Today is very unsuccessful. Various subsystems of the unmanned ship have problems, but they are solved one by one.
1. First talk about the sequence of homework:
1) Deploy and operate the remote control to charge
Start the generator, turn the switch of the unmanned ship to "shore power", charge the UPS, turn on the bottom power switch, and the remote control can be connected to the unmanned ship
The MBR and unmanned ship display and control are turned on, connected, and the MBR antenna is moved to a high place
Turn on the multi-beam line control and join the third party of MBR
2) Use remote control to turn on the UPS, pay attention to the delay, about 3 minutes; turn off the UPS also has a delay of 3 minutes, you can also manually turn on the UPS in the middle compartment
3) After 5-10 minutes, start the unmanned ship navigation software, the two icons in the upper left corner turn from red to green, normal
4) Power up the sonar host, change multi-beam-side scan oFF to ON
5) Check whether the lidar is turned on
If it is not turned on, there is no laser panel, only AIS and radar
6) Hoisting to the surface
7) Gondola to the sea, fix the bow and stern. Start the generator and engine with the remote control without disconnecting the hook, and observe whether the throttle of each device and the inverted bucket are normal.
2. Start the generator first, then start the main engine, the sign is: the generator and the cooling water nozzle of the main engine come out
3. Use the deployment remote control to move the docking button down to unhook the boat and quickly lift the heavy hammer away. Pull off the laying rope and drive the boat away from the mother ship.
4 buttons, the second button "Docking" is to control the holding and loosening of the falling hammer. Upward is for holding the falling hammer, and when it is down, the falling hammer is released.
You can break it first, and then try hoisting; when you drop the hammer, wait for the sling to loosen and break it up.
4. Remotely log in to the sonar host and start the multi-beam and sonar software
The preset water depth of the multi-beam sonar is 5-10m larger than the working water depth; the range of the side scan sonar is set to 6-8 times the working water depth
5. Multi-beam interface:
1 ) Enter the preset water depth. The preset water depth should be slightly larger than the water depth to be measured predicted by the user. It is recommended to set it in units of 5m . For example, the water depth is approximately 8m , and the user can set it to 10m .
2 ) Set underwater mode (optional). The user can decide whether to set the underwater mode according to the needs of the use, if it is tested on the shore, it is not set, and the probe can be set when it enters the water.
3) Configuration parameters. Configure the parameters according to the user mode.
4 ) Configure the sensor. Open the sensor serial interface, configure the inertial navigation and GPS port numbers, and open the serial port.
5 ) Click the start button.
The storage directory S7k is the water depth data. RawData is the original data. The large amount of data needs to be deleted
6. Side scan sonar interface:
The side scan sonar procedure is similar to that of multi-beam:
1) Configure range
2) Set the underwater/underwater mode, the water mode can check whether the equipment is normal
3) Download parameters
4) Configure the GPS serial port number and open the serial port
5) Start
6) Check the status, at the bottom of the software
The status information bar is located at the bottom of the software.
The frame number is the frame number of the currently read data, and the number of packets is the number of the currently read frame number data;
The navigation and latitude and longitude values will have corresponding information displayed after connecting to GPS or inertial navigation.
7. Computer terminal operation of unmanned boat
The remote control mode has the highest authority. When the remote control is set to the upper mode, it will be controlled by the computer
Set the mode to autonomous mode
Step 1: Switch to autonomous navigation mode;
Step 2: Click on the plan route icon to plan a route anywhere on the chart for the unmanned boat to track;
Step 3: Click Send Route to send the route to the drone;
Step 4: Click to start tracking. At this time, if a certain throttle has been set and the UAV starts to move, be sure to observe whether the UAV moves according to the route. If there is an abnormality, click the button again to stop the boat. Step 5: Set the throttle value and send it. When the unmanned boat is powered on or restarted for the first time, the throttle value defaults to 0 , and you need to set the throttle ( 0~100 , preferably not more than 80 , and observe whether the rotation speed and speed meet the requirements). The throttle will keep the set value during subsequent tracking. , No need to set every time tracking.
1) Only one trajectory can be used at a time. Therefore, only the survey line file arranged by HYPACK can be used as the background, and then the trajectory can be made on the spot, one by one.
Production and use of background documents:
2) The navigation software software supports UTM and Gaussian projection. First, set up a belt supported by the navigation software in HYPACK, then lay out the measuring line and save it as an lnw file
Navigation software to load
3) Open, it will be displayed on the navigation interface, and then save (be sure to select the latitude and longitude coordinates, the background loading only supports the latitude and longitude coordinates)
In the chart management in the settings, load the saved file and it can be used as the background file
8. The order of finishing work
1) Minimize these two software, you can not occupy wireless bandwidth, after starting, start recording
2) After the measurement is over, close the transmission of the 2 software
3) After the ship reaches the shore or the mother ship, turn off the main engine and generator. Once hoisted, there is no cooling water, which will damage the main engine and generator.
4) Drop hammer, hoisting, the ship needs to be installed on the iron frame
5) Unmanned ship connects to shore power, connects sonar host directly with network cable to copy data
6) Turn off the UPS with the remote control, turn the switch to off, and turn off the bottom switch
9. Problems encountered:
1. When the unmanned ship is on the shore, my computer cannot remotely desktop the sonar host
I checked the third-party connection management of MBR, my computer has been added, and I suddenly remembered that the network cable of sonar was unplugged by me yesterday
Sometimes the remote desktop cannot be connected, just restart the computer. It is suspected that the remote connection has not been closed normally. Later, I tried to officially close it, and I can reconnect without restarting the computer.
2. The sonar host must perform time synchronization every time it restarts, because if it is not synchronized, the default is the last used time
3. The remote control can control the unmanned ship, and the normal steering, acceleration, and reversing are all normal, but the computer terminal cannot perform:
Send throttle information, but the host does not respond, the speed is always at idle speed (700-800)
You can send the track or follow the track, but because there is no power, you can’t follow the track
In the end the boat drifted far, more than 800m, quickly bring the remote control to get closer to the boat, slowly remote control it back, otherwise you have to rent a boat to tow it back
It can’t be solved with the manufacturer’s remote WeChat, they will come to repair tomorrow