CN107037816A - A kind of many unmanned boat fleet systems - Google Patents
A kind of many unmanned boat fleet systems Download PDFInfo
- Publication number
- CN107037816A CN107037816A CN201710450386.XA CN201710450386A CN107037816A CN 107037816 A CN107037816 A CN 107037816A CN 201710450386 A CN201710450386 A CN 201710450386A CN 107037816 A CN107037816 A CN 107037816A
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- unmanned boat
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- 238000004891 communication Methods 0.000 claims abstract description 47
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to unmanned boat field, and a kind of many unmanned boat fleet systems, including onboard control system and bank base monitoring system are disclosed, bank base monitoring system includes host computer and bank base ZigBee communication module, and host computer is connected with bank base ZigBee communication module；Onboard control system includes microcontroller and the boat-carrying ZigBee communication module, GPS sensor, attitude transducer and the executing agency that are connected respectively with microcontroller, microcontroller receives the data from GPS sensor to obtain latitude and longitude information, and the data from attitude transducer are received to obtain course angle information, adjust the course angle and speed of unmanned boat in real time by executing agency.The present invention is using host computer as main controlled node, many of the polling system unmanned boat formation unmanned boat is formed into columns, the hauling type search without dead angle is carried out to target water and is detected, ship detection more single than tradition improves operating efficiency, reduces the activity duration, ensure that homework precision.
Description
Technical field
The invention belongs to unmanned boat field, more particularly, to a kind of many unmanned boat fleet systems.
Background technology
In recent years, autonomous unmanned boat is a focus of navigation unit by water research, and its technical foundation is autokinetic movement control
Technology, and in terms of unmanned boat system application single at present includes operating type and operating efficiency the problem of exist.
The application case of current unmanned boat is a lot, is disclosed in Chinese utility model patent specification CN106444767A
A kind of joint combination independent navigation unmanned boat control system based on APM and I7 intelligent chips, including ground control centre and ship
Control centre is carried, boat-carrying control centre includes electric power system, communication system, autonomous navigation system, propulsion system and side again
To five subsystems of control system；Determining in ground control centre is connected through between ground control centre and boat-carrying control centre
WiFi wireless networks and itself and direction controlling into omnidirectional antenna and communication system this subsystem between orientation omnidirectional antenna
2.4G networks between remote control controlled module in this subsystem of system are realized.
In this this unmanned boat control system, system carries out the information of host computer and slave computer by WiFi wireless modules
Interaction, realizes the autonomous navigation of unmanned boat, and detect operation can be carried out after sensor to target water by carrying.But, it is single nobody
Boat system has limitation in terms of job area, activity duration, operating type, for a wide range of marine site detect operation or right
Seeming when target is surrounded and seize, some are powerless.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of many unmanned boat fleet systems, lead to
Cross and control many unmanned boat composition clusters formation to carry out collaboration detection, distributed environment perceptive mode realizes unmanned boat formation pair
Target water carries out the hauling type search without dead angle and detected, and improves efficiency compared to traditional single-ship operation, it is ensured that precision.
To achieve the above object, it is proposed, according to the invention, there is provided a kind of many unmanned boat fleet systems, including onboard control system
With bank base monitoring system, it is characterised in that
The bank base monitoring system includes host computer and bank base ZigBee communication module, the host computer and bank base ZigBee
Communication module is set on the coast, and the host computer is connected with the bank base ZigBee communication module；
The onboard control system be provided with multiple and each onboard control system be separately positioned on one nobody
On ship, and these unmanned boats collectively form many unmanned boats and formed into columns, wherein,
Each onboard control system includes microcontroller, boat-carrying ZigBee communication module, GPS sensor, posture
Sensor and executing agency, and the microcontroller connects the boat-carrying ZigBee communication module, GPS sensor, appearance respectively
State sensor and executing agency, the microcontroller receive the data from GPS sensor to obtain latitude and longitude information, and its
Receive the data from attitude transducer to obtain course angle information, adjusted in real time by executing agency unmanned boat course angle and
Speed；
The bank base ZigBee communication module is entered by ZigBee communication network with all boat-carrying ZigBee communication modules
Row communication；
The host computer uses polling mode, is formed into columns by ZigBee communication network and many unmanned boats and carries out remote information friendship
Mutually, to realize the control to a plurality of unmanned boat or wall scroll unmanned boat.
Preferably, bank base ZigBee communication module is set to host node, boat-carrying ZigBee communication module is set to from section
Point, bank base monitoring system uses broadcast communication mode to unmanned boat, and unmanned ship to shore base monitoring system uses point-to-point communication side
Formula.
Preferably, position and course information of the host computer according to every unmanned boat, calculate every unmanned boat rudder angle and
Ship's speed control command, so as to realize many unmanned boats of Collaborative Control, composition unmanned boat is formed into columns, and carries out collaboration detection.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
Designed according to this invention many unmanned boat fleet systems can by control, realize the autonomous trajectory planning of unmanned boat,
The setting of autonomous navigation task type, the setting of motion control parameter setting, flight pattern etc., unmanned boat, which is formed into columns, can keep certain formation
Carry related sensor and carry out operation, the hauling type without dead angle can be carried out to target water and searches for and detects, is visited than traditional single ship
Survey improves operating efficiency, reduces the activity duration, ensure that homework precision.
Brief description of the drawings
Fig. 1 is the structure diagram of many unmanned boat fleet systems work built according to the present invention；
The functional diagram for many unmanned boat fleet systems that Fig. 2 is built according to the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Reference picture 1, Fig. 2, a kind of many unmanned boat fleet systems, including onboard control system and bank base monitoring system, it is special
Levy and be,
The bank base monitoring system includes host computer and bank base ZigBee communication module, the host computer and bank base ZigBee
Communication module is set on the coast, and the host computer is connected with the bank base ZigBee communication module；
The onboard control system be provided with multiple and each onboard control system be separately positioned on one nobody
On ship, and these unmanned boats collectively form many unmanned boats and formed into columns, wherein,
Each onboard control system includes microcontroller, boat-carrying ZigBee communication module, GPS sensor, posture
Sensor and executing agency, and the microcontroller connects the boat-carrying ZigBee communication module, GPS sensor, appearance respectively
State sensor and executing agency, the microcontroller receive the data from GPS sensor to obtain latitude and longitude information, and its
Receive the data from attitude transducer to obtain course angle information, adjusted in real time by executing agency unmanned boat course angle and
Speed；
The bank base ZigBee communication module is entered by ZigBee communication network with all boat-carrying ZigBee communication modules
Row communication；
The host computer uses polling mode, is formed into columns by ZigBee communication network and many unmanned boats and carries out remote information friendship
Mutually, to realize the control to a plurality of unmanned boat or wall scroll unmanned boat.
The unmanned boat formation control algorithm is located at host computer, and the algorithm can be according to the position and course of every unmanned boat
Information, calculates the rudder angle and ship's speed control command of every unmanned boat, so as to realize many unmanned boats of Collaborative Control, constitutes nobody
Ship is formed into columns, and carries out collaboration detection.
Further, bank base ZigBee communication module is set to host node, boat-carrying ZigBee communication module is set to from section
Point, bank base monitoring system uses broadcast communication mode to unmanned boat, and unmanned ship to shore base monitoring system uses point-to-point communication side
Formula.
The data of microcontroller collection and parsing from GPS and attitude transducer, are obtained in reference picture 1, onboard control system
The positional information and course information of unmanned boat are obtained, and these information and the speed of a ship or plane, rudder angle information are passed by ZigBee communication module
Pass bank base monitoring system.Position and course information of the bank base monitoring system according to every unmanned boat, calculate every unmanned boat
Rudder angle and ship's speed control command, after the control command of every unmanned boat is plus the address information of the unmanned boat, pass through ZigBee
Wireless network is sent to the unmanned boat, corresponding course and speed of a ship or plane adjustment is carried out, so as to realize the formation control of unmanned boat.
Reference picture 2, bank base monitoring system has display module, control module, parameter setting module and data storage module,
Display module can show operational configuration, real-time flight path and expected path of many unmanned boats etc., and control module can be realized manually
Control, autonomous navigation and navigation etc. of forming into columns, parameter setting module can adjust pid parameter, target point, expected path and formation shape
Shape etc., data storage module can store operational configuration and ship trajectory etc.；Onboard control system realizes that sensing data is handled
With the basic exercise control instructed based on host computer etc..
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (3)
1. a kind of many unmanned boat fleet systems, including onboard control system and bank base monitoring system, it is characterised in that
The bank base monitoring system includes host computer and bank base ZigBee communication module, the host computer and bank base ZigBee communication
Module is set on the coast, and the host computer is connected with the bank base ZigBee communication module；
The onboard control system is provided with multiple and each onboard control system and is separately positioned on a unmanned boat,
And these unmanned boats collectively form many unmanned boats and formed into columns, wherein,
Each onboard control system includes microcontroller, boat-carrying ZigBee communication module, GPS sensor, posture sensing
Device and executing agency, and the microcontroller connects the boat-carrying ZigBee communication module, GPS sensor, posture biography respectively
Sensor and executing agency, the microcontroller receive the data from GPS sensor to obtain latitude and longitude information, and it is received
Data from attitude transducer adjust the course angle and speed of unmanned boat to obtain course angle information, by executing agency in real time
Degree；
The bank base ZigBee communication module is led to by ZigBee communication network and all boat-carrying ZigBee communication modules
Letter；
The host computer uses polling mode, and carrying out remote information by ZigBee communication network and the formation of many unmanned boats interacts,
To realize the control to a plurality of unmanned boat or wall scroll unmanned boat.
2. a kind of many unmanned boat fleet systems according to claim 1, it is characterised in that by bank base ZigBee communication module
Host node is set to, boat-carrying ZigBee communication module is set to from node, and bank base monitoring system uses broadcast communication to unmanned boat
Mode, unmanned ship to shore base monitoring system uses point-to-point communication mode.
3. a kind of many unmanned boat fleet systems according to claim 1 or 2, it is characterised in that host computer is according to every nothing
The position of people's ship and course information, calculate the rudder angle and ship's speed control command of every unmanned boat, so as to realize that Collaborative Control is more
Unmanned boat, composition unmanned boat is formed into columns, and carries out collaboration detection.
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| CN201710450386.XA CN107037816A (en) | 2017-06-15 | 2017-06-15 | A kind of many unmanned boat fleet systems |
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| CN201710450386.XA CN107037816A (en) | 2017-06-15 | 2017-06-15 | A kind of many unmanned boat fleet systems |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107517250A (en) * | 2017-08-14 | 2017-12-26 | 苏州马尔萨斯文化传媒有限公司 | A kind of intelligent speed of a ship or plane management method and its system based on unmanned boat |
| CN108170136A (en) * | 2017-12-15 | 2018-06-15 | 武汉理工大学 | More unmanned boat formation control system and methods based on wireless sensor network |
| CN108200175A (en) * | 2018-01-04 | 2018-06-22 | 浙江大学 | More unmanned boat formation cooperative control systems and method based on collaboration cloud control |
| CN108415418A (en) * | 2018-01-23 | 2018-08-17 | 上海交通大学 | A kind of homogeneity unmanned boat cluster formation method based on undirected connected network |
| CN108415422A (en) * | 2018-01-30 | 2018-08-17 | 上海交通大学 | A kind of more unmanned vehicle formation driving control methods based on disturbance observer |
| CN108445884A (en) * | 2018-04-11 | 2018-08-24 | 上海大学 | A kind of patrol system and method based on the collaboration of more unmanned boats |
| CN108482595A (en) * | 2018-03-14 | 2018-09-04 | 武汉理工大学 | The combined system and working method of floating marine generation platform and unmanned boat cluster |
| CN108545160A (en) * | 2018-03-12 | 2018-09-18 | 上海大学 | A kind of someone's ship cooperates with rescue system and method with unmanned boat |
| CN108681321A (en) * | 2018-04-10 | 2018-10-19 | 华南理工大学 | A kind of undersea detection method that unmanned boat collaboration is formed into columns |
| CN108733078A (en) * | 2018-06-08 | 2018-11-02 | 广东工业大学 | A kind of formation control method, the apparatus and system of unmanned systems cluster |
| CN108873894A (en) * | 2018-06-11 | 2018-11-23 | 上海大学 | A kind of target following cooperative control system and method based on more unmanned boats |
| CN108919800A (en) * | 2018-06-22 | 2018-11-30 | 武汉理工大学 | A kind of ship intelligently lines up navigation system |
| CN110186508A (en) * | 2019-05-24 | 2019-08-30 | 浙江大学 | System is monitored based on the oceanic water vigour of style image information of Big Dipper short message and unmanned boat |
| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| CN111181657A (en) * | 2020-01-08 | 2020-05-19 | 中国电子科技集团公司电子科学研究院 | Ocean distributed self-organizing network system |
| CN111523771A (en) * | 2020-03-31 | 2020-08-11 | 中国人民解放军92942部队 | Unmanned ship evaluation system |
| CN111781934A (en) * | 2020-07-29 | 2020-10-16 | 浙江树人学院（浙江树人大学） | Master-slave distributed cooperative device and control method thereof |
| CN112068565A (en) * | 2020-09-10 | 2020-12-11 | 四方智能(武汉)控制技术有限公司 | Unmanned ship autonomous navigation method and system in structured environment |
| CN112423254A (en) * | 2020-11-09 | 2021-02-26 | 上海海洋大学 | Online marine water quality data acquisition system and method suitable for survey ship operation |
| CN113895572A (en) * | 2021-10-27 | 2022-01-07 | 山东科技大学 | Overwater and underwater integrated unmanned system and method |
| CN114089761A (en) * | 2021-11-22 | 2022-02-25 | 江苏科技大学 | System and method for controlling pilotage follower multi-unmanned ship formation based on ROS |
| CN116513381A (en) * | 2023-06-06 | 2023-08-01 | 广州市番高气模制品有限公司 | Unmanned ship of aerifing on water based on artificial intelligence |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107517250A (en) * | 2017-08-14 | 2017-12-26 | 苏州马尔萨斯文化传媒有限公司 | A kind of intelligent speed of a ship or plane management method and its system based on unmanned boat |
| CN108170136A (en) * | 2017-12-15 | 2018-06-15 | 武汉理工大学 | More unmanned boat formation control system and methods based on wireless sensor network |
| CN108200175A (en) * | 2018-01-04 | 2018-06-22 | 浙江大学 | More unmanned boat formation cooperative control systems and method based on collaboration cloud control |
| CN108200175B (en) * | 2018-01-04 | 2020-07-17 | 浙江大学 | Multi-unmanned ship formation cooperative control system and method based on cooperative cloud control |
| CN108415418A (en) * | 2018-01-23 | 2018-08-17 | 上海交通大学 | A kind of homogeneity unmanned boat cluster formation method based on undirected connected network |
| CN108415418B (en) * | 2018-01-23 | 2020-11-06 | 上海交通大学 | Homogeneous unmanned ship cluster formation method based on undirected connected network |
| CN108415422A (en) * | 2018-01-30 | 2018-08-17 | 上海交通大学 | A kind of more unmanned vehicle formation driving control methods based on disturbance observer |
| CN108415422B (en) * | 2018-01-30 | 2020-11-06 | 上海交通大学 | Multi-unmanned vehicle formation driving control method based on disturbance observer |
| CN108545160A (en) * | 2018-03-12 | 2018-09-18 | 上海大学 | A kind of someone's ship cooperates with rescue system and method with unmanned boat |
| CN108482595A (en) * | 2018-03-14 | 2018-09-04 | 武汉理工大学 | The combined system and working method of floating marine generation platform and unmanned boat cluster |
| CN108681321A (en) * | 2018-04-10 | 2018-10-19 | 华南理工大学 | A kind of undersea detection method that unmanned boat collaboration is formed into columns |
| CN108445884A (en) * | 2018-04-11 | 2018-08-24 | 上海大学 | A kind of patrol system and method based on the collaboration of more unmanned boats |
| CN108733078A (en) * | 2018-06-08 | 2018-11-02 | 广东工业大学 | A kind of formation control method, the apparatus and system of unmanned systems cluster |
| CN108873894A (en) * | 2018-06-11 | 2018-11-23 | 上海大学 | A kind of target following cooperative control system and method based on more unmanned boats |
| CN108919800A (en) * | 2018-06-22 | 2018-11-30 | 武汉理工大学 | A kind of ship intelligently lines up navigation system |
| CN110186508A (en) * | 2019-05-24 | 2019-08-30 | 浙江大学 | System is monitored based on the oceanic water vigour of style image information of Big Dipper short message and unmanned boat |
| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| CN111181657A (en) * | 2020-01-08 | 2020-05-19 | 中国电子科技集团公司电子科学研究院 | Ocean distributed self-organizing network system |
| CN111523771A (en) * | 2020-03-31 | 2020-08-11 | 中国人民解放军92942部队 | Unmanned ship evaluation system |
| CN111523771B (en) * | 2020-03-31 | 2024-03-15 | 中国人民解放军92942部队 | Unmanned ship assessment system |
| CN111781934A (en) * | 2020-07-29 | 2020-10-16 | 浙江树人学院（浙江树人大学） | Master-slave distributed cooperative device and control method thereof |
| CN112068565A (en) * | 2020-09-10 | 2020-12-11 | 四方智能(武汉)控制技术有限公司 | Unmanned ship autonomous navigation method and system in structured environment |
| CN112423254A (en) * | 2020-11-09 | 2021-02-26 | 上海海洋大学 | Online marine water quality data acquisition system and method suitable for survey ship operation |
| CN112423254B (en) * | 2020-11-09 | 2023-04-07 | 上海海洋大学 | Online marine water quality data acquisition system and method suitable for survey ship operation |
| CN113895572A (en) * | 2021-10-27 | 2022-01-07 | 山东科技大学 | Overwater and underwater integrated unmanned system and method |
| CN114089761A (en) * | 2021-11-22 | 2022-02-25 | 江苏科技大学 | System and method for controlling pilotage follower multi-unmanned ship formation based on ROS |
| CN116513381A (en) * | 2023-06-06 | 2023-08-01 | 广州市番高气模制品有限公司 | Unmanned ship of aerifing on water based on artificial intelligence |
| CN116513381B (en) * | 2023-06-06 | 2023-11-14 | 广州市番高气模制品有限公司 | Unmanned ship of aerifing on water based on artificial intelligence |
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