CN105387858B - A kind of yacht intelligent guidance system and working method - Google Patents
A kind of yacht intelligent guidance system and working method Download PDFInfo
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- CN105387858B CN105387858B CN201510919899.1A CN201510919899A CN105387858B CN 105387858 B CN105387858 B CN 105387858B CN 201510919899 A CN201510919899 A CN 201510919899A CN 105387858 B CN105387858 B CN 105387858B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of yacht intelligent guidance systems, including main control unit, wireless communication unit, image acquisition units, power control unit, GPS unit and power supply unit；Main control unit is connect with wireless communication unit, image acquisition units, power control unit, GPS unit and power supply unit respectively；Image acquisition units obtain outer environment state information for acquiring external image information and carrying out image recognition algorithm processing；Power control unit, for obtaining yacht running state information and analyzing processing；GPS unit, for obtaining the GPS positioning parameter information of yacht；Main control unit goes forward side by side row information processing for obtaining yacht running state information and outer environment state according to said units, obtains the operating status result information of yacht；The beneficial effects of the present invention are: can realize that autonomous GPS navigation, coastal waters inertial navigation drive, hide the water surface and underwater obstacle, guarantees steady, the safety of automatic Pilot, ensure that comfort and personal safety that passenger drives.
Description
Technical field
The present invention relates to control system technical field, especially a kind of yacht intelligent guidance system and working method.
Background technique
Currently, intelligent guidance system can be in the case where unmanned intervene to extraneous ring with the development of intelligent control technology
Border is made a response, and realizes the automatic control of control target.Information technology, the fast development of computer technology and Other subjects
Development interpenetrates, and merges into each other, and has pushed deepening continuously for Control Science and Engineering research.Control system is sent out to intelligent control
Exhibition has become a kind of trend.
Inertial navigation technology has tended to be mature in military domain, but due to sensor selling at exorbitant prices, precision requirement etc.
Limitation has not been suitable for civil field since growing this.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of yacht intelligent guidance system and work
Method.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of yacht intelligent guidance system, including main control unit, image acquisition units, obstacle avoidance sensor unit, channel radio
Believe unit, power control unit, GPS unit and power supply unit；Main control unit respectively with image acquisition units, obstacle avoidance sensor list
Member, wireless communication unit, power control unit, GPS unit and power supply unit connection；
Image acquisition units, for acquiring external image and carrying out image recognition algorithm to obtain external image information；
Obstacle avoidance sensor unit, for acquiring yacht peripheral obstacle information, underwater obstacle information；
Wireless communication unit, the yacht running state information for obtaining main control unit are wirelessly transferred；
Power control unit obtains yacht current pose information for obtaining yacht operating status and carrying out signal processing；
GPS unit, for obtaining yacht GPS positioning parameter information；
Main control unit, for being obtained according to image acquisition units, power control unit, obstacle avoidance sensor unit, GPS unit
External image information, yacht current pose information and yacht GPS positioning parameter information, to obtain yacht operating status result
Information, and yacht speed, acceleration and direction are controlled；
Power supply unit is used for main control unit, image acquisition units, wireless communication unit, power control unit and GPS
Unit power supply.
Preferably, the main control unit, the DSP for connecting including microprocessor, with microprocessor and being controlled by microprocessor
Unit.
Preferably, the obstacle avoidance sensor unit, including ultrasonic sensor, sonar sensor and peripheral circuit surpass
Sonic sensor is used to acquire the obstacle information in 50 to two hundred meters of the water surface, and sonar sensor is for acquiring the depth of water, reef
Information, and the information of acquisition is used for avoidance movement.
Preferably, described image acquisition unit, including camera unit and peripheral imaging circuit unit, camera unit is for adopting
Collect external image, and the external image information is subjected to image recognition algorithm processing and obtains external image information；
The external image information includes the water surface and water hazard object information.
Preferably, the control system further includes man-machine interaction unit, single by wireless communication for receiving main control unit
The control instruction that member is sent, control yacht operation.
Preferably, the power control unit, including inertial sensor unit and external sensor circuit unit, for obtaining
It takes yacht operating status and posture settlement process is carried out to yacht operating status, to obtain yacht current pose information.
It is further preferred that the inertial sensor unit, including being set to the gyroscope of yacht inner horizontal position, adding
Speedometer, compass and peripheral circuit.
It is further preferred that the yacht current pose information includes the yacht speed of service, yacht tilt angle, yacht fortune
Row acceleration and yacht magnetic direction.
Preferably, the control system further includes alarm unit connected to the main control unit, is occurred for running in yacht
It is controlled when failure by driver and realizes alarm.
Preferably, the inertial sensor unit further includes the negative-feedback time for being set to inertial sensor unit output end
Road, i.e. shura circuit, gyrocompass circuit and Foucault circuit can make DSP unit logical by the way that the negative feedback loop is arranged
It crosses negative-feedback circuit and corrects the location error, to obtain more accurate position data.
The invention also discloses a kind of working methods of yacht intelligent navigation, and steps are as follows:
Step 1: the sensor of inertial sensor unit obtains yacht current pose information, and image acquisition units are by taking the photograph
As the camera of unit shoots external image information, GPS unit acquisition yacht GPS positioning parameter information, obstacle avoidance sensor unit
Water hazard object information is acquired, microprocessor receives yacht current pose information, external image information, GPS positioning parameter information
With water hazard object information；
Step 2: microprocessor, which obtains yacht current pose information, external image information, GPS positioning using DSP unit, joins
Number information and water hazard object information, and DSP resolving processing is carried out to above- mentioned information, to obtain yacht operating status result letter
Breath；
Step 3: microprocessor according to the yacht operating status result information make corresponding automatic dodging barrier or
The operation that person pulls in shore automatically is pulled in shore automatically with realizing or is gone to sea automatically.
The beneficial effects of the present invention are:
1. the system can analyze the data for handling various sensors in real time, the analysis to yacht posture and position is completed, together
When can obtain the water surface and water hazard object information according to camera unit.
2. the system can realize that autonomous GPS navigation, coastal waters inertial navigation drive, hide the water surface and underwater obstacle, according to
Routing algorithm plans related course line, can establish concrete model according to yacht power situation in dynamic Control, guarantees automatic Pilot
It is steady, safety, ensure that passenger drive comfort and personal safety.
Detailed description of the invention
Fig. 1 is the structural block diagram of yacht intelligent guidance system of the present invention；
Fig. 2 is the concrete structure diagram of yacht intelligent guidance system of the present invention；
Fig. 3 is the structural schematic diagram of yacht intelligent guidance system of the present invention；
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, a kind of yacht intelligent guidance system, including main control unit, image acquisition units, obstacle avoidance sensor list
Member, wireless communication unit, power control unit, GPS unit and power supply unit；Main control unit respectively with image acquisition units, keep away
Hinder sensor unit, wireless communication unit, power control unit, GPS unit and power supply unit connection；
Image acquisition units, for acquiring external image and carrying out image recognition algorithm to obtain external image information；
Obstacle avoidance sensor unit, for acquiring yacht peripheral obstacle information, underwater obstacle information；
Wireless communication unit, the yacht running state information for obtaining main control unit are wirelessly transferred；
Power control unit obtains yacht current pose information for obtaining yacht operating status and carrying out signal processing；
GPS unit, for obtaining yacht GPS positioning parameter information；
Main control unit, for being obtained according to image acquisition units, power control unit, obstacle avoidance sensor unit, GPS unit
External image information, yacht current pose information and yacht GPS positioning parameter information, to obtain yacht operating status result
Information, and yacht speed, acceleration and direction are controlled；
Power supply unit is used for main control unit, image acquisition units, wireless communication unit, power control unit and GPS
Unit power supply.
Further, the main control unit, the DSP for connecting including microprocessor, with microprocessor and being controlled by microprocessor
Unit.
As shown in Fig. 2, the obstacle avoidance sensor unit, including ultrasonic sensor, sonar sensor and peripheral circuit,
Ultrasonic sensor is used to acquire the obstacle information in 50 to two hundred meters of the water surface, and sonar sensor is for acquiring the depth of water, reef
Stone information, and the information of acquisition is used for avoidance movement.
Further, described image acquisition unit, including camera unit and peripheral imaging circuit unit, camera unit is for adopting
Collect external image, and the external image information is subjected to image recognition algorithm processing and obtains external image information；
The external image information includes the water surface and water hazard object information.
Further, the control system further includes man-machine interaction unit, single by wireless communication for receiving main control unit
The control instruction that member is sent, control yacht operation.
Further, the power control unit, including inertial sensor unit and external sensor circuit unit, for obtaining
It takes yacht operating status and posture settlement process is carried out to yacht operating status, to obtain yacht current pose information.
It is further preferred that the inertial sensor unit, including being set to the gyroscope of yacht inner horizontal position, adding
Speedometer, compass and peripheral circuit.
It is further preferred that the yacht current pose information includes the yacht speed of service, yacht tilt angle, yacht fortune
Row acceleration and yacht magnetic direction.
Further, the control system further includes alarm unit connected to the main control unit, is occurred for running in yacht
It is controlled when failure by driver and realizes alarm.
Further, the inertial sensor unit further includes the negative-feedback time for being set to inertial sensor unit output end
Road, i.e. shura circuit, gyrocompass circuit and Foucault circuit can make DSP unit logical by the way that the negative feedback loop is arranged
It crosses negative-feedback circuit and corrects the location error, to obtain more accurate position data.
Embodiment: as shown in figure 3, a kind of yacht intelligent guidance system, each unit connection type are as follows: in main control unit,
Microprocessor uses MTK7620N, and microprocessor is connect with DPS unit using serial ports mode, and the I/O port of microprocessor and alarm are single
Member input connection, and microprocessor is connect by communication bus with gyroscope, accelerometer and electronic compass and GPS unit,
Microprocessor and said units can carry out two-way communication；Microprocessor PWM output is connect with generator.
Camera unit uses camera, and camera carries out information transmission by usb protocol and microprocessor.
Microprocessor runs linux system, carries out image recognition to external image information and obtains image recognition information.
The inertial sensor unit, including three axis Together, digital gyroscopes, three axis of the horizontal position being directly anchored in ship
Digital accelerometer, triaxial testing system and associated peripheral circuits.
Microprocessor obtains the water surface and water hazard object information according to camera, and is obtained and swum according to inertial sensor unit
Ship current pose information resolves preceding posture information by DSP unit, and calculation result is transferred in microprocessor；
MT7620N completes the identification to the water surface and water hazard object information, yacht current pose information, week in conjunction with DSP unit acquisition
Side obstacle information, underwater obstacle information and yacht GPS positioning parameter information run feelings according to above-mentioned data acquisition yacht
Condition and barrier orientation are connect since the PWM of MT7620N is exported with engine controller, and MT7620N exports PWM by PWM
Pulse can adjust engine speed, and the revolving speed by adjusting yacht engine realizes the control to yacht speed；By adjusting rudder
Machine changes rudder for ship direction, realizes and controls yacht direction of advance, by control yacht direction of advance and yacht speed, it can be achieved that right
Barrier hides function.
Further, it is each to inertial sensor unit after the DSP unit obtains the data that inertial sensor unit exports
The output data of Measurement channel is integrated, and the drift of gyroscope increases angle error proportionally at any time, acceleration
The constant error of meter will cause the location error directly proportional to the time square again, and the presence of the angle error and location error
Will lead to DSP unit can not obtain accurate yacht operation data, for this purpose, also setting up in inertial sensor unit output end negative anti-
It is fed back to road, by the setting negative feedback loop, DSP unit can be made to correct the location error by negative-feedback circuit,
To obtain more accurate position data.
The negative feedback loop include the shura circuit being connect with inertial sensor unit output end, gyrocompass circuit and
Foucault circuit.
The invention also discloses a kind of working methods of yacht intelligent navigation, comprising the following steps:
Step 1: the sensor of inertial sensor unit obtains yacht current pose information, that is, passes through three axis digital gyros
Instrument obtains yacht speed, yacht acceleration is obtained by three axis digital accelerometers, triaxial testing system obtains yacht earth magnetism side
To image acquisition units shoot external image information by the camera of camera unit, and GPS unit obtains yacht GPS positioning ginseng
Number information, obstacle avoidance sensor unit acquire water hazard object information, and microprocessor receives yacht current pose information, external image
Information, GPS positioning parameter information and water hazard object information；
Step 2: microprocessor, which obtains yacht current pose information, external image information, GPS positioning using DSP unit, joins
Number information and water hazard object information, and DSP resolving processing is carried out to above- mentioned information, to obtain yacht operating status result letter
Breath；
Step 3: microprocessor according to the yacht operating status result information make corresponding automatic dodging barrier or
The operation that person pulls in shore automatically is pulled in shore automatically with realizing or is gone to sea automatically.
It is described to pull in shore that specific step is as follows automatically: firstly, microprocessor is travelled using inertial sensor unit to harbour, so
The signal returned afterwards using DSP unit acquisition ultrasonic sensor, judges yacht at a distance from bank, according to yacht and bank
Distance is adjusted the positive and negative rotation of engine and the steering of rudder, realizes to slow down and pull in shore, meanwhile, microprocessor is according to image
The external image of acquisition unit acquisition carries out air route correction, makes yacht alignment destination region navigation.
Automatically it goes to sea and is divided into three phases:
First stage, yacht speed, yacht acceleration and the yacht that microprocessor is acquired using inertial sensor unit
Magnetic direction is accumulated respectively by the yacht speed, yacht acceleration and the yacht magnetic direction that obtain to inertial sensor unit
Partite transport is calculated, and speed and the position of yacht are obtained, and after carrying out fused filtering with electronic compass information collected, is recorded in micro process
In the coordinate system that device is established, microprocessor setting igniting, acceleration, turnaround time and steering angle, term by term combination transmitter and steering engine are sent out
Control signal is sent, control yacht is driven out to harbour.
Second stage, shallow water stage, obstacle avoidance sensor acquire underwater obstacle information, and GPS unit obtains yacht GPS positioning
Parameter information, microprocessor obtains underwater obstacle information and GPS positioning parameter information and goes forward side by side row information processing, after processing
Information control engine and steering engine, adjustment yacht posture realizes avoidance；
Phase III, deep water stage, GPS unit certain interval of time detect yacht GPS positioning parameter information, microprocessor
Yacht GPS positioning parameter information described in root detects the traveling course line of yacht, if traveling deviated route presets course line, micro process
Device controls transmitter and steering engine realizes course line amendment.
In open sea regions, microprocessor carries out the routine navigation of long range using GPS unit；It is available in greater coasting area
Inertial sensor unit is gone to sea and is maked a return voyage automatically according to preset navigation route.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (6)
1. a kind of yacht intelligent guidance system, characterized in that including main control unit, image acquisition units, obstacle avoidance sensor unit,
Wireless communication unit, power control unit, GPS unit and power supply unit；Main control unit is passed with image acquisition units, avoidance respectively
Sensor cell, wireless communication unit, power control unit, GPS unit and power supply unit connection；
Image acquisition units, for acquiring external image and carrying out image recognition algorithm to obtain external image information；
Obstacle avoidance sensor unit, for acquiring yacht peripheral obstacle information, underwater obstacle information；
Wireless communication unit, the yacht running state information for obtaining main control unit are wirelessly transferred；
Power control unit obtains yacht current pose information for obtaining yacht operating status and carrying out signal processing；
GPS unit, for obtaining yacht GPS positioning parameter information；
Main control unit, it is outer for being obtained according to image acquisition units, power control unit, obstacle avoidance sensor unit, GPS unit
Portion's image information, yacht current pose information and yacht GPS positioning parameter information, to obtain yacht operating status result letter
Breath, and yacht speed, acceleration and direction are controlled；
Power supply unit is used for main control unit, image acquisition units, wireless communication unit, power control unit and GPS unit
Power supply；
The obstacle avoidance sensor unit, including ultrasonic sensor, sonar sensor and peripheral circuit, ultrasonic sensor are used
Obstacle information in 50 to two hundred meters of the water surface of acquisition, sonar sensor will be acquired for acquiring the depth of water, reef information
Information for avoidance act；
The power control unit, including inertial sensor unit and external sensor circuit unit, for obtaining yacht operation
State simultaneously carries out posture settlement process to yacht operating status, to obtain yacht current pose information；
The inertial sensor unit further includes the negative feedback loop for being set to inertial sensor unit output end, i.e., shura returns
Road, gyrocompass circuit and Foucault circuit；
The main control unit, the DSP unit for connecting including microprocessor, with microprocessor and being controlled by microprocessor, micro process
Device obtains the water surface and water hazard object information according to camera, and obtains yacht current pose letter according to inertial sensor unit
Breath, resolves current pose information by DSP unit, and calculation result is transferred in microprocessor；Microprocessor is complete
The identification of the pairs of water surface and water hazard object information, the yacht current pose information obtained in conjunction with DSP unit, periphery barrier letter
Breath, underwater obstacle information and yacht GPS positioning parameter information, according to above-mentioned data acquisition yacht operating condition and obstacle
Object space position, microprocessor, which exports pwm pulse by PWM, can adjust engine speed, real by the revolving speed for adjusting yacht engine
Now to the control of yacht speed；Change rudder for ship direction by adjusting steering engine, realizes and yacht direction of advance is controlled, swum by control
Ship direction of advance and yacht speed, realization hide function to barrier.
2. yacht intelligent guidance system as described in claim 1, characterized in that described image acquisition unit, including camera shooting are single
Member and peripheral imaging circuit unit, camera unit carry out image knowledge for acquiring external image, and by the external image information
Other algorithm process obtains external image information；The external image information includes the water surface and water hazard object information.
3. yacht intelligent guidance system as described in claim 1, characterized in that the inertial sensor unit, including setting
In the gyroscope of yacht inner horizontal position, accelerometer, compass and peripheral circuit.
4. yacht intelligent guidance system as described in claim 1, characterized in that the yacht current pose information includes yacht
The speed of service, yacht tilt angle, yacht operation acceleration and yacht magnetic direction.
5. yacht intelligent guidance system as described in claim 1, characterized in that the navigation system further includes and main control unit
The alarm unit of connection realizes alarm for being controlled when yacht operation is broken down by driver.
6. the working method based on any yacht intelligent guidance system of claim 1-5, which is characterized in that including following
Step: step 1: the sensor of inertial sensor unit obtains yacht current pose information, and image acquisition units are single by camera shooting
The camera of member shoots external image information, and GPS unit obtains yacht GPS positioning parameter information, the acquisition of obstacle avoidance sensor unit
Water hazard object information, microprocessor receive yacht current pose information, external image information, GPS positioning parameter information and water
Face obstacle information；
Step 2: microprocessor, which obtains yacht current pose information, external image information, GPS positioning parameter using DSP unit, to be believed
Breath and water hazard object information, and DSP resolving processing is carried out to above- mentioned information, to obtain yacht operating status result information；
Step 3: microprocessor according to the yacht operating status result information make corresponding automatic dodging barrier or from
The dynamic operation pulled in shore, is pulled in shore automatically with realizing or is gone to sea automatically；
It is described to pull in shore that specific step is as follows automatically: firstly, microprocessor is travelled using inertial sensor unit to harbour, it is then sharp
The signal returned with DSP unit acquisition ultrasonic sensor, judges yacht at a distance from bank, according to yacht at a distance from bank
The steering of positive and negative rotation and rudder to engine is adjusted, and is realized to slow down and be pulled in shore, meanwhile, microprocessor is according to Image Acquisition
The external image of unit acquisition carries out air route correction, makes yacht alignment destination region navigation；
Automatically it goes to sea and is divided into three phases:
First stage, microprocessor utilize yacht speed, yacht acceleration and the yacht earth magnetism side of inertial sensor unit acquisition
To carrying out integral fortune respectively by the yacht speed, yacht acceleration and the yacht magnetic direction that obtain to inertial sensor unit
It calculates, obtains speed and the position of yacht, after carrying out fused filtering with electronic compass information collected, be recorded in microprocessor and build
In vertical coordinate system, microprocessor setting igniting, acceleration, turnaround time and steering angle, and control is sent to transmitter and steering engine
Signal processed, control yacht are driven out to harbour；
Second stage, shallow water stage, obstacle avoidance sensor acquire underwater obstacle information, and GPS unit obtains yacht GPS positioning parameter
Information, microprocessor obtain underwater obstacle information and GPS positioning parameter information and go forward side by side row information processing, according to treated letter
Breath control engine and steering engine, adjustment yacht posture realize avoidance；
Phase III, the deep water stage, GPS unit certain interval of time detect yacht GPS positioning parameter information, microprocessor according to
The yacht GPS positioning parameter information detects the traveling course line of yacht, if traveling deviated route presets course line, microprocessor
It controls transmitter and steering engine realizes course line amendment.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678035A (en) * | 2017-09-26 | 2018-02-09 | 镇江市鹏申电子科技有限公司 | A kind of prior-warning device peculiar to vessel |
| CN107719597A (en) * | 2017-10-11 | 2018-02-23 | 德清德航游艇制造有限公司 | Pleasure-boat with security system |
| CN109885043A (en) * | 2017-12-06 | 2019-06-14 | 田瑜 | Electronic waterborne sports equipment and monitoring system |
| CN108153317A (en) * | 2018-01-22 | 2018-06-12 | 五邑大学 | A kind of automatic cruising canoe with barrier avoiding function |
| CN108657164A (en) * | 2018-06-04 | 2018-10-16 | 中职北方智扬(北京)教育科技有限公司 | A kind of automatic vehicle control system |
| CN109094310A (en) * | 2018-09-11 | 2018-12-28 | 中国人民解放军陆军军事交通学院镇江校区 | The empty amphibious three-body unmanned boat of water |
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| CN101057159A (en) * | 2004-09-29 | 2007-10-17 | 锡安航运公司 | Anti-collision warning system for marine vehicle and anti-collision analysis method |
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