CN110794853A - Automatic cruise system of semi-submersible type aircraft and control method - Google Patents
Automatic cruise system of semi-submersible type aircraft and control method Download PDFInfo
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- CN110794853A CN110794853A CN201911141930.8A CN201911141930A CN110794853A CN 110794853 A CN110794853 A CN 110794853A CN 201911141930 A CN201911141930 A CN 201911141930A CN 110794853 A CN110794853 A CN 110794853A
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- 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
- G05D1/04—Control of altitude or depth
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- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The invention discloses an automatic cruise system and a control method of a semi-submersible type aircraft, and belongs to the technical field of automatic control. The invention connects a PC computer (17) to a flight control panel (3) through a ground data transmission system; the remote control handle (18) sends a control instruction to the flight control panel through the PC (17) to complete the control of the actuating mechanism; and then the flight control board (3), the raspberry (2), the switch (10) and the control cabin interior map transmission (15) transmit the sensor information back to the PC (17) through a ground data transmission system to complete data storage and real-time display. The semi-submersible vehicle control system can solve the problem that the semi-submersible vehicle is not accurately controlled manually at long distance or at night, realizes automatic cruising and automatic return of the semi-submersible vehicle, and effectively reduces the training cost of a control hand of the semi-submersible vehicle and the patrol difficulty of the semi-submersible vehicle.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to an automatic cruise system of a semi-submersible type aircraft.
Background
With the continuous progress of science and technology, the cruise of the semi-submersible type aircraft is widely applied to civil and military aspects. Because the semi-submersible vehicle consists of a torpedo type underwater main body and a mast, compared with a surface ship, the semi-submersible vehicle has better wave resistance and concealment, and compared with a traditional underwater unmanned vehicle, the semi-submersible vehicle can transmit data and obtain position information in real time, so the semi-submersible vehicle has inherent advantages in ocean monitoring. The current navigation control modes of the semi-submersible type aircraft mainly comprise manual control and automatic control. The semi-submersible vehicle can be patrolled by manual control at a short distance and when the semi-submersible vehicle can be observed, however, when the semi-submersible vehicle cannot be observed at a long distance or at night, the semi-submersible vehicle has a small target and is difficult to accurately control the semi-submersible vehicle to sail along the target course, automatic cruising can be patrolled according to a specific path autonomously, and simultaneously sonar and a camera can transmit image information in the patrolling process in real time, so that the method is beneficial to saving labor and improving monitoring efficiency, and the semi-submersible vehicle automatic cruising system is developed and has important significance for the practical application of the semi-submersible vehicle.
Disclosure of Invention
The invention provides an automatic cruise system of a semi-submersible vehicle, which mainly solves the technical problems of inaccurate manual control and difficult control in motion control of the semi-submersible vehicle.
An automatic cruise system of a semi-submersible type aircraft comprises a device control system 1, a power supply module and a ground data transmission system; the device control system 1 is connected with the power module and then connected with the ground data transmission system.
The device control system 1 comprises a Raspberry Pi (Raspberry Pi)2, a flight control panel Pixhawk (Pixhawk)3, an execution mechanism, a GPS module 9, a switch 10, an over-water camera 11, an underwater camera 12, a forward-looking sonar 13, a side-scanning sonar 14 and a control cabin interior map transmission 15; the Raspberry Pi (Raspberry Pi)2 is respectively connected with the underwater camera 12, the flight control panel Pixhawk (Pixhawk)3 and the exchanger 10; the flight control panel (Pixhawk)3 exchanges data with the GPS module 9 and the Raspberry Pi (Raspberry Pi)2 and then transmits a control signal to the execution mechanism; the exchanger 10 exchanges data with the water camera 11 and then exchanges the data with the image transmission 15 in the control cabin; and the map transmitter 15 in the control cabin receives the data of the forward-looking sonar 13 and the side-scanning sonar 14 respectively and exchanges data with a ground data transmission system.
The power supply module comprises a voltage converter 7 and a battery 8; the voltage converter 7 is connected to a battery 8 and then to the device control system.
The ground data transmission system comprises a shore-based system drawing transmission 16, a PC (personal computer) 17 and a remote control handle 18; the shore-based system map transmitter 16 is wirelessly connected with a control cabin map transmitter 15 in the device control system and then connected with a PC (personal computer) 17; the PC computer 17 is connected to a remote control handle 18.
The actuating mechanism comprises a main propeller 4, a side propeller 5 and a steering engine 6; the main propeller 4, the side propeller 5 and the steering engine 6 are respectively connected with a flight control panel (Pixhawk) 3.
A control method of an automatic cruise system of a semi-submersible type aircraft comprises the following implementation steps:
the method comprises the following steps: turning on a power supply, electrifying a Raspberry Pi (Raspberry Pi)2, a control cabin interior map transmitter 15 and a flight control panel Pixhawk (Pixhawk)3, completing the interconnection of the control cabin interior map transmitter 15 and a shore-based system map transmitter 16, and turning on relay control switches of a forward-looking sonar 13, a side-scanning sonar 14, an underwater camera 11 and an underwater camera 12;
step two: the PC computer 17 is connected with a flight control panel (Pixhawk)3 to acquire and record the position, the posture and the movement speed information of the semi-submersible vehicle;
step three: planning a cruising route of the semi-submersible type aircraft and transmitting the cruising route to a flight control panel (Pixhawk) 3;
step four: the remote control handle 18 is matched with the PC 17 to control the semi-submersible vehicle to an automatic cruise starting position;
step five: switching to automatic control, issuing an automatic cruise starting command, and starting automatic cruise;
step six: opening display control software, and displaying and recording image information of the sonar and the camera;
step seven: in the automatic cruise process, the steering engine 6 controls the semi-submersible vehicle to stably pitch, and the semi-submersible vehicle navigates according to a set track;
step eight: and the semi-submersible vehicle is automatically navigated back to the home position, and is switched to manual control, and the remote control handle 18 controls the semi-submersible vehicle to the placement point.
Compared with the prior art, the invention has the beneficial effects that:
the invention aims to realize automatic cruise of a semi-submersible type aircraft. The horizontal wings are controlled through the steering engine, so that the pitching stability of the semi-submersible vehicle in the control process can be realized; through planning a path, controlling an aircraft to automatically cruise according to the path, and completing a task to automatically return; in the navigation process, video information is collected and recorded in real time through a sonar and a camera, information such as the position, the speed, the attitude, the voltage and the like of the semi-submersible vehicle is monitored through a PC ground station, and the semi-submersible vehicle can be manually controlled to move to a specified position through a remote control handle. The semi-submersible vehicle control system can solve the problem that the semi-submersible vehicle is not accurately controlled manually at long distance or at night, realizes automatic cruising and automatic return of the semi-submersible vehicle, and effectively reduces the training cost of a control hand of the semi-submersible vehicle and the patrol difficulty of the semi-submersible vehicle.
Drawings
FIG. 1 is a hardware architecture diagram for auto cruise of a semi-submersible vehicle;
FIG. 2 is a sonar, camera image display;
FIG. 3 is a speed control curve;
fig. 4 is a heading control curve.
Detailed Description
The invention provides an automatic cruise system of a semi-submersible type aircraft. The device comprises a device control system, a power supply module and a ground data transmission system; the power module is connected with the device control system, and the device control system is connected with the ground data transmission system. The device control system 1 comprises a Raspberry Pi (Raspberry Pi)2, a flight control panel Pixhawk (Pixhawk)3, an execution mechanism, a GPS module 9, a switch 10, an over-water camera 11, an underwater camera 12, a forward-looking sonar 13, a side-scanning sonar 14 and a control cabin interior map transmission 15; the power supply module comprises a voltage converter 7 and a battery 8; the ground data transmission system comprises a shore-based system drawing transmission 16, a PC computer 17 and a remote control handle 18; after the semi-submersible vehicle is electrified, the sensor information is analyzed through the PC 17, a control target is obtained according to a planning task, a control command is obtained through the PID controller, data are transmitted in a long distance through a picture, the sensor data and the image information are received and the control command is sent through the Mavproxy module of a Raspberry Pi 2, the position information is received through the GPS module 9, the execution mechanism is controlled to work through the flight control panel Pixhawk 3, and therefore the semi-submersible vehicle can cruise automatically and can be controlled to a designated position point through the remote control handle 18. The semi-submersible vehicle control system can solve the problem that the semi-submersible vehicle is not accurately controlled manually at long distance or at night, realizes automatic cruising and automatic return of the semi-submersible vehicle, and effectively reduces the training cost of a control hand of the semi-submersible vehicle and the patrol difficulty of the semi-submersible vehicle.
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
the semi-submersible type aircraft consists of an underwater main body and a mast; the aerial for supporting the underwater camera 11, the GPS module 9 and the control cabin interior map transmission 15 on the mast is characterized in that a control cabin and a battery cabin are placed in the middle of a torpedo type underwater main body on the water surface, a forward-looking sonar 13, an underwater camera 12, a side-looking sonar 14 and a side thruster 5 are arranged at the head of the aerial, a main thruster 4 and the side thruster 5 are arranged at the tail of the aerial, and a flight control panel (Pixhawk)3, a Raspberry Pi (Raspberry Pi)2 and a control cabin interior map transmission 15 are located in the control cabin.
Semi-submersible vehicle hardware control is shown in figure 1. After a power module in the battery compartment powers on the control compartment, the flight control board (Pixhawk)3 obtains the position, the attitude and the speed information of the semi-submersible vehicle from an attitude sensor and a GPS, the Mavproxy module of a Raspberry Pi (Raspberry Pi)2 transmits the sensor information obtained by the flight control board (Pixhawk)3 to the PC computer 17 through a picture, and the PC computer 17 can display and store the sensor information in real time.
The PC computer 17 plans a cruise path on the map and transmits the path to the flight control panel (Pixhawk)3, and manually controls the actuator through the remote control handle 18 to make the semi-submersible vehicle cruise to the automatic cruise starting position, switch to automatic control, and issue an automatic cruise starting command to start cruise. The current position and the target point position of the semi-submersible vehicle provided by the GPS module 9 are resolved by a program to obtain a course angle and a distance between the course angle and the target point, a flight control board (Pixhawk)3 processes the course angle and the distance, a control command of an execution mechanism is output, and the semi-submersible vehicle is controlled to navigate according to a specified track.
The actuating mechanism comprises a main propeller 4, a side propeller 5 and a steering engine 6; the main propeller 4 is responsible for providing advancing power, the lateral propeller 5 is responsible for steering, and the steering engine 6 automatically adjusts the horizontal wings to rotate for a certain angle in the opposite direction according to the pitch angle returned by the attitude sensor, so that the horizontal wings controlled by the steering engine 6 have the effect of inhibiting the pitching motion of the horizontal wings, and the pitching stability of the semi-submersible vehicle is kept.
In the cruising process, the relay controls the detection equipment to be started, the water camera 11 is responsible for collecting water surface image information, the underwater camera 12 and the forward-looking sonar 13 are responsible for collecting underwater advancing direction image information, and the side-scanning sonar 14 is responsible for collecting image information on two sides of the aircraft.
The image transmission is responsible for sending image information of the detection device and sensor information obtained by the flight control panel (Pixhawk)3 to the PC computer 17, recording the sensor information by the PC computer 17, displaying the image information by the image display software, and displaying interfaces such as
As shown in fig. 2, the left two display frames respectively display the image information of the front sonar 13 and the side-scan sonar 14 from top to bottom, and the right two display frames respectively display the image information of the underwater camera 11 and the underwater camera 12 from top to bottom.
Fig. 3 and 4 show the velocity control and heading control effect during the sailing of the semi-submersible unmanned aircraft.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An automatic cruise system of a semi-submersible type aircraft is characterized by comprising a device control system (1), a power supply module and a ground data transmission system; the device control system (1) is connected with the power supply module and then connected with the ground data transmission system.
2. The semi-submersible vehicle auto-cruise system according to claim 1, characterized in that the device control system (1) comprises a raspberry (2), a flight control board (3), an actuator, a GPS module (9), a switch (10), an above-water camera (11), an underwater camera (12), a forward looking sonar (13), a side-scan sonar (14), a control cabin map (15); the raspberry pie (2) is connected with the underwater camera (12), the flight control board (3) and the switch (10) respectively; the flight control board (3) exchanges data with the GPS module (9) and the raspberry pi (2) and then transmits a control signal to the actuating mechanism; the exchanger (10) exchanges data with the water camera (11) and then exchanges the data with the map transmission (15) in the control cabin; and the control cabin interior map transmitter (15) respectively receives data of the forward-looking sonar (13) and the side-scanning sonar (14) and then exchanges data with the ground data transmission system.
3. The semi-submersible vehicle auto-cruise system according to claim 1, characterized in that said power supply module comprises a voltage converter (7), a battery (8); the voltage converter (7) is connected to a battery (8) and then to the device control system.
4. The semi-submersible vehicle auto-cruise system according to claim 1, characterized in that said ground data transmission system comprises a shore-based system map (16), a PC computer (17), a remote control handle (18); the shore-based system image transmission (16) is wirelessly connected with a control cabin image transmission (15) in the device control system and then connected with a PC (personal computer) (17); the PC computer (17) is connected with a remote control handle (18).
5. The semi-submersible vehicle automatic cruise system according to claim 2, characterized in that said actuators comprise main thrusters (4), lateral thrusters (5), steering engines (6); the main propeller (4), the side propeller (5) and the steering engine (6) are respectively connected with the flight control plate (3).
6. A control method of an automatic cruise system of a semi-submersible type aircraft is characterized by comprising the following implementation steps:
the method comprises the following steps: turning on a power supply, electrifying the raspberry pie (2), the control cabin interior map transmitter (15) and the flight control panel (3), completing the interconnection of the control cabin interior map transmitter (15) and the shore-based system map transmitter (16), and turning on relay control switches of the forward-looking sonar (13), the side-scan sonar (14), the over-water camera (11) and the underwater camera (12);
step two: the PC computer (17) is connected with the flight control board (3) and used for acquiring and recording the position, the posture and the movement speed information of the semi-submersible vehicle;
step three: planning a cruising route of the semi-submersible type aircraft and transmitting the cruising route to a flight control panel (3);
step four: the remote control handle (18) is matched with the PC (17) to control the semi-submersible vehicle to an automatic cruise starting position;
step five: switching to automatic control, issuing an automatic cruise starting command, and starting automatic cruise;
step six: opening display control software, and displaying and recording image information of the sonar and the camera;
step seven: in the automatic cruise process, the steering engine (6) controls the semi-submersible vehicle to stably pitch, and the semi-submersible vehicle navigates according to a set track;
step eight: and the semi-submersible vehicle is automatically navigated back to the home position, and is switched to manual control, and a remote control handle (18) controls the semi-submersible vehicle to a placing point.
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| CN201911141930.8A CN110794853A (en) | 2019-11-20 | 2019-11-20 | Automatic cruise system of semi-submersible type aircraft and control method |
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| CN201911141930.8A CN110794853A (en) | 2019-11-20 | 2019-11-20 | Automatic cruise system of semi-submersible type aircraft and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537581A (en) * | 2022-03-08 | 2022-05-27 | 石巧云 | Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof |
| WO2023221586A1 (en) * | 2022-05-16 | 2023-11-23 | 江苏科技大学 | Autonomous navigation system of unmanned surface vehicle and method therefor |
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| CN107215429A (en) * | 2017-05-23 | 2017-09-29 | 大连理工大学 | A kind of nobody half submarine of new small-waterplane-area monomer |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
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- 2019-11-20 CN CN201911141930.8A patent/CN110794853A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215429A (en) * | 2017-05-23 | 2017-09-29 | 大连理工大学 | A kind of nobody half submarine of new small-waterplane-area monomer |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537581A (en) * | 2022-03-08 | 2022-05-27 | 石巧云 | Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof |
| WO2023221586A1 (en) * | 2022-05-16 | 2023-11-23 | 江苏科技大学 | Autonomous navigation system of unmanned surface vehicle and method therefor |
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Application publication date: 20200214 |