CN105159296A - Unmanned ship anti-wave cruise control method and system - Google Patents
Unmanned ship anti-wave cruise control method and system Download PDFInfo
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- CN105159296A CN105159296A CN201510570709.XA CN201510570709A CN105159296A CN 105159296 A CN105159296 A CN 105159296A CN 201510570709 A CN201510570709 A CN 201510570709A CN 105159296 A CN105159296 A CN 105159296A
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Abstract
The invention discloses an unmanned ship anti-wave cruise control method and a system, and the method comprises the steps of obtaining the navigation point of the unmanned ship; generating a navigation route based on the navigation point or customizing a navigation route to obtain a predetermined navigation route; real time monitoring is there is any stormy wave around the unmanned ship, and if yes, sending an instruction to the unmanned ship to adjust the hull; real time monitoring if the unmanned ship has deviated, and if yes, sending an instruction to the unmanned ship to go back to the predetermined navigation route. The system comprises a navigation point obtaining unit, a route making unit, a stormy wave monitoring unit and a deviation monitoring unit. By making the navigation route and real time monitoring the current and the deviation when the unmanned ship is driving so as to make sure the unmanned ship can solve an emergent stormy wave by adjusting the hull timely, thereby raising anti-stormy wave capability effectively and indicating the unmanned ship going back to the predetermined navigation route. The actions can be done at real time; and the security of the unmanned ship is greatly improved. The system can be applied in unmanned ships.
Description
Technical field
The present invention relates to unmanned boat control technology field, particularly relate to a kind of unmanned boat wind and wave resistance cruise control method and system.
Background technology
The supervisory department of current environmental protection is the water quality situation grasping administrative waters, normally carries out regular or irregular sample detecting analysis to it, and the every quality index according to water quality determines corresponding environmental practice.But sample mode in the past, generally by manually sampling in this waters different loci, this traditional sample mode, although once for development environmental protection cause has played positive effect, but the means that also also exist fall behind, there are limitation, efficiency low, particularly when centering, the sampling of serious pollution water body, accidentally also there is the part many not fully up to expectations jeopardizing operating personnel's personal safety hidden danger.In " the water prevention and cure of pollution action plan " of formal externally promulgation on State Council's April 16, very strict plan and standard are proposed to the water pollutions prevention and control in a following stage.Strict plan needs to implement scrupulously, and unmanned boat is as a kind of emerging high-tech product, just the powerful mean that lands of this policy of boosting.
Unmanned boat formal name used at school, " water surface robot ", is that one does not need manned operation, by Remote, does not even need manipulation independently can navigate by water the robot waterborne executed the task.Relatively be applicable to performing military, civilian task that is dangerous or uninteresting, that repeat, such as, be used in the fields such as military attack, security protection patrol, landforms mapping, environmental monitoring, emergency management and rescue.
But; the true navigation environment information of unmanned boat is difficult to predict completely, often can run into unknown pop-up threats especially stormy waves, and present unmanned boat major part when there is burst stormy waves lacks adaptability to changes; lack the ability of opposing stormy waves, cause unmanned boat easily to occur accident.
Summary of the invention
In order to solve the problems of the technologies described above, the object of this invention is to provide one and can strengthen unmanned boat capacity of anti-storm, improve a kind of unmanned boat wind and wave resistance cruise control method and the system of security.
The technical solution adopted in the present invention is:
A kind of unmanned boat wind and wave resistance cruise control method, comprises the following steps:
The navigation point of A, acquisition unmanned boat;
B, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Whether there is stormy waves near C, Real-Time Monitoring unmanned boat, if so, then send instruction and carry out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether D, Real-Time Monitoring unmanned boat there is driftage situation, if so, then send instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control method, also include:
Whether the navigation channel, front of E, Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control method, described step B comprises:
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route;
B2, according to predetermined navigation circuit, calculate the navigation direction of each coordinate points of navigation circuit and the steering direction of each turning point and steering angle;
B3, the navigation direction of each coordinate points and the steering direction of each turning point and steering angle on navigation route, navigation circuit are sent to unmanned boat.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control method, described step C comprises:
C1, detect current current vector data, and carry out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculate current actual flow velocity and current actual direction;
C2, judge whether current actual flow velocity is greater than default flow rate threshold, if so, then send instruction and control unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control method, described step D comprises:
The position coordinates that D1, unmanned boat Real-time Feedback are current and navigation direction;
D2, according to unmanned boat feedback position coordinates and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control method, described step e comprises:
Whether E1, the real-time navigation channel, front by ultrasonic sensor detection unmanned boat have barrier, if so, then perform step e 2; Otherwise, then keep current flight state constant;
E2, obtain real-time navigation image by camera passback, and according to the obstacle distance that ultrasonic sensor records, calculate size and the position of barrier, and then calculate steering direction and steering angle;
E3, according to steering direction and steering angle, by ultrasonic sensor detect in steering range, whether have barrier, if so, then recalculate steering direction and steering angle, until there is no barrier in steering range;
E4, unmanned boat carry out steering operation according to the steering direction after determining and steering angle, and after clearing the jumps, return predetermined navigation circuit.
Another technical scheme of the present invention is:
A kind of unmanned boat wind and wave resistance cruise control system, comprising:
Navigation point acquiring unit, for obtaining the navigation point of unmanned boat;
Unit is formulated in course line, for according to navigation point, automatically generates navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Stormy waves monitoring means, for whether having stormy waves near Real-Time Monitoring unmanned boat, if so, then sending instruction and carrying out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether driftage monitoring means, there is driftage situation for Real-Time Monitoring unmanned boat, if so, then sends instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control system, also include:
Keep away barrier unit, whether the navigation channel, front for Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control system, described stormy waves monitoring means comprises:
Current detecting unit, for detecting current current vector data, and carrying out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculating current actual flow velocity and current actual direction;
Stormy waves judging unit, for judging whether current actual flow velocity is greater than default flow rate threshold, if so, then sending instruction and controlling unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
As the further improvement of described a kind of unmanned boat wind and wave resistance cruise control system, described driftage monitoring means comprises:
Position feedback unit, the position coordinates current for unmanned boat Real-time Feedback and navigation direction;
Driftage judging unit, for the position coordinates that feeds back according to unmanned boat and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
The invention has the beneficial effects as follows:
A kind of unmanned boat wind and wave resistance cruise control method of the present invention and system are by formulating navigation circuit, and Real-Time Monitoring unmanned boat navigation time streamflow regime and driftage situation, make unmanned boat by adjusting the stormy waves situation of hull reply burst in time, effective raising capacity of anti-storm and unmanned boat can be indicated to return predetermined navigation route, real-time is comparatively strong, greatly improves the security of unmanned boat.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
Fig. 1 is the flow chart of steps of a kind of unmanned boat wind and wave resistance of the present invention cruise control method;
Fig. 2 is the flow chart of steps of a kind of unmanned boat wind and wave resistance of the present invention cruise control method step B;
Fig. 3 is the flow chart of steps of a kind of unmanned boat wind and wave resistance of the present invention cruise control method step C;
Fig. 4 is the flow chart of steps of a kind of unmanned boat wind and wave resistance of the present invention cruise control method step D;
Fig. 5 is the flow chart of steps of a kind of unmanned boat wind and wave resistance of the present invention cruise control method step e;
Fig. 6 is the block diagram of a kind of unmanned boat wind and wave resistance of the present invention cruise control system.
Embodiment
With reference to figure 1, a kind of unmanned boat wind and wave resistance of the present invention cruise control method, comprises the following steps:
The navigation point of A, acquisition unmanned boat;
B, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Whether there is stormy waves near C, Real-Time Monitoring unmanned boat, if so, then send instruction and carry out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether D, Real-Time Monitoring unmanned boat there is driftage situation, if so, then send instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
Wherein, step C and step D order execution in no particular order, in navigation process in the homogeneous straight row of two steps, until complete navigation.
Be further used as preferred embodiment, also include:
Whether the navigation channel, front of E, Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
With reference to figure 2, be further used as preferred embodiment, described step B comprises:
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route;
B2, according to predetermined navigation circuit, calculate the navigation direction of each coordinate points of navigation circuit and the steering direction of each turning point and steering angle;
B3, the navigation direction of each coordinate points and the steering direction of each turning point and steering angle on navigation route, navigation circuit are sent to unmanned boat.
With reference to figure 3, be further used as preferred embodiment, described step C comprises:
C1, detect current current vector data, and carry out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculate current actual flow velocity and current actual direction;
C2, judge whether current actual flow velocity is greater than default flow rate threshold, if so, then send instruction and control unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
With reference to figure 4, be further used as preferred embodiment, described step D comprises:
The position coordinates that D1, unmanned boat Real-time Feedback are current and navigation direction;
D2, according to unmanned boat feedback position coordinates and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
With reference to figure 5, be further used as preferred embodiment, described step e comprises:
Whether E1, the real-time navigation channel, front by ultrasonic sensor detection unmanned boat have barrier, if so, then perform step e 2; Otherwise, then keep current flight state constant;
E2, obtain real-time navigation image by camera passback, and according to the obstacle distance that ultrasonic sensor records, calculate size and the position of barrier, and then calculate steering direction and steering angle;
E3, according to steering direction and steering angle, by ultrasonic sensor detect in steering range, whether have barrier, if so, then recalculate steering direction and steering angle, until there is no barrier in steering range;
E4, unmanned boat carry out steering operation according to the steering direction after determining and steering angle, and after clearing the jumps, return predetermined navigation circuit.
With reference to figure 6, a kind of unmanned boat wind and wave resistance of the present invention cruise control system, comprising:
Navigation point acquiring unit, for obtaining the navigation point of unmanned boat;
Unit is formulated in course line, for according to navigation point, automatically generates navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Stormy waves monitoring means, for whether having stormy waves near Real-Time Monitoring unmanned boat, if so, then sending instruction and carrying out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether driftage monitoring means, there is driftage situation for Real-Time Monitoring unmanned boat, if so, then sends instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
Be further used as preferred embodiment, also include:
Keep away barrier unit, whether the navigation channel, front for Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
Be further used as preferred embodiment, described course line is formulated unit and is comprised:
Airline generation unit, for according to navigation point, automatically generates navigation circuit or self-defined navigation circuit obtains predetermined navigation route;
Course line computing unit, for according to predetermined navigation circuit, calculates the navigation direction of each coordinate points of navigation circuit and the steering direction of each turning point and steering angle;
Course line transmitting element, for being sent to unmanned boat by the navigation direction of each coordinate points and the steering direction of each turning point and steering angle on navigation route, navigation circuit.
Be further used as preferred embodiment, described stormy waves monitoring means comprises:
Current detecting unit, for detecting current current vector data, and carrying out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculating current actual flow velocity and current actual direction;
Stormy waves judging unit, for judging whether current actual flow velocity is greater than default flow rate threshold, if so, then sending instruction and controlling unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
Be further used as preferred embodiment, described driftage monitoring means comprises:
Position feedback unit, the position coordinates current for unmanned boat Real-time Feedback and navigation direction;
Driftage judging unit, for the position coordinates that feeds back according to unmanned boat and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
Be further used as preferred embodiment, described in keep away barrier unit comprise:
Whether detection of obstacles unit, have barrier for the real-time navigation channel, front by ultrasonic sensor detection unmanned boat, if so, then perform and turn to computing unit; Otherwise, then keep current flight state constant;
Turn to computing unit, for obtaining real-time navigation image by camera passback, and according to the obstacle distance that ultrasonic sensor records, calculate size and the position of barrier, and then calculate steering direction and steering angle;
Turn to adjustment unit, for according to steering direction and steering angle, detect whether have barrier in steering range by ultrasonic sensor, if so, then recalculate steering direction and steering angle, until there is no barrier in steering range;
Back course unit, carries out steering operation for unmanned boat according to the steering direction after determining and steering angle, and after clearing the jumps, return predetermined navigation circuit.
The specific embodiment of the invention is as follows:
S1, in upper computer end, adopt grid setting navigation point or riverine center line setting navigation point;
S2, according to navigation point, by automatically generate or manually connect navigation point formation obtain predetermined navigation route;
S3 calculates the navigation direction of navigation circuit each coordinate points and the steering direction of each turning point and steering angle and predetermined navigation circuit is sent to unmanned boat, and the navigation direction of each coordinate points on navigation route, navigation circuit and the steering direction of each turning point and steering angle are sent to unmanned boat;
S4, detect current current vector data, and carry out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculate current actual flow velocity and current actual direction; Then judge whether current actual flow velocity is greater than default flow rate threshold, if so, then send instruction and control unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant;
The position coordinates that S5, unmanned boat Real-time Feedback are current and navigation direction, according to position coordinates and the navigation direction of unmanned boat feedback, judge that whether it is inconsistent with the data of predetermined navigation circuit, if, namely represent that the position coordinates of current feedback is not on predetermined navigation circuit, there occurs driftage situation, then calculated and return the steering direction of predetermined navigation route and steering angle and send it to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant;
Whether S6, the real-time navigation channel, front by ultrasonic sensor detection unmanned boat have barrier, if so, then perform step S7; Otherwise, then keep current flight state constant;
S7, obtain real-time navigation image by camera passback, and according to the obstacle distance that ultrasonic sensor records, calculate size and the position of barrier, and then calculate steering direction and steering angle;
S8, according to steering direction and steering angle, by ultrasonic sensor detect in steering range, whether have barrier, if so, then recalculate steering direction and steering angle, until there is no barrier in steering range;
S9, unmanned boat carry out steering operation according to the steering direction after determining and steering angle, and after clearing the jumps, return predetermined navigation circuit continue navigation.
From foregoing, a kind of unmanned boat wind and wave resistance cruise control method and system are by formulating navigation circuit, and Real-Time Monitoring unmanned boat navigation time streamflow regime and driftage situation, make unmanned boat by adjusting the stormy waves situation of hull reply burst in time, effective raising capacity of anti-storm and unmanned boat can be indicated to return predetermined navigation route, real-time is comparatively strong, greatly improves the security of unmanned boat, provides huge help for effectively completing navigation sample detecting task.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (10)
1. a unmanned boat wind and wave resistance cruise control method, is characterized in that, comprises the following steps:
The navigation point of A, acquisition unmanned boat;
B, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Whether there is stormy waves near C, Real-Time Monitoring unmanned boat, if so, then send instruction and carry out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether D, Real-Time Monitoring unmanned boat there is driftage situation, if so, then send instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
2. a kind of unmanned boat wind and wave resistance cruise control method according to claim 1, is characterized in that: also include:
Whether the navigation channel, front of E, Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
3. a kind of unmanned boat wind and wave resistance cruise control method according to claim 1, is characterized in that: described step B comprises:
B1, according to navigation point, automatically generate navigation circuit or self-defined navigation circuit obtains predetermined navigation route;
B2, according to predetermined navigation circuit, calculate the navigation direction of each coordinate points of navigation circuit and the steering direction of each turning point and steering angle;
B3, the navigation direction of each coordinate points and the steering direction of each turning point and steering angle on navigation route, navigation circuit are sent to unmanned boat.
4. a kind of unmanned boat wind and wave resistance cruise control method according to claim 1, is characterized in that: described step C comprises:
C1, detect current current vector data, and carry out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculate current actual flow velocity and current actual direction;
C2, judge whether current actual flow velocity is greater than default flow rate threshold, if so, then send instruction and control unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
5. a kind of unmanned boat wind and wave resistance cruise control method according to claim 1, is characterized in that: described step D comprises:
The position coordinates that D1, unmanned boat Real-time Feedback are current and navigation direction;
D2, according to unmanned boat feedback position coordinates and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
6. a kind of unmanned boat wind and wave resistance cruise control method according to claim 2, is characterized in that: described step e comprises:
Whether E1, the real-time navigation channel, front by ultrasonic sensor detection unmanned boat have barrier, if so, then perform step e 2; Otherwise, then keep current flight state constant;
E2, obtain real-time navigation image by camera passback, and according to the obstacle distance that ultrasonic sensor records, calculate size and the position of barrier, and then calculate steering direction and steering angle;
E3, according to steering direction and steering angle, by ultrasonic sensor detect in steering range, whether have barrier, if so, then recalculate steering direction and steering angle, until there is no barrier in steering range;
E4, unmanned boat carry out steering operation according to the steering direction after determining and steering angle, and after clearing the jumps, return predetermined navigation circuit.
7. a unmanned boat wind and wave resistance cruise control system, is characterized in that, comprising:
Navigation point acquiring unit, for obtaining the navigation point of unmanned boat;
Unit is formulated in course line, for according to navigation point, automatically generates navigation circuit or self-defined navigation circuit obtains predetermined navigation route, and predetermined navigation circuit is sent to unmanned boat;
Stormy waves monitoring means, for whether having stormy waves near Real-Time Monitoring unmanned boat, if so, then sending instruction and carrying out hull adjustment to unmanned boat; Otherwise, then keep current flight state constant;
Whether driftage monitoring means, there is driftage situation for Real-Time Monitoring unmanned boat, if so, then sends instruction to unmanned boat and return predetermined navigation route; Otherwise, then keep current flight state constant.
8. a kind of unmanned boat wind and wave resistance cruise control system according to claim 7, is characterized in that: also include:
Keep away barrier unit, whether the navigation channel, front for Real-Time Monitoring unmanned boat has barrier, if so, then takes to keep away barrier operation; Otherwise, then keep current flight state constant.
9. a kind of unmanned boat wind and wave resistance cruise control system according to claim 7, is characterized in that: described stormy waves monitoring means comprises:
Current detecting unit, for detecting current current vector data, and carrying out Vector operation in conjunction with the navigation vector data of current unmanned boat, calculating current actual flow velocity and current actual direction;
Stormy waves judging unit, for judging whether current actual flow velocity is greater than default flow rate threshold, if so, then sending instruction and controlling unmanned boat and reduce headway and to adjust hull direction consistent with current actual direction or become 180 ° of reverse directions; Otherwise, then keep current flight state constant.
10. a kind of unmanned boat wind and wave resistance cruise control system according to claim 7, is characterized in that: described driftage monitoring means comprises:
Position feedback unit, the position coordinates current for unmanned boat Real-time Feedback and navigation direction;
Driftage judging unit, for the position coordinates that feeds back according to unmanned boat and navigation direction, judge that whether it is inconsistent with the data of predetermined navigation circuit, if so, then calculate and return the steering direction of predetermined navigation route and steering angle and be sent to unmanned boat and perform steering operation according to steering direction and steering angle at once; Otherwise, then keep current flight state constant.
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| CN110510073A (en) * | 2019-09-04 | 2019-11-29 | 中山大学 | A kind of self-adaptation control method and system of unmanned sailing boat |
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