Hardware System for Unmanned Surface Vehicle Using IPC Xiang Shi 1, Shiming Wang 1, a, Zhe Xu 1, Qingyi He 1

Transcription

1 Advanced Materials Research Online: ISSN: , Vols , pp doi: / Trans Tech Publications, Switzerland Hardware System for Unmanned Surface Vehicle Using IPC Xiang Shi 1, Shiming Wang 1, a, Zhe Xu 1, Qingyi He 1 1 College of Engineering Science and Technology, Shanghai Ocean University, Shanghai , China; a smwang@shou.edu.cn Keywords: USV, Hardware System, IPC Abstract. The design of hardware system for unmanned surface vehicle using IPC is introduced. The hardware system includes shore-based monitoring system, USV carrier and wireless transmission system. The key to USV carrier is IPC and PCI8602 data acquisition card, and PCI8602 is used to control DC motor and other sensors. The differential global positioning system connects with IPC through serial ports of RS232. Shore-based monitoring system mainly includes PC Computers, and wireless transmission system connects with IPC and PC Computer, through serial ports of RS232, so that it achieves wireless data transmission. Then, the experiment results indicate that the hardware system for USV has succeeded to accomplish remote control. Introduction Unmanned Surface Vehicle (USV) is an intelligent and unmanned surface platform, which can navigate autonomously in the marine environment and complete various tasks such as environmental perception, target detection. According to basic technology characteristics of USV presented, a series of application are described, including harbor surveillance; water quality sampling; hydrologic survey; maritime search and rescue. On the other hand, USV plays an important role in military, and the applications of USV include anti-submarine warfare, mine countermeasures, information war, unconventional combat domains and etc. At present, many countries have carried out relevant research in the unmanned vehicle, and U.S. and Israel stand at the forefront of study and application in USV fields. In military, it is represented by Spartan USV [1] in USV and Protector USV in Israel. In civilian, it mainly includes USV [2] of Massachusetts Institute of Technology in USA, DELFIM USV [3] of the Portuguese system and robotics institute, SESAMO USV [4] of National Antarctic program in Italy, Measuring Dolphin [5] in Germany, edredon USV [6] in Poland and so on. In China, USV technology is still in the conceptual starting phase. USV has become new hot spot area of robotics research, to which extensive attention are paid from scholars at home and abroad. State oceanic administration subsidizes Shanghai ocean university, and Shanghai ocean university is studying the control system of USV, and draws some conclusions after many experiments. In the paper some phased objectives are presented as follows. Introduction to Control System The control system of USV in the project is divided into USV carrier, shore-based monitoring system and wireless transmission system. The way it works is that shore-based monitoring system is keeping the data, correcting the position of USV carrier and controlling the speed of USV carrier according to the way of comparing the data with expect data, and the data mainly includes longitude and latitude which comes from differential global positioning system which is installed on USC carrier while USV carrier is sending the data to shore-based monitoring system through wireless transmission system. All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of Trans Tech Publications, (ID: , Pennsylvania State University, University Park, USA-05/03/16,20:28:21)

2 508 New Technologies for Engineering Research and Design in Industry Fig. 1 The hardware system of the prototype The hardware system of the prototype is shown as Fig. 1, and the structure drawing of hardware system of USV is shown as Fig.2. USV carrier mainly includes: IPC, PCI data acquisition card, differential global positioning system, propellers, battery and other sensors. The master controller is an IPC and PCI data acquisition card. IPC connects with debugging interface by TCP protocol and connects with differential global positioning system by serial ports of RS232. PCI data acquisition card controls DC motor installed in propellers and collects the data which comes from other sensors. Shore-based monitoring system mainly includes PC computers, and it communicates with USV carrier by wireless transmission system. Fig. 2 The structure drawing of hardware system So the work pattern of the control system is IPC of the bottom layer in USV carrier and PC computer of the top Layer in shore-based monitoring system. The manipulation is remote control and autonomous operation. The drive mode is two propellers, and two propellers produce speed difference to achieve swerve. Hardware System of USV Master Controller. The master controller mainly includes PCI data acquisition card, IPC and the related application program. The data acquisition card is PCI8602 made by Beijing Art Technology. The output principle of the master controller is that, the data acquisition card send signal to the outside world to control DC motors through the PCI bus and data channels, with controlled by the related application program. The collect principle of the master controller is that, the data acquisition card collects and caches the data which comes from sensors, and the data transports to internal storage through the PCI bus, meanwhile, the data is shown as the form of graph or figure on the screen after disposing and measuring the data, saving the data in the hard disk, with controlled by the related application program.

3 Advanced Materials Research Vols Wireless Transmission System. The wireless transmission system of USV mainly includes wireless transmit units, and they transform serial data into IP data, or transform IP data into serial data, meanwhile, they are wireless terminal equipments which communicate by wireless communication network. Then they send data by GPRS network, and industrial-grade embedded processors and high-performance rf chip uses in them. A pair of wireless transmit units connect with IPC on USV carrier and PC computer on the shore-based monitoring system by serial ports of RS232 or RS485. After determining series rate, transmitted power, radio frequency rate and so on, IPC achieves communicating with PC computer without writing complex transmission control procedure. Because the technology has been mature and there are analogous products in markets, they are immediately applied to the project. Drive System. The propellers consist of two DC motors. The principle of speed regulation is that PWM or analog signal outputted from the master controller controls motor control module, and motor control module achieves speed regulation of DC motor. The steering principle of USV is shown as figure 3, one master controller, two motors, four replies, two motor control module and power supply. As shown as figure 3, every motor is positive or negative connections with relay. Because master controller controls the connections between relies through outputting analog signal, motor turns positive and negative direction of rotation. Notice that the way of positive and negative direction of rotation requires that at the same time No.1 reply does not connect with No.2 reply, and No.3 reply does not connect with No.4 reply at the same time, if not causing a short circuit accident. Master Controller Control Module Power Supply Control Module 1.Relay 2.Relay 3.Relay 4.Relay Fig. 3 The steering principle of USV Differential Global Positioning System. Because of the high precision of operation at sea, the positioning accuracy of USV must be level meters, which need install the beacon differential positioning equipment whose function is to measure longitude, latitude and course information. The model number is AG332 real time differential GPS made by Trimble company in the system, and the compass installs in AG332 real time differential GPS. It integrates with GPS position and attitude measurement, complex base station of mobile RTK technology, level meters (< one meter) of the differential accuracy, 20Hz of the frequency of output. Because it receives the beacon signal and outward DGPS signal to achieve the differential position, it can get high-precision information of position. The beacon differential positioning equipment connects with IPC by serial ports of RS232. IPC gets relevant data, after it determines series rate, transmitted power, radio frequency rate and so on. Water Experiments The control system of USV in the project has made some experiments on the water, and the results of Z tests and rotary experiments have introduced as follows. The experimental photographs is shown as Fig. 4.

4 510 New Technologies for Engineering Research and Design in Industry Fig. 4 The experimental photographs USV carrier was remotely controlled to reach the center of lake, and the course was 0 at original state, and the rated speed of motors were 1370 (r/min). After the Z test began, the left motor turned positive direction of rotation at the rated speed and the right motor turned negative direction of rotation at the rated speed. Then, after USV carrier turned to the other side, the rated speed did not change, the left motor turned negative direction of rotation and the right motor turned right direction of rotation. Later, repeat the first step after USV carrier turned to the other side, and cycle all over again until the experiment ended. After the rotary experiment began, the left motor turned positive direction of rotation at the rated speed and the right motor stopped, until the rotary experiment ended. At last, the experiment results show that each systems were in good conditions, and the control system for USV has a way to real-time acquisition data, sending data and accomplishing remote control. Conclusions The key to the control system of USV in the project lies IPC and PCI8602 data acquisition card, and its advantage is described as follows. On the hardware side, there are not complex electron circuits in it, At last the results of experiments demonstrate that the control of USV meets expectations, and the way of design is feasible. References [1] Maguer A, Gourmelon D, Adatte M, et al. Flash and /or Flashs Dipping Sonars on Spartan Unmanned Surface Vehicle (USV): A New Asset for Littoral Waters [M]. Turky: Turkish International Conference Acoustics, Istanbul, 2005 [2] J. Manley, A. Marsh, W. Cornforth, et al. Evolution of the Autonomous Surface Craft AutoCat[C]//Proc. Oceans 2000 MTS/IEEE Conference and Exhibition (Oceans 2000), Sept [3] J. Alves, P. Oliveira, A. Pascoal, et al. Vehicle and Mission Control of the DELFIM Autonomous Surface Craft [C]//Proc. 14th IEEE Mediterranean Conference on Control and Automation (MED 2006), June [4] M. Caccia, R. Bono, Ga. Bruzzone, et al. Sampling sea surfaces with SESAMO [J]. Robotics and Automation Magazine, 2005, 12(3): [5] J. Majohr, & T. Buch, Modelling. Simulation and control of an autonomous surface marine vehicle for surveying applications: Measuring Dolphin MESSIN[J]. Advances in unmanned marine vehicles, IEEE Control Series, 2006: [6] Piotr Szymak. Course Control of Unmanned Surface Vehicle. Solid State Phenomena. Vol.196(2013):

5 New Technologies for Engineering Research and Design in Industry / Hardware System for Unmanned Surface Vehicle Using IPC / DOI References [4] M. Caccia, R. Bono, Ga. Bruzzone, et al. Sampling sea surfaces with SESAMO [J]. Robotics and Automation Magazine, 2005, 12(3): /MRA