CN102707721A - Unmanned dynamic ship model with localization and obstacle avoidance functions - Google Patents
Unmanned dynamic ship model with localization and obstacle avoidance functions Download PDFInfo
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Abstract
The invention provides an unmanned dynamic ship model with localization and obstacle avoidance functions. The unmanned dynamic ship model comprises a ship body and two sets of propeller electric propulsion devices, wherein a localization device, a laser detection device, a radio receiving and transmitting device, a ship model motion sensor, a ship model motion control module, a power supply conversion module and a storage battery are arranged on the sip body, the localization device can be used for localizing automatically and accurately, so that the requirements of indoor and outdoor scientific experiments on the ship model are met; the laser detection device is used for measuring the distance and position of an obstacle, so that the requirement of scientific research on automatic obstacle avoidance of the ship model is met; two bilaterally-symmetric stepless speed change electric power propellers are adopted for the ship model, and thrust force generated by the propellers can be changed, so that propelling and operation of the ship model are combined; and a computer controller and a radio communication system are adopted for the ship model, and automatic control and remote control for the ship model can be realized, so that convenience is brought to scientific research of the ship model.
Description
Technical field
The present invention relates to the ship model technical field, be specially a kind of colleges and universities and scientific research institution of being suitable for and carry out the unmanned dynamic ship model that scientific research is used with location barrier avoiding function.
Background technology
In order to safeguard maritime rights and interests, unmanned boat has received great attention both domestic and external.For this reason, institution of higher education and scientific research institution have dropped into great amount of manpower and material resources, carry out the research of unmanned boat.For the facility of studying and testing, adopt the scale model of boats and ships usually, be commonly called as ship model.It mainly contains two kinds of purposes, and a kind of is as the object that is studied, hydrodynamic force profile and hydrodynamic force layout, power propelling, independent navigation and the control etc. of research unmanned boat; Another kind is as dynamic platform, carries navigator, underwater detection equipment etc., and these equipment are carried out dynamic test.
The ship model that scientific research is at present used mainly contains two types, and one type is unpowered ship model, is mainly used in the hydrodynamic force profile and the hydrodynamic force layout of research unmanned boat; Another kind of is dynamic ship model, and the power that is mainly used in the research unmanned boat advances, remote control, and carries other experimental facilities and carry out dynamic experiment etc.But; Existing dynamic ship model; Usually only in breadboard pond, use, only have simple remote control control function, exist and independently accurately to locate and the shortcoming of collision detection; The ability that does not have complicated calculations, give unmanned boat navigation, control, keep away barrier and the collaborative research of forming into columns has brought great inconvenience.
Summary of the invention
The technical matters that solves
Be to solve the problem that prior art exists, the present invention proposes a kind of unmanned dynamic ship model, not only can implement remote control it with location barrier avoiding function, and can Autonomous Control, make it be more suitable for carrying out the scientific research use.
Technical scheme
Technical scheme of the present invention is:
Said a kind of unmanned dynamic ship model with location barrier avoiding function; Comprise hull and two cover screw propeller electric propulsion devices; Every cover screw propeller electric propulsion device comprises DC motor speed-regulating device, motor system, D.C. contactor and screw propeller; Two cover screw propellers are installed in parallel in afterbody; And be symmetrically distributed with the hull axis, it is characterized in that: locating device, Laser Detecting Set, radio reception and transmitting installation, movement of ship model sensor, movement of ship model control module, power transfer module and accumulator are installed on hull; Accumulator is consumer power supply on the hull through power transfer module; Locating device is used for providing to the movement of ship model control module positional information of hull; Laser Detecting Set is used for providing to the movement of ship model control module positional information of hull peripheral obstacle; Radio reception and transmitting installation is used for the external remote control instruction that receives is passed to the movement of ship model control module; The movement of ship model sensor is used for three position angles and three Azimuth, Speed, Altitudes of ship motion are passed to the movement of ship model control module; The movement of ship model control module is carried out motion control and is resolved according to the information of input, obtains the rotating speed that needs of two motor systems in the two cover screw propeller electric propulsion devices, and the DC motor speed-regulating device in the two cover screw propeller electric propulsion devices is controlled.
Said a kind of unmanned dynamic ship model with location barrier avoiding function is characterized in that: movement of ship model control module directly control two is overlapped the D.C. contactor in the screw propeller electric propulsion devices, realizes stopping in emergency of hull.
Said a kind of unmanned dynamic ship model with location barrier avoiding function, it is characterized in that: when ship model was worked in indoor environment, the locating device of employing was a laser locating apparatus; Said laser locating apparatus comprises the laser-bounce plate that distributes and place around generating laser and the indoor environment water body on the hull; The positional information of laser-bounce plate is known, and the installation site of laser-bounce plate and angle can make ship model optional position in the indoor environment water body can both receive the signal of at least three laser-bounce plates reflections.
Said a kind of unmanned dynamic ship model with location barrier avoiding function, it is characterized in that: when ship model was worked in outdoor environment, the locating device of employing was the GPS locating device.
Beneficial effect
The unmanned dynamic ship model that the present invention proposes; The usable range of ship model is strengthened with the use dirigibility; Make things convenient for institution of higher education and scientific research institution that the gordian technique of unmanned boat is carried out reality boat verification experimental verification, had advantages such as conveniently directly perceived, that risk is little, cost is low, the cycle is short.
Description of drawings
Fig. 1: the present invention is at the work synoptic diagram of indoor environment;
Fig. 2: side view of the present invention;
Fig. 3: vertical view of the present invention;
Fig. 4: built-in system graph of a relation of the present invention;
Wherein: 1, hull; 2, handle; 4, the mounting pipe of laser locating apparatus; 5, the mounting pipe of gps antenna; 6, the suspension of screw propeller electric propulsion device; 8, the connecting pipe of screw propeller electric propulsion device; 10, motor system; 12, screw propeller; 14, Laser Detecting Set; 15, laser locating apparatus; 16, gps antenna; 17, radio reception transmitting antenna; 18, GPS locating device; 19, radio reception and transmitting installation; 20, power transfer module; 21, movement of ship model sensor; 22, movement of ship model control module; 23, D.C. contactor; 25, DC motor speed-regulating device; 27, accumulator; 29, power switch; 40, unmanned dynamic ship model; 50, external remote control device; 60, laser-bounce plate.
Embodiment
Below in conjunction with specific embodiment the present invention is described:
With reference to accompanying drawing 2 and accompanying drawing 3; Unmanned dynamic ship model in the present embodiment with location barrier avoiding function; Comprise hull 1 and two cover screw propeller electric propulsion devices, every cover screw propeller electric propulsion device comprises DC motor speed-regulating device 25, motor system 10, D.C. contactor 23 and screw propeller 12.Two cover screw propellers are installed in parallel in afterbody, and are symmetrically distributed with the hull axis.Adopt the electric propulsion device of two symmetrical continuously variables, can change the thrust that propulsion plant produces, thereby the propelling of ship model and manipulation are united two into one.Concrete, the both positive and negative polarity of the thruster motor system power lead connecting pipe through separately respectively is connected respectively to the positive terminal of DC motor speed-regulating device corresponding in the cabin and the input end of D.C. contactor.The output terminal of D.C. contactor is connected to the negative pole end of DC motor speed-regulating device separately; Their control end is connected on the movement of ship model control module; By the break-make of movement of ship model control module control D.C. contactor, can guarantee that ship model can stop in emergency under improper situation.About two electric power thrusters can be under the control of movement of ship model control module; Give the instruction of DC motor speed-regulating device output speed; By the DC motor speed-regulating device angle of rake motor system is carried out speed governing; And then can change two thrusts that screw propeller produced, thereby can control the speed and the yaw rate of ship model.
The suspension of screw propeller electric propulsion device is used for the electric propulsion device fixing aboard ship; The connecting pipe of screw propeller electric propulsion device is used to regulate the underwater penetration of electric propulsion device and the laying of motor cable; The equipment of D.C. contactor control electric propulsion device; The rotating speed of two thruster motor systems about the DC motor speed-regulating device is regulated, and then can control the speed of a ship or plane and the yaw rate of ship model.Jug on hull is used for carrying alow experimental facilities
Locating device, Laser Detecting Set 14, radio reception and transmitting installation 19, movement of ship model sensor 21, movement of ship model control module 22, power transfer module 20 and accumulator 27 are installed on hull.
Accumulator is consumer power supply on the hull through power transfer module.The accumulator output voltage is 12V in the present embodiment, convert 5V and 24V into through power transfer module after, supply power to relevant device.Be specially: after accumulator passes through power switch 29, the supply power modular converter, as the use power supply of ship model equipment, accumulator is directly supplied with the DC motor speed-regulating device through power switch simultaneously, as the powerpropelled power supply of ship model.After the road 12V with accumulator in the power transfer module converts 5V into, give DC motor speed-regulating device, movement of ship model control module (being computer control), movement of ship model sensor, radio reception and transmitting installation and the power supply of GPS locating device; After another road in the power transfer module converts the 12V of accumulator into 24V, give laser locating apparatus, Laser Detecting Set power supply respectively.
Locating device is used for providing to the movement of ship model control module positional information of hull.The mounting pipe 4 of laser locating apparatus is used for the laying of the fixing and cable of laser locating apparatus; The mounting pipe 5 of gps antenna is used for the laying of the fixing and cable of gps antenna.
Locating device is divided into indoor positioning device and outdoor locating device according to the difference of ship model environment for use.
When ship model was worked in indoor environment, the indoor positioning device of employing was a laser locating apparatus.Said laser locating apparatus comprises the laser-bounce plate 60 that distributes and place around generating laser and the indoor environment water body on the hull.The positional information of laser-bounce plate is known, and the installation site of laser-bounce plate and angle can make ship model optional position in the indoor environment water body can both receive the signal of at least three laser-bounce plates reflections.When ship model is tested at the indoor environment water body, send the laser acquisition wave beam by generating laser, laser locating apparatus positions calculating according to the laser that the Laser emission plate reflects, and provides the position of ship model, and offers the movement of ship model control module.
When ship model was worked in outdoor environment, the locating device of employing was the GPS locating device.Receive positioning signals through gps antenna 16, and the position of ship model is offered the movement of ship model control module by the GPS locating device.
Through locating device, ship model can independently accurately be located, thereby can satisfy ship model all can carry out scientific experiment at indoor pond and outdoor lake environment needs.Indoor laser locating device in the present embodiment adopts the LMS200 indoor type laser measurement system of German SICK company.
Ship model adopts Laser Detecting Set to send the laser acquisition wave beam; Survey hull barrier on every side; And the range-azimuth of measurement barrier, and offer the movement of ship model control module, keep away barrier according to corresponding algorithm by movement of ship model control module Autonomous Control hull.The algorithm that present embodiment adopts is document " a kind of autonomous submarine navigation device path planning algorithm " system emulation journal, 2006 the 12nd interim algorithms.
The movement of ship model sensor is used for three position angles and three Azimuth, Speed, Altitudes of ship motion are passed to the movement of ship model control module, thereby can be by the course or the yaw rate of movement of ship model control module control ship model.
Radio reception and transmitting installation is used for the external remote control instruction that receives is passed to the movement of ship model control module, and also attitude and the positional information with ship model sends to the external remote control device through radio reception and transmitting installation.
Principle of work of the present invention is such: behind the closed power switch, positioning system, measuring system on the ship model are started working, and computer control carries out initialization.After initialization finished, ship model entering work waiting status was sent the mode of operation instruction by the external remote control device to ship model, and radio reception and transmitting installation is exported to computer control after receiving instruction, is confirmed the mode of operation of ship model by computer control.
Under the utonomous working pattern; Computer control is connected D.C. contactor, measures the position of ship model by positioning system, measures the obstacle situation that Eulerian angle, angular velocity and the ship model of ship model run into by measuring system; Behind these information input computer controls; By computer control according to pre-determined mission task with keep away the barrier algorithm and give the instruction of DC motor speed-regulating device output speed, by the DC motor speed-regulating device motor system of propulsion plant is carried out speed governing, and then can change the thrust that screw propeller produces; Thereby can control the speed and the yaw rate of ship model; The simultaneous computer controller is through radio reception and transmitting installation, and the ship model position that information that measuring system is measured and positioning system obtain sends to the external remote control device, accomplishes up to the mission task.After the mission task is accomplished, broken off by computer control control D.C. contactor, ship model gets into the work waiting status again.
Under the remote control mode of operation; Computer control is connected D.C. contactor, and the external remote control device is to ship model transmission speed and yaw rate instruction, after ship model receives instruction; The information that computer control measures according to instruction and positioning system and measuring system; Give the instruction of DC motor speed-regulating device output speed, by the DC motor speed-regulating device angle of rake motor system is carried out speed governing, and then can change the thrust that screw propeller produces; Thereby can control the speed and the yaw rate of ship model; The simultaneous computer controller is through radio reception and transmitting installation, and the ship model position that information that measuring system is measured and positioning system obtain sends to the external remote control device, finishes up to remote control.
In to the ship model control procedure, if run into improper situation, the external remote control device can send the instruction of stopping in emergency to ship model, and after computer control received the instruction of stopping in emergency, the control D.C. contactor broke off, and ship model stops in emergency.
After tank experiment was accomplished, disconnecting power switch was salvaged and is reclaimed ship model.
Claims (4)
1. one kind has the unmanned dynamic ship model of locating barrier avoiding function; Comprise hull and two cover screw propeller electric propulsion devices; Every cover screw propeller electric propulsion device comprises DC motor speed-regulating device, motor system, D.C. contactor and screw propeller; Two cover screw propellers are installed in parallel in afterbody; And be symmetrically distributed with the hull axis, it is characterized in that: locating device, Laser Detecting Set, radio reception and transmitting installation, movement of ship model sensor, movement of ship model control module, power transfer module and accumulator are installed on hull; Accumulator is consumer power supply on the hull through power transfer module; Locating device is used for providing to the movement of ship model control module positional information of hull; Laser Detecting Set is used for providing to the movement of ship model control module positional information of hull peripheral obstacle; Radio reception and transmitting installation is used for the external remote control instruction that receives is passed to the movement of ship model control module; The movement of ship model sensor is used for three position angles and three Azimuth, Speed, Altitudes of ship motion are passed to the movement of ship model control module; The movement of ship model control module is carried out motion control and is resolved according to the information of input, obtains the rotating speed that needs of two motor systems in the two cover screw propeller electric propulsion devices, and the DC motor speed-regulating device in the two cover screw propeller electric propulsion devices is controlled.
2. a kind of unmanned dynamic ship model with location barrier avoiding function according to claim 1 is characterized in that: movement of ship model control module directly control two is overlapped the D.C. contactor in the screw propeller electric propulsion devices, realizes stopping in emergency of hull.
3. a kind of unmanned dynamic ship model according to claim 1 and 2 with location barrier avoiding function, it is characterized in that: when ship model was worked in indoor environment, the locating device of employing was a laser locating apparatus; Said laser locating apparatus comprises the laser-bounce plate that distributes and place around generating laser and the indoor environment water body on the hull; The positional information of laser-bounce plate is known, and the installation site of laser-bounce plate and angle can make ship model optional position in the indoor environment water body can both receive the signal of at least three laser-bounce plates reflections.
4. a kind of unmanned dynamic ship model with location barrier avoiding function according to claim 1 and 2, it is characterized in that: when ship model was worked in outdoor environment, the locating device of employing was the GPS locating device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101797712A CN102707721A (en) | 2012-06-03 | 2012-06-03 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
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| CN2012101797712A CN102707721A (en) | 2012-06-03 | 2012-06-03 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103970093A (en) * | 2014-04-14 | 2014-08-06 | 广州市健坤网络科技发展有限公司 | Aquaculture online monitoring system capable of automatically cruising |
| CN105182363A (en) * | 2015-05-14 | 2015-12-23 | 广西梧州运龙港船机械制造有限公司 | Marine positioning device |
| CN106547273A (en) * | 2017-01-24 | 2017-03-29 | 南京信息工程大学 | It is a kind of to help device and its using method of the unmanned boat by narrow water |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN110182344A (en) * | 2019-05-28 | 2019-08-30 | 杭州电子科技大学 | A kind of miniature self-service ship from main propelling machinery and control method |
| CN110624261A (en) * | 2019-10-18 | 2019-12-31 | 东莞市环宇文化科技有限公司 | Unmanned prop ship device |
| CN113238015A (en) * | 2021-04-30 | 2021-08-10 | 山东博厚数据科技有限公司 | System and method for collecting dissolved oxygen in biochemical pool |
| CN118331285A (en) * | 2024-06-13 | 2024-07-12 | 中国船舶集团有限公司第七〇七研究所 | Channel type underwater unmanned aircraft position control method based on control lever displacement signals |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103970093A (en) * | 2014-04-14 | 2014-08-06 | 广州市健坤网络科技发展有限公司 | Aquaculture online monitoring system capable of automatically cruising |
| CN105182363A (en) * | 2015-05-14 | 2015-12-23 | 广西梧州运龙港船机械制造有限公司 | Marine positioning device |
| CN106547273A (en) * | 2017-01-24 | 2017-03-29 | 南京信息工程大学 | It is a kind of to help device and its using method of the unmanned boat by narrow water |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN106950960B (en) * | 2017-04-12 | 2020-02-18 | 大连理工大学 | Method for automatically controlling dual turning side paddles of lake and reservoir operation ship on line |
| CN110182344A (en) * | 2019-05-28 | 2019-08-30 | 杭州电子科技大学 | A kind of miniature self-service ship from main propelling machinery and control method |
| CN110624261A (en) * | 2019-10-18 | 2019-12-31 | 东莞市环宇文化科技有限公司 | Unmanned prop ship device |
| CN113238015A (en) * | 2021-04-30 | 2021-08-10 | 山东博厚数据科技有限公司 | System and method for collecting dissolved oxygen in biochemical pool |
| CN118331285A (en) * | 2024-06-13 | 2024-07-12 | 中国船舶集团有限公司第七〇七研究所 | Channel type underwater unmanned aircraft position control method based on control lever displacement signals |
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Application publication date: 20121003 |