CN106444759A - Automatic homeward voyaging method and automatic homeward voyaging system of unmanned boat - Google Patents
Automatic homeward voyaging method and automatic homeward voyaging system of unmanned boat Download PDFInfo
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- 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
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Abstract
The invention relates to an automatic homeward voyaging method and an automatic homeward voyaging system of an unmanned boat. The automatic homeward voyaging method includes the following steps: 1, recording starting point GNSS (global navigation satellite system) information and standby homeward voyaging point GNSS information during starting; 2, judging the homeward voyaging state according to preset conditions; 3, monitoring new homeward voyaging point GNSS information; 4, judging the homeward voyaging phase according to current local GNSS information and the homeward voyaging point GNSS information; 5, re-planning a homeward voyaging path when the homeward voyaging phase or the homeward voyaging point GNSS information changes; 6, looking for a recovery device in an area of a homeward voyaging point according to a beacon; 7, selecting a navigation control mode according to the homeward voyaging phase of the unmanned boat; 8, correcting the voyage direction according to relative position postures of the unmanned boat and the recovery device until competition of homeward voyaging. The automatic homeward voyaging method and the automatic homeward voyaging system are applicable to two basic situations of returning to a mother ship recovery device and returning to a mother harbor recovery device, an automatic homeward voyaging technology based on a far-to-near rule and with continuously-improved environment sensory ability is achieved through three homeward voyaging phases, three path generation rules and three navigation control modes, and the technology can provide support for follow-up functions (such as self-supply and self-maintenance).
Description
Technical field
The present invention relates to unmanned surface vehicle automatic control technology field, and in particular to a kind of automatically homeward method of unmanned boat
And system.
Background technology
In recent years, with the proposition that the raising of scientific and technological level is strategic with ocean development, unmanned boat correlation technique enters quick
Developmental stage.Unmanned boat can execute coast lining, paralic environment monitoring, ocean patrol as a kind of Novel surface equipment
Etc. task.Unmanned boat is thrown in and relies primarily on remote manual control cooperative mechanical retracting device with recovery at present.Unmanned boat to be improved from
Dynamicization level, reduces personnel's participation, or even accomplishes completely independent operation for a long time, needs solution unmanned boat throwing in and return
The automatization in receipts stage realizes this problem.Compared to input, position and right due to there is recovery zone searching, retracting device
The problems such as termination process pose adjustment, the difficulty of recovery is bigger.Therefore, one kind can be applied to mobile lash ship, fixing two kinds of port of mother
Environment is reclaimed, can independently be found recovery zone, retracting device and under non-orderly sea, attitude tune can be carried out according to relative position
Whole automatically homeward method and system can improve the practicality of unmanned boat.Additionally, when unmanned boat is run in fault or communication
When disconnected, homeward function can ensure that the safety of ship automatically.
Content of the invention
It is an object of the invention to provide a kind of automatically homeward method and system of unmanned boat, is meeting back can unmanned boat
Homeward pattern is automatically switched to during boat condition, and automatically into retracting device.
The technical scheme is that：A kind of automatically homeward method of unmanned boat, its step is as follows：
Record starting point GNSS information and standby homeward GNSS information when the first, setting out；
2nd, according to imposing a condition, homeward condition adjudgement is carried out；
3rd, homeward new GNSS information is monitored；
4th, homeward phase judgement is carried out with homeward GNSS information according to current unmanned boat GNSS information；
5th, when homeward phase change or homeward GNSS information change, homeward path is planned again；
6th, the retracting device in homeward region is found according to beacon；
7th, according to residing for unmanned boat, the homeward stage selects Navigation Control mode；
8th, navigational calibration is carried out according to the relative position and attitude of unmanned boat and retracting device, until completing homeward.
In two homeward condition adjudgement include task complete situation, current sea situation, energy surplus, promptly homeward instruction, nobody
Ship fault message.
The homeward phase judgement includes the first homeward stage, the second homeward stage and the 3rd homeward stage, wherein first
The homeward stage is stage of the unmanned boat away from retracting device, the second homeward stage be unmanned boat near the stage of retracting device, the
Three homeward stages search out beacon for unmanned boat in the second homeward stage after stage.
When unmanned boat is in the first homeward stage, according to unmanned boat itself GNSS information and starting point GNSS information,
Select point-to-point transmission shortest path as homeward route, then in conjunction with nautical chart information, reality most short homeward path is generated, works as unmanned boat
In the second homeward stage when, generated according to retracting device shape and unmanned boat GNSS information and search beacon path, when nobody
When ship was in for three homeward stages, with retracting device opening perpendicular bisector as reclaiming path.
The beacon is to be placed on the color lump above retracting device, and color lump can be constituted with LED, and be represented by color
Retracting device current state, the unmanned boat recognizes the color of color lump by image recognition technology.
When unmanned boat is in the first homeward stage, navigated using GNSS, controlled with the deviation of path planning by calculating
Course processed；When unmanned boat is in the second homeward stage, navigated using GNSS and image recognition technology, searched retracting device
Beacon, and carry out path planning；When unmanned boat is in three homeward stages, relative with retracting device by obtaining unmanned boat
Position and attitude, calls unmanned boat movement instruction to carry out pose adjustment.
Relative position and attitude acquisition methods are as follows：Obtain unmanned boat ship bow and return by high accuracy relative position measurement module
The differential seat angle of receiving apparatus entrance, obtains the level of vertical dimension and entrance perpendicular bisector of the unmanned boat ship bow with retracting device entrance
Offset distance.
A kind of unmanned boat of the method automatically homeward based on above-mentioned unmanned boat homeward system automatically, its by retracting device and
The homeward module composition being arranged on unmanned boat, the retracting device includes central control system, data radio station, GNSS module, beacon
Module and high accuracy relative position measurement module, the homeward module is provided with ship and carries central control system, digital transmission module, ship load GNSS
Module, photographing module, ship carry high accuracy relative position measurement module and power plant module, and the ship load central control system includes homeward
Condition judgment module, homeward path planning module, image processing module, high accuracy relative position resolve module and boat control mould
Block.
Beneficial effects of the present invention：The present invention is applied to return lash ship retracting device and returns two kinds of female port retracting device
Basic scenario, realize drawing near by three homeward divided stages, three kinds of coordinates measurement rules, three kinds of Navigation Control modes,
The independently homeward technology improved constantly by environment sensing ability, the technology can be follow-up function（Such as autonomous supply, autonomous inspection
Repair）There is provided and support.
Description of the drawings
Fig. 1 is the inventive method and system construction drawing
Fig. 2 is withdrawer equipment Organization Chart of the present invention
Fig. 3 is unmanned boat equipment Organization Chart of the present invention
Fig. 4 enters homeward modular system figure for the inventive method
Fig. 5 is the mainly homeward control module of the inventive method
Fig. 6 is the homeward phase judgement block flow diagram of the inventive method
Fig. 7 is the homeward path planning module flow chart of the inventive method
Fig. 8 is the boat prosecutor formula handover module flow chart of the inventive method
Fig. 9 is other instructions and the exception processing module flow chart of the inventive method
Figure 10 returns lash ship path schematic diagram 1 for the present invention.
Figure 11 returns female port path schematic diagram 2 for the present invention.
Specific embodiment
Below for accompanying drawing, embodiments of the invention are described further：
The invention discloses a kind of automatically homeward method of unmanned boat, its step is as follows：
Record starting point GNSS information and standby homeward GNSS information when the first, setting out；
2nd, according to imposing a condition, homeward condition adjudgement is carried out；
3rd, homeward new GNSS information is monitored；
4th, homeward phase judgement is carried out with homeward GNSS information according to current unmanned boat GNSS information；
5th, when homeward phase change or homeward GNSS information change, homeward path is planned again；
6th, the retracting device in homeward region is found according to beacon；
7th, according to residing for unmanned boat, the homeward stage selects Navigation Control mode；
8th, navigational calibration is carried out according to the relative position and attitude of unmanned boat and retracting device, until completing homeward.
In step 2 homeward condition adjudgement include task complete situation, current sea situation, energy surplus, promptly homeward instruction,
The information such as unmanned boat fault.
The homeward phase judgement includes the first homeward stage, the second homeward stage and the 3rd homeward stage, wherein first
The homeward stage is stage of the unmanned boat away from retracting device, the second homeward stage be unmanned boat near the stage of retracting device, the
Three homeward stages search out beacon for unmanned boat in the second homeward stage after stage.
When unmanned boat is in the first homeward stage, according to unmanned boat itself GNSS information and starting point GNSS information,
Select point-to-point transmission shortest path as homeward route, then in conjunction with nautical chart information, reality most short homeward path is generated, works as unmanned boat
In the second homeward stage when, generated according to retracting device shape and unmanned boat GNSS information and search beacon path, when nobody
When ship was in for three homeward stages, with retracting device opening perpendicular bisector as reclaiming path.
The beacon is to be placed on the color lump above retracting device, and color lump can be constituted with LED, and be represented by color
Retracting device current state, the unmanned boat recognizes the color of color lump by image recognition technology.
When unmanned boat is in the first homeward stage, navigated using GNSS, by calculating and path planning deviation control boat
To；When unmanned boat is in the second homeward stage, navigated using GNSS and image recognition technology, searched retracting device letter
Mark, and carry out path planning；When unmanned boat is in three homeward stages, by obtaining the relative position of unmanned boat and retracting device
Attitude is put, calls unmanned boat motion special instruction to carry out pose adjustment.
Relative position and attitude acquisition methods are as follows：Unmanned boat ship bow is obtained by a kind of high accuracy relative position measurement module
With the differential seat angle of retracting device entrance, the vertical dimension of unmanned boat ship bow and retracting device entrance and entrance perpendicular bisector is obtained
Horizontal-shift distance.
GNSS information includes that starting point GNSS information, standby homeward GNSS information, homeward point GNSS update letter herein
Breath and itself GNSS information.Wherein starting point GNSS information is the GNSS information at lash ship or female port when setting out, standby homeward
Point GNSS information refers to female port GNSS information that standby retracting device is located, and standby homeward point is homeward second selected element of unmanned boat, uses
Use when cannot returning to and set out lash ship or female port, homeward point GNSS fresh information is used for after lash ship is moved or specifies new returning
Unmanned boat modification starting point GNSS information is notified during destination.Believe with itself GNSS according to starting point GNSS information when unmanned boat is homeward
Breath carries out homeward phase judgement, then carries out homeward path planning.
As shown in figure 1, a kind of unmanned boat homeward system includes two parts automatically, be provided in returning for lash ship or female port respectively
Receiving apparatus 101 and the homeward module 102 being arranged on unmanned boat, unmanned boat is automatically homeward to be divided into for three stages, was first respectively
Homeward stage 103, the second homeward stage 104, the 3rd homeward stage 105.First homeward stage 103 was navigated using GNSS, and second
The homeward stage 104 was navigated using relative position adjustment mode using GNSS, image joint navigation, the 3rd homeward stage 105.Wherein
First homeward stage was stage of the unmanned boat away from retracting device, and the second homeward stage was rank of the unmanned boat near retracting device
Section, the 3rd homeward stage search out beacon for unmanned boat in the second homeward stage after stage.
As shown in Fig. 2 retracting device 101 includes central control system 201, data radio station 202, GNSS module 203, beacon module
204th, high accuracy relative position measurement module 205.Central control system 201 is responsible for 203 data of reception processing GNSS module and by number
The platform 202 that conducts electricity sends 101 positional information of retracting device to the homeward module 102 of unmanned boat.204 state of beacon module is by middle control system
System 201 controls according to retracting device state, additionally, central control system 201 is also responsible for periodic test high accuracy relative position measurement
205 working condition of module and by homeward module 102 from data radio station 202 to unmanned boat send other instruction, for example promptly
Homeward, new task.In above-mentioned module, central control system 201, data radio station 202, GNSS module 203 be generally deployed in lash ship or
On person mother port, beacon module 204, high accuracy relative position measurement module 205 are deployed in retracting device porch.Above-mentioned module is led to
Network connection is crossed, the network is wireless network.
As shown in figure 3, homeward module related to homeward recovery system includes that ship carries central control system 301, number and passes on unmanned boat
Module 302, ship carries that GNSS module 303, photographing module, ship carry high accuracy relative position measurement module 305, other are related to boat control
Power plant module 306.Ship carries the data that central control system 301 is responsible for other modules of reception processing.Digital transmission module 302 is responsible for and is reclaimed
The data radio station 202 of device communicates, and receives GNSS data and instruction.Ship carries GNSS module 303 and positions antenna using degree of precision,
When close together with retracting device, positioning precision is improved using RTK technology.Photographing module is that video camera 304 is used for finding to reclaim
Beacon 204 on device 101, beacon is to be placed on the color lump above retracting device, and color lump can be constituted with LED.Color lump color
Retracting device current state is represented, green represents and can reclaim, yellow represents wait, red expression is not recyclable.The color of beacon
Block is the judgement symbol that unmanned boat was entered for the 3rd homeward stage by the second homeward stage.The initial stage in stage adopts image recognition skill
Art, makes unmanned boat close to retracting device.Video camera used is can 180 ° of horizontal rotation video cameras.Ship carries high accuracy relative position
Measurement module 305 adds the ID of the high accuracy relative position measurement module 205 for needing to find range therewith, measures after entering finding range
Distance between the two, and the relative position state of unmanned boat and retracting device 101 is determined by related algorithm.The related power of boat control
Module 306 includes path planning module, preceding object analyte detection module, anticollision module, power train control module, rudder angle control mould
Module needed for the normal/cruise such as block.
Fig. 4 is that homeward system enters the process of homeward pattern to a kind of unmanned boat automatically.Mesh is preset before execution task
Mark task, homeward condition, starting point GNSS information, standby homeward GNSS information.When tasks carrying is completed or reaches setting
Homeward condition, is put into homeward pattern.Additionally, digital transmission module independent operating, for updating homeward GNSS information（That is starting point
GNSS information）, when homeward path planning module is notified after homeward updating location information plan homeward path again.
Fig. 5 is a kind of homeward module of unmanned boat homeward system automatically, advises including homeward phase judgement module, homeward path
Draw module, boat prosecutor formula handover module, other instructions and exception processing module.Wherein homeward phase judgement module is used for determining back
The adopted rule of bit path planning and the formula switching of boat prosecutor.
According to Fig. 4, Fig. 5, a kind of unmanned boat automatically homeward system flow for setting homeward relevant parameter before sailing, after sailing
Monitor homeward conditional judgment module, i.e., monitor in real time preset goal task or homeward condition reach situation, while operation
Retracting device GNSS information receiver module.When homeward condition is met, homeward pattern is entered.Still receive under homeward pattern and reclaim
Device GNSS information, while the homeward phase judgement module of operation.Path planning and the formula choosing of boat prosecutor are carried out according to the homeward stage
Select.Additionally, unmanned boat monitors external command and each module working condition.
Fig. 6 is a kind of homeward phase judgement block flow diagram of unmanned boat homeward system automatically.The homeward stage is by unmanned boat
Determine with the relative position of retracting device.When unmanned boat and retracting device apart from remote when be the first stage, when unmanned boat is entered back
Be second stage during receiving apparatus region, the phase III is entered after unmanned boat finds retracting device beacon.
Fig. 7 is a kind of homeward path planning module flow chart of unmanned boat homeward system automatically.When detecting retracting device
GNSS information change or during homeward phase change, being presently in the homeward stage according to unmanned boat carries out path planning.Work as place
When the first homeward stage, path planning principle be with 2 points of line sections of unmanned boat and retracting device as elementary path, in conjunction with sea
Figure information generates reality most short feasible path.When in second stage when, path planning principle be according to retracting device parent shape
State generates the bypass route for finding beacon.If retracting device parent is ship, then path of detouring is the circle centered on ship, such as
Fruit retracting device parent is bank, then path of detouring is the line segment parallel with bank.When in the phase III, path is for reclaiming dress
Put perpendicular bisector, according to the relative position status adjustment bow of unmanned boat and retracting device to.
Fig. 8 is a kind of boat prosecutor formula handover module flow chart of unmanned boat homeward system automatically.When unmanned boat is in first
During the homeward stage, prosecutor formula of navigating selects the mode of path trace, i.e., according to the bias adjustment course with path planning.Work as unmanned boat
In the second homeward stage when, Navigation Control is carried out with image recognition technology using path trace.When unmanned boat is in the 3rd time
During the boat stage, boat prosecutor formula selects relative position adjustment boat prosecutor formula, i.e., according to the relative position of ship bow and retracting device opening
By unmanned boat special action such as rotate, translate etc. action adjust bow to.
Fig. 9 is a kind of unmanned boat other instructions of homeward system and exception processing module flow chart automatically.The work of unmanned boat
Operation mode adjustment is related to instruction.It is not to enter life that abnormal conditions include that second stage does not find beacon, beacon display command
Order and phase III cannot be positioned by high accuracy relative position measurement module.By standby retracting device if do not find beacon
GNSS is used as new homeward point, while path planning again, if not finding beacon yet at standby homeward point, nearby
Pull in shore to bring to.If beacon command is not that order is entered, corresponding actions are executed according to order.If the phase III cannot pass through
High accuracy relative position measurement module is positioned, then notify retracting device and be switched to remote pilot mode.
Figure 10 is that homeward system returns lash ship retracting device path schematic diagram to a kind of unmanned boat automatically.In figure unmanned boat 1001
The second homeward phase zone being entered along homeward circuit 1004 is set from the first homeward stage, finds the retracting device of lash ship 1002
Entered for the 3rd homeward stage after 1003, subsequently into retracting device 1003.The elongated dotted line 1005 of in figure is unmanned boat real navigation
Route.
Figure 11 is that homeward system returns female port retracting device path schematic diagram to a kind of unmanned boat automatically.In figure unmanned boat 1101
The second homeward phase zone being entered along homeward circuit 1104 is set from the first homeward stage, finds the retracting device at female port 1102
The 3rd homeward state is entered after 1103, subsequently into retracting device 1103.The elongated dotted line 1105 of in figure is unmanned boat real navigation
Route.
Embodiment is not construed as the restriction to inventing, but any spiritual improvements introduced based on the present invention, all Ying Ben
Within the protection domain of invention.
Claims (8)
1. a kind of automatically homeward method of unmanned boat, it is characterised in that：Its step is as follows：
Record starting point GNSS information and standby homeward GNSS information when the first, setting out；
2nd, according to imposing a condition, homeward condition adjudgement is carried out；
3rd, homeward new GNSS information is monitored；
4th, homeward phase judgement is carried out with homeward GNSS information according to current unmanned boat GNSS information；
5th, when homeward phase change or homeward GNSS information change, homeward path is planned again；
6th, the retracting device in homeward region is found according to beacon；
7th, according to residing for unmanned boat, the homeward stage selects Navigation Control mode；
8th, navigational calibration is carried out according to the relative position and attitude of unmanned boat and retracting device, until completing homeward.
2. the automatically homeward method of a kind of unmanned boat according to claim 1, it is characterised in that：Homeward condition adjudgement in two
Situation, current sea situation, promptly energy surplus, homeward instruction, unmanned boat fault message are completed including task.
3. the automatically homeward method of a kind of unmanned boat according to claim 1, it is characterised in that：The homeward phase judgement
Including the first homeward stage, the second homeward stage and the 3rd homeward stage, the wherein first homeward stage was unmanned boat away from recovery
The stage of device, the second homeward stage be unmanned boat near the stage of retracting device, the 3rd homeward stage was unmanned boat second
The stage after beacon is searched out in the homeward stage.
4. the automatically homeward method of a kind of unmanned boat according to claim 3, it is characterised in that：When unmanned boat is in first
During the homeward stage, according to unmanned boat itself GNSS information and starting point GNSS information, point-to-point transmission shortest path is selected as returning
Air route line, then in conjunction with nautical chart information, generates reality most short homeward path, when unmanned boat is in the second homeward stage, according to
Retracting device shape and unmanned boat GNSS information are generated searches beacon path, when unmanned boat is in three homeward stages, with
Retracting device opening perpendicular bisector is for reclaiming path.
5. a kind of automatically homeward method of unmanned boat according to claim 1,2,3 or 4, it is characterised in that：The beacon
For the color lump being placed on above retracting device, color lump can be constituted with LED, and represent the current shape of retracting device by color
State, the unmanned boat recognizes the color of color lump by image recognition technology.
6. a kind of automatically homeward method of unmanned boat according to claim 3 or 4, it is characterised in that：When unmanned boat is in
During the first homeward stage, navigated using GNSS, control course by calculating with the deviation of path planning；When unmanned boat is in the
During two homeward stages, navigated using GNSS and image recognition technology, retracting device beacon is searched, and carries out path planning；
When unmanned boat is in three homeward stages, by unmanned boat and the relative position and attitude of retracting device is obtained, unmanned boat is called
Movement instruction carries out pose adjustment.
7. the automatically homeward method of a kind of unmanned boat according to claim 6, it is characterised in that：Relative position and attitude is obtained
Method is as follows：The differential seat angle of unmanned boat ship bow and retracting device entrance is obtained by high accuracy relative position measurement module, is obtained
The horizontal-shift distance of vertical dimension and entrance perpendicular bisector of the unmanned boat ship bow with retracting device entrance.
8. the unmanned boat of a kind of automatically homeward method of unmanned boat based on described in any one in the claims is returned automatically
Boat system, it is characterised in that：Which is by retracting device and the homeward module composition being arranged on unmanned boat, the retracting device bag
Include central control system, data radio station, GNSS module, beacon module and high accuracy relative position measurement module, the homeward module
Be provided with ship carry central control system, digital transmission module, ship carry GNSS module, photographing module, ship carry high accuracy relative position measurement module with
And power plant module, the ship carries central control system includes homeward condition judgment module, homeward path planning module, image procossing mould
Block, high accuracy relative position resolve module and boat control module.
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