a main board of the device, which is a core system of the whole invention, and the main board is designed to have a size of 60 × 120mm, and is provided with 3 circular holes with a diameter of 5mm, so that equipment can be conveniently positioned. The processing device uses a STEM32 mainboard of a double isolation technology to ensure the stability of data transmission. In addition, an asynchronous control module and a water depth filtering algorithm are arranged in the main board, and the asynchronous control is mainly used for ensuring that the data of the RTK, the depth finder and the attitude sensor are received at the same frequency and ensuring that three kinds of data can be in one-to-one correspondence under a certain transmission data. The filtering algorithm is used for preventing the occurrence of abnormal sudden change values when the depth finder is used for measurement, and abnormal data are filtered in advance before being transmitted to the terminal. The mainboard is also provided with a storage function, and can store 30000 pieces of measurement data at most locally. In order to facilitate equipment debugging, a 232 data interface is additionally arranged on the mainboard and can be directly connected with a PC (personal computer) end for debugging or setting the working mode and the working instruction of the equipment. In some construction sites where radio stations are inconvenient to erect, a 5G clamping groove is formed in the processing device, the processing device can control equipment or transmit measurement data through a 5G signal, and a 5G state signal lamp is arranged in the processing device to judge the strength of the 5G signal and the power supply state of the 5G clamping groove.

Fig. 3 is a real object diagram of a main board of the device, when the device is used for the first time, the device needs to be installed inside a hull of an unmanned ship, and the attitude sensor is installed at the gravity center position of the unmanned ship through a positioning hole by using super glue, so that the effectiveness of measurement of data of the attitude sensor is guaranteed. The main board of the device is placed in the protection box, the protection box is placed in a storage box of the bow of the unmanned ship and is connected with the RTK, the depth sounder and the attitude sensor through the 232 multi-serial-port adapter, the connection effectiveness of the joints is checked, and the stability of data transmission is ensured.

Fig. 4 is a schematic sectional view of the position of the device, which is used for checking whether the electric quantity of the external power supply of the processing device is sufficient or not and replacing the battery with low electric quantity in time before the unmanned ship is measured. The processing device is turned on in advance, the signal intensity of the operation place is judged through the 5G signal indicator lamp, and the continuity of data transmission is ensured. After the work is finished, the unmanned ship can be placed at a preset survey line starting point to carry out measurement work on the relevant water area, and relevant operators can check the acquisition condition of the measurement data in real time through a webpage end.

In summary, the unmanned ship multifunctional intelligent data processing device in the above embodiment of the invention mainly includes three parts, namely, an attitude sensor, an asynchronous control module and a data transmission module. The device is connected with an RTK and a single-beam depth sounder on the unmanned ship through multiple interfaces, reads three-dimensional coordinates and water depth data during operation of the unmanned ship, and performs real-time calibration and transmission work on the data. The attitude sensor is mainly responsible for measuring the three-axis angle of the unmanned ship during working and then transmits the three-axis angle to a main control chip of STEM32 in the device through a serial port to process and store attitude data. The asynchronous control module is responsible for realizing the same-frequency receiving of the RTK, the depth finder and the attitude data. The data transmission module comprises a level shifter, a 5G card slot, a nixie tube and the like, and transmits data to a local upper computer or a cloud server in real time through a 5G signal after receiving the data signal. The device adopts advanced technological means such as 5G communication technology, intelligent filtering, and is easy and simple to handle, and design intelligence can be developed the degree height, can realize the real-time calibration and the transmission to unmanned ship measured data under the multi-factor interference condition.

The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.