CN106933242A - A kind of self balancing device, bavin electricity mixed power unmanned boat and its control system - Google Patents
A kind of self balancing device, bavin electricity mixed power unmanned boat and its control system Download PDFInfo
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- CN106933242A CN106933242A CN201710332011.3A CN201710332011A CN106933242A CN 106933242 A CN106933242 A CN 106933242A CN 201710332011 A CN201710332011 A CN 201710332011A CN 106933242 A CN106933242 A CN 106933242A
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- unmanned boat
- separate space
- distance piece
- warship
- base
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Abstract
The invention discloses a kind of self balancing device, bavin electricity mixed power unmanned boat and its control system, wherein self balancing device includes, first accommodating body and control unit, control unit includes the first monitoring component and processing module, first monitoring component is arranged in second separate space, the change of first liquid in second separate space can be monitored, the processing module receives the monitoring signals of first monitoring component, and according to the change of first liquid in second separate space, adjust the change to second liquid in first separate space and the 3rd separate space, so that the change of the first liquid is identical in quality with the change of the second liquid.Present invention firstly provides a kind of self balancing device and bavin electricity mixed power unmanned boat suitable for bavin electricity mixed power unmanned boat; unmanned boat band diesel-driven generator under water can be sufficiently achieved to generate electricity; its endurance is improved, the demand of unmanned boat pelagic environment operation under water is met.
Description
Technical field
The invention belongs to unmanned boat technical field, more particularly to a kind of self-balancing suitable for bavin electricity mixed power unmanned boat
Device, bavin electricity mixed power unmanned boat and its control system.
Background technology
With the development and utilization of marine resources, the performer in marine resources are surveyed and are developed is more and more important for unmanned boat
Role.Traditionally, use Diesel engine hydraulic jet propulsion more unmanned surface vehicle, be capable of achieving to cruise at a high speed, for a long time, can be effective
Complete water surface job task；Advanced using battery propeller more than unmanned boat under water, can realize the navigation of arbitrary trajectory, but its
It is limited to carry the restriction of the energy, voyage is limited, it is impossible to meet the job requirements in waters farther out.
The propulsion energy resource supply problem of unmanned boat has become the technical bottleneck of its development of restriction under water.Therefore, how to have
The advantage for being carried using unmanned surface vehicle diesel engine and realizing longer-distance job task is imitated, is exactly the primary study of this technology.
The content of the invention
The purpose of this part is to summarize some aspects of embodiments of the invention and briefly introduce some preferable implementations
Example.May be done in this part and the description of the present application summary and denomination of invention a little simplified or omitted to avoid making our department
Point, the purpose of specification digest and denomination of invention obscure, and this simplification or omission cannot be used for limiting the scope of the present invention.
In view of the problem that above-mentioned existing self balancing device, bavin electricity mixed power unmanned boat and its control system are present, proposes
The present invention.
Therefore, one of purpose of the invention is to provide a kind of self-balancing dress suitable for bavin electricity mixed power unmanned boat
Put, adjusted with the posture balancing for facilitating unmanned boat.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of self balancing device, it includes, first
Accommodating body, is internally provided with the first distance piece and the second distance piece, and first distance piece and the second distance piece are by described first
Accommodation space is divided between the first separate space, the second separate space and the 3rd separate space, first distance piece and second
Spacing body can produce deformation；With, control unit, including the first monitoring component and processing module, the first monitoring component setting
In in second separate space, the change of first liquid in second separate space can be monitored, the processing module connects
The monitoring signals of first monitoring component are received, and according to the change of first liquid in second separate space, is adjusted to institute
State the change of second liquid in the first separate space and the 3rd separate space so that the change of the first liquid and described second
The change of liquid it is identical in quality.
As a kind of preferred scheme of self balancing device of the present invention, wherein：Also include, the second accommodating body, it is internal
The 3rd distance piece and the 4th distance piece are provided with, the 3rd distance piece and the 4th distance piece distinguish second accommodation space
It is the 4th separate space, the 5th separate space and the 6th separate space, the 3rd distance piece and the 4th distance piece can be produced
Deformation.
As a kind of preferred scheme of self balancing device of the present invention, wherein：Also include, supply unit, including the
One transfer unit, the second transfer unit and the 3rd transfer unit, first transfer unit and first separate space and institute
State the 4th separate space to be connected, second transfer unit is connected with second separate space and the 5th separate space
Logical, the 3rd transfer unit is connected with the 3rd separate space and the 6th separate space.
As a kind of preferred scheme of self balancing device of the present invention, wherein：First distance piece passes through first
Top board is connected with first accommodating body inner side, and second distance piece is by the first base plate and first accommodating body inner side
It is connected.
As a kind of preferred scheme of self balancing device of the present invention, wherein：3rd distance piece passes through second
Top board is connected with second accommodating body inner side, and the 4th distance piece is by the second base plate and second accommodating body inner side
It is connected.
Other in which purpose of the present invention is to provide a kind of bavin electricity mixed power unmanned boat, to sufficiently achieve unmanned boat under water
Band diesel-driven generator generates electricity, and improves its endurance, meets the demand of unmanned boat pelagic environment operation under water.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of bavin electricity mixed power unmanned boat, including
Unmanned boat hull, also includes, self balancing device, and first accommodating body is arranged at the front end of the unmanned boat hull, described
Two accommodating bodies are arranged at the rear end of the unmanned boat hull.
As a kind of preferred scheme of bavin electricity mixed power unmanned boat of the present invention, wherein：Described first is independent empty
Between and the 3rd separate space on be respectively arranged with the first magnetic valve and the second magnetic valve, when the first monitoring component detects the first liquid
After body change, first magnetic valve and second magnetic valve are opened, to be input into or discharge second liquid.
As a kind of preferred scheme of bavin electricity mixed power unmanned boat of the present invention, wherein：The first liquid is
Oil, the second liquid is water.
The 3rd purpose of the present invention is to provide and a kind of can manipulate the control system that bavin electricity mixed power unmanned boat is run
System.
In order to solve the above technical problems, the present invention provides following technical scheme：One kind be applied to bavin electricity mixed power nobody
The control system of ship, it includes, one is used to monitor unmanned boat motion state and selects the integrated control of bank base of unmanned boat motor pattern
System processed, the bank base integrated control system includes a bank base communication system, a bank base processing system, an opposite bank of data interchange
The shore-based power supply system that base communication system and bank base processing system are powered；With one is responsible for the warship base of control unmanned boat motion
Integrated control system, a warship base communication system of the warship base integrated control system including data interchange, a warship base processing system,
A pair of warship base communication systems, warship base processing systems and the warship base electric power system being powered, the warship base processing system include one
With the warship base industrial computer of warship base communication system data interchange, an obstacle avoidance system, a motion control are connected with the warship base industrial computer
System processed, a pose navigation system and a vision system.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The kinetic control system includes that one is used to change the direction of motion and the rising in water, the warship base of dive of unmanned boat
System；With one provides the main power system of power for the forward-reverse of unmanned boat；Wherein, the warship based system includes that control is single
Unit.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The pose navigation system includes that one is used for the navigation module of positioning unmanned boat position in water in real time；One is used to measure nothing
Orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of people's ship in water；And, one is used to measure unmanned boat
The depth flow sensor of the flow velocity of the depth of dive and unmanned boat ambient water in water.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The bank base communication system is collectively constituted by a bank base data transmission equipment, a bank base Image transmission equipment.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The bank base processing system includes a bank base industrial computer, and the bank base industrial computer realizes data interchange with bank base communication system, institute
State and one handle, a multi-screen be connected with bank base industrial computer, shown on the multi-screen it is different for display monitoring nobody
The human-computer interaction interface of ship motion state.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The shore-based power supply system includes the bank base 220VAC/24VDC lithium batteries and bank base voltage changer that are sequentially connected.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The warship base communication system is collectively constituted by a warship base data transmission equipment, a warship base Image transmission equipment.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The obstacle avoidance system includes that one is used to measuring the millimetre-wave radar of the water surface, aerial target and barrier, and one is used to measuring in water
The multi beam wave sound of target and barrier.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The vision system includes that one is used to gather the CCD camera of unmanned boat external environment condition image, one for rotating CCD shootings
The head of head.
As a kind of preferred scheme of the control system for being applied to bavin electricity mixed power unmanned boat of the present invention, its
In：The warship base electric power system includes the warship base voltage converter and a carrier-borne 72VDC lithium batteries/24VDC lithiums that are sequentially connected
Battery.
Beneficial effects of the present invention：Present invention firstly provides a kind of self-balancing suitable for bavin electricity mixed power unmanned boat
Device and bavin electricity mixed power unmanned boat, can sufficiently achieve unmanned boat band diesel-driven generator under water and generate electricity, and improve its continuation of the journey energy
Power, meets the demand of unmanned boat pelagic environment operation under water.Meanwhile, the control system in the present invention passes through the integrated control system of bank base
System and the mutual cooperation of warship base integrated control system, by the motion state of bank base integrated control system charge of overseeing unmanned boat, select
The motor pattern of unmanned boat is selected, and warship base integrated control system is used to merge various sensor informations, forms complete combination and leads
Boat information, and be responsible for the motion of control unmanned boat so that this control system has that level of integrated system is high, motion control more intelligence
The advantages of energy, unmanned boat motion control of over the horizon, mode of operation is controlled to be combined by multi-motion, system is reliable and stable.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will use needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other can also be obtained according to these accompanying drawings
Accompanying drawing.Wherein：
Fig. 1 is the overall structure diagram of self balancing device described in the first implementation method of the invention；
Fig. 2 is the operation principles schematic diagram of control unit described in the first implementation method shown in Fig. 1 of the present invention；
Fig. 3 is the overall structure diagram of bavin electricity mixed power unmanned boat described in the first embodiment of the invention；
Fig. 4 is the operation principles schematic diagram of control unmanned boat balance in the first embodiment shown in Fig. 3 of the present invention；
Fig. 5 is the overall schematic of control system of the present invention；
Fig. 6 is multi-sensor information integrated fusion schematic diagram in Fig. 5 illustrated embodiments of the present invention；
Fig. 7 is the flow chart of hand behaviour's motion control mode of operation in Fig. 5 illustrated embodiments of the present invention；
Fig. 8 is the flow chart of cruise motion control mode of operation in Fig. 5 illustrated embodiments of the present invention；
Fig. 9 is the flow chart of visual target tracking motion control mode of operation in Fig. 5 illustrated embodiments of the present invention；
Figure 10 is the flow chart of automatic obstacle avoiding motion control mode of operation in Fig. 5 illustrated embodiments of the present invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, with reference to Figure of description pair
Specific embodiment of the invention is described in detail.
Many details are elaborated in the following description in order to fully understand the present invention, but the present invention can be with
Other manner described here is different from using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, the present invention is described in detail with reference to schematic diagram, when the embodiment of the present invention is described in detail, for purposes of illustration only, table
Show that the profile of device architecture can disobey general ratio and make partial enlargement, and the schematic diagram is example, and it should not herein
Limitation the scope of protection of the invention.Additionally, the three-dimensional space of length, width and depth should be included in actual fabrication.
Thirdly, " one embodiment " or " embodiment " referred to herein refers to that may be included at least one realization of the invention
Special characteristic, structure or characteristic in mode." in one embodiment " that different places occur in this manual is not equal
Refer to same embodiment, nor the single or selective embodiment mutually exclusive with other embodiment.
An embodiment of the invention is as shown in figure 1, Fig. 1 is self-balancing dress described in the first implementation method of the invention
The overall structure diagram put, the system includes the first accommodating body 100, the second accommodating body 300, supply unit 400 and control in figure
Unit processed 200 (referring to Fig. 2).
First accommodating body 100 is hollow structure, and it is internally provided with the first distance piece 101 and the second distance piece 102,
First accommodation space 100 is divided into the first separate space M, the second separate space by the first distance piece 101 and the second distance piece 102
N and the 3rd separate space S, the first distance piece 101 and the second distance piece 102 can produce deformation, for example, the first distance piece 101
Thermo-setting elastomer or thermoplastic elastomer (TPE) (TPE) can be used with the second distance piece 102, wherein TPE is warm including phenylethylene
Plastics elastomer TPS, olefin type thermoplastic elastomer TPO, TPV etc., thermoplastic elastomer (TPE) TPE (Thermoplastic
Elastomer be) a kind of high resiliency with rubber, high intensity, high resilience, but with can injection molding feature material
Material.With environment-protecting asepsis safety, hardness range is wide, there is excellent coloring, soft-touch, weatherability, fatigue resistance and heatproof
Property, processing characteristics is superior, without vulcanization, can recycle reduces cost, both can with secondary injection molding, with PP, PE, PC,
The matrix material coating and bonding such as PS, ABS, it is also possible to separately formed.It is preferred that in this embodiment, the first distance piece 101
It is connected with the inner side of the first accommodating body 100 by the first top board 103, the second distance piece 102 is held by the first base plate 104 and first
The inner side of body 100 is put to be connected.
And the second accommodating body 300 is also hollow structure, it is internally provided with the 3rd distance piece 301 and the 4th distance piece
302, second accommodation space 300 is divided into the 4th separate space m, the 5th by the 3rd distance piece 301 and the 4th distance piece 302
Separate space n and the 6th separate space s, the 3rd distance piece 301 and the 4th distance piece 302 can produce deformation, here, between the 3rd
The distance piece 302 of spacing body 301 and the 4th can also be using the thermosetting used such as the first distance piece 101 and the second distance piece 102
Elastomer or thermoplastic elastomer (TPE) (TPE).It is preferred that in this embodiment, the 3rd distance piece 301 passes through the second top board
303 are connected with the inner side of the second accommodating body 300, and the 4th distance piece 302 is by the second base plate 304 and the inner side of the second accommodating body 300
It is connected.
From in terms of mechanical structural point, the first accommodating body 100 and the second accommodating body 300 set up " connection by supply unit 400
System ".Supply unit 400 includes the first transfer unit 401, the second transfer unit 402 and the 3rd transfer unit 403, the first conveying
Part 401 is connected with the first separate space M and the 4th separate space m, the second transfer unit 402 and the second separate space N and
5th separate space n is connected, and the 3rd transfer unit 403 is connected with the 3rd separate space S and the 6th separate space s.
From in terms of control structure angle, the first accommodating body 100 and the second accommodating body 300 set up " connection by control unit 200
System ".Control unit 200 includes the first monitoring component 201 and processing module 202, and it is independent that the first monitoring component 201 is arranged at second
In the N of space, the change of first liquid in the second separate space N can be monitored, in one embodiment, set first liquid as
" fuel oil " of power is provided, then, the first monitoring component 201 can use oil pressure sensor.Processing module 202 receives first and supervises
Survey the monitoring signals of part 201, and according to the change of first liquid in the second separate space N, adjustment to the first separate space M and
The change of second liquid in 3rd separate space S so that the change of first liquid and the change of second liquid it is identical in quality,
This, when the first monitoring component 201 is using oil pressure sensor, processing module 202 (can use PLC, Programmable Logic
Controller programmable logic controller (PLC)s) changing value of " oil pressure " that transmits oil pressure sensor be converted into " lacking " or
" mass value " of " increase ", then controls the first transfer unit 401 and the 3rd transfer unit 403 so that the change of first liquid
With second liquid (for example：Water) change it is equal.Specifically, on this " fuel consumption " and water inlet number problem, only
When the weight and oily when being equal in weight, the balance that self balancing device could be kept original of consumption of the water for entering.Here, second is only
Vertical space N and the first separate space M, the size of the 3rd separate space S, distribute, according to this machinery according to the density ratio of water oil
Mode, control inflow, finally make oil consumption weight and water inlet be equal in weight.
As shown in Fig. 3 of the present invention, Fig. 3 is shown self balancing device application described in the first implementation method of the invention to bavin
The overall structure diagram of electricity mixed power unmanned boat.The unmanned boat includes unmanned boat hull T certainly, and it also includes, such as Fig. 1 institutes
The self balancing device for showing, wherein, the first accommodating body 100 is arranged at the front end of unmanned boat hull T, and the second accommodating body 300 is arranged at
The rear end of unmanned boat hull T.
Specifically, the first accommodating body 100 is hollow structure, between it is internally provided with the first distance piece 101 and second
First accommodation space 100 is divided into the first separate space M, second by spacing body 102, the first distance piece 101 and the second distance piece 102
Separate space N and the 3rd separate space S, the first distance piece 101 and the second distance piece 102 can produce deformation, for example, between first
The distance piece 102 of spacing body 101 and second can include benzene second using thermo-setting elastomer or thermoplastic elastomer (TPE) (TPE), wherein TPE
Alkenes thermoplastic elastomer TPS, olefin type thermoplastic elastomer TPO, TPV etc., thermoplastic elastomer (TPE) TPE (Thermoplastic
Elastomer be) a kind of high resiliency with rubber, high intensity, high resilience, but with can injection molding feature material
Material.With environment-protecting asepsis safety, hardness range is wide, there is excellent coloring, soft-touch, weatherability, fatigue resistance and heatproof
Property, processing characteristics is superior, without vulcanization, can recycle reduces cost, both can with secondary injection molding, with PP, PE, PC,
The matrix material coating and bonding such as PS, ABS, it is also possible to separately formed.It is preferred that in this embodiment, the first distance piece 101
It is connected with the inner side of the first accommodating body 100 by the first top board 103, the second distance piece 102 is held by the first base plate 104 and first
The inner side of body 100 is put to be connected.
And the second accommodating body 300 is also hollow structure, it is internally provided with the 3rd distance piece 301 and the 4th distance piece
302, second accommodation space 300 is divided into the 4th separate space m, the 5th by the 3rd distance piece 301 and the 4th distance piece 302
Separate space n and the 6th separate space s, the 3rd distance piece 301 and the 4th distance piece 302 can produce deformation, here, between the 3rd
The distance piece 302 of spacing body 301 and the 4th can also be using the thermosetting used such as the first distance piece 101 and the second distance piece 102
Elastomer or thermoplastic elastomer (TPE) (TPE).It is preferred that in this embodiment, the 3rd distance piece 301 passes through the second top board
303 are connected with the inner side of the second accommodating body 300, and the 4th distance piece 302 is by the second base plate 304 and the inner side of the second accommodating body 300
It is connected.
From in terms of mechanical structural point, the first accommodating body 100 and the second accommodating body 300 set up " connection by supply unit 400
System ".Supply unit 400 includes the first transfer unit 401, the second transfer unit 402 and the 3rd transfer unit 403, the first conveying
Part 401 is connected with the first separate space M and the 4th separate space m, the second transfer unit 402 and the second separate space N and
5th separate space n is connected, and the 3rd transfer unit 403 is connected with the 3rd separate space S and the 6th separate space s.
From in terms of control structure angle, the first accommodating body 100 and the second accommodating body 300 set up " connection by control unit 200
System ".Control unit 200 includes the first monitoring component 201 and processing module 202, and it is independent that the first monitoring component 201 is arranged at second
In the N of space, the change of first liquid in the second separate space N can be monitored, in one embodiment, set first liquid as
" fuel oil " of power is provided, then, the first monitoring component 201 can use oil pressure sensor.Processing module 202 receives first and supervises
Survey the monitoring signals of part 201, and according to the change of first liquid in the second separate space N, adjustment to the first separate space M and
The change of second liquid in 3rd separate space S so that the change of first liquid and the change of second liquid it is identical in quality,
This, when the first monitoring component 201 is using oil pressure sensor, processing module 202 (can use PLC, Programmable Logic
Controller programmable logic controller (PLC)s) changing value of " oil pressure " that transmits oil pressure sensor be converted into " lacking " or
" mass value " of " increase ", then controls the first transfer unit 401 and the 3rd transfer unit 403 so that the change of first liquid
With second liquid (for example：Water) change it is equal.Specifically, on this " fuel consumption " and water inlet number problem, only
When the weight and oily when being equal in weight, the balance that self balancing device could be kept original of consumption of the water for entering.Here, second is only
Vertical space N and the first separate space M, the size of the 3rd separate space S, distribute, according to this machinery according to the density ratio of water oil
Mode, control inflow, finally make oil consumption weight and water inlet be equal in weight.
In this embodiment, it is also respectively provided with the first magnetic valve on the first separate space M and the 3rd separate space S
107 and second magnetic valve 108, after the first monitoring component 201 detects first liquid to be changed, open first magnetic valve
107 and second magnetic valve 108, to be input into or discharge second liquid.And it is provided with first liquid feed liquor on the second transfer unit 402
Valve 402a and first liquid liquid valve 402b, the supply and discharge of precise control first liquid (power fuel).
Referring to Fig. 3 and Fig. 4, by provide unmanned boat power for diesel engine as a example by, in unmanned boat is in water, motor hand
When making, institute's band diesel oil will be reduced in the second separate space N and the 5th separate space n, due to the second separate space N and the 5th only
Vertical space n by the second transfer unit 402 together with, therefore in the second separate space N and the 5th separate space n diesel oil decrement
It is synchronous.After the first monitoring component 201 (oil pressure sensor) in the second separate space N detects oil mass change, will
Detection signal is sent in the control of processing module 202 (microprocessor based on single-chip microcomputer or PLC), and it does according to pre-defined algorithm
Go out control command, the first magnetic valve 107 of control and the second magnetic valve 108 are turned on and off.Thereby guarantee that the second separate space N
With the oil consumption in the 5th separate space n with the first separate space M and the 4th separate space m, the 3rd separate space S and the 6th independently
The displacement of space s is equal.Therefore, the overall attitude of unmanned boat is to maintain balance.
Referring to Fig. 5, present invention also offers a kind of control system for being applied to bavin electricity mixed power unmanned boat, it includes：
One is used to monitor unmanned boat motion state and selects the bank base integrated control system 500 of unmanned boat motor pattern, the integrated control of bank base
System processed 500 includes a bank base communication system 502, a bank base processing system of data interchange, also including a pair of bank base communication systems
The shore-based power supply system that system 502 and bank base processing system are powered.
Bank base communication system 502 is collectively constituted by a bank base data transmission equipment 502a, a bank base Image transmission equipment 502b.
Bank base processing system includes a bank base industrial computer 506, and the bank base industrial computer 506 is realized with bank base communication system 502
Data interchange, is connected with one handle 503, a multi-screen 504 on bank base industrial computer 506, is shown on multi-screen 504 different
For the human-computer interaction interface 505 of display monitoring unmanned boat motion state.
Shore-based power supply system includes the bank base 220VAC/24VDC lithium batteries 2501 and bank base voltage changer that are sequentially connected
507.By being provided with a bank base voltage changer 507, so that can as needed by bank base 220VAC/24VDC lithium batteries 501
Voltage transformation is to be powered to each equipment in bank base communication system 502 and bank base processing system again after needing voltage, it is ensured that bank
The overall trouble-free operation of base integrated control system 500.The one warship base integrated control system 600 for being responsible for control unmanned boat motion, should
Warship base integrated control system 600 includes a warship base communication system 601, a warship base processing system of data interchange, also including a pair
Warship base communication system 601, warship base processing system and the warship base electric power system being powered, warship base processing system include one with warship base
Communication system 601 and one realizes the warship base industrial computer 603 of data interchange, and an obstacle avoidance system is connected with warship base industrial computer 603
604th, a kinetic control system 605, a pose navigation system 602 and a vision system 606.
Warship base communication system 601 is collectively constituted by a warship base data transmission equipment 601a, a warship base Image transmission equipment 601b.
Obstacle avoidance system 604 includes a millimetre-wave radar 604a for being used to measure the water surface, aerial target and barrier, and one is used for
The multi beam wave sound 604b of target and barrier in measurement water.
Kinetic control system 605 includes the direction of motion for being used to change unmanned boat and rising in water, dive
Warship based system 605a, one provides the main power system 605b of power for the forward-reverse of unmanned boat.
Pose navigation system 602 includes a Big Dipper/GPS module 602a for being used for positioning unmanned boat position in water in real time,
One is used to measure orientation, speed, acceleration, the micro- inertial navigation pose module 602b of angular rate information of the unmanned boat in water, and one uses
In the depth flow sensor 602c of measurement unmanned boat flow velocity of the depth of dive and unmanned boat ambient water in water.Wherein,
Here mentioned " Big Dipper/GPS module " is that, for navigator fix, " pose module " can use attitude sensor, and it is
High performance three-dimensional motion attitude measuring system based on MEMS technology, comprising three-axis gyroscope, three axis accelerometer (i.e. IMU),
The synkinesia sensor such as three axle electronic compass, the angular speed calibrated is exported by the low-power consumption arm processor for embedding, and is accelerated
Degree, magnetic data etc. carries out athletic posture measurement by the sensing data algorithm based on quaternary number, output in real time with quaternary number,
The zero shift 3 d pose data of the expressions such as Eulerian angles.
Vision system 606 includes that one is used to gather the CCD camera 606a of unmanned boat external environment condition image, one for rotating
The head 606b of CCD camera 606a.
Warship base electric power system include the warship base voltage converter 607 that is sequentially connected and a carrier-borne 72VDC lithium batteries/
24VDC lithium batteries 608.By being provided with a warship base voltage converter 607, thus can as needed by carrier-borne 72VDC lithium batteries/
The voltage of 24VDC lithium batteries 608, be transformed to need after voltage again to warship base communication system 601 and warship base processing system in it is each
Individual equipment is powered, it is ensured that the overall trouble-free operation of warship base integrated control system 600.
In this control system, bank base communication system 502 and warship base communication system 601 constitute unmanned boat integrated control system
Communication system, for the transmission of bank base integrated control system 500 and the data and image of warship base integrated control system 600.
Schematic diagram as shown in Figure 6 understands, the formation of integrated navigation information by navigation module 602a (namely：The Big Dipper/
GPS module 602a), micro- inertial navigation pose module 602b, depth flow sensor 602c and multi beam wave sound 604b pass through respectively
RS232 interfaces are connected with carrier-borne industrial computer 603, and millimetre-wave radar 604a and CCD camera 606a passes through Ethernet interface respectively
It is connected with carrier-borne industrial computer 603, the information data of each sensor is carried out treatment fusion by carrier-borne industrial computer 603, is formed complete
Integrated navigation information, bank base integrated control system 500 is sent to by communication system.
Unmanned boat in the present invention has four kinds of motion control mode of operations, respectively：Hand behaviour's motion control mode of operation,
Cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control mode of operation,
Motion control is more intelligent.
Schematic diagram as shown in Figure 7 understands that the workflow of hand behaviour's motion control mode of operation is：Electricity is initial on unmanned boat
It is that hand behaviour's motor pattern works by unmanned boat operator selection unmanned boat motor pattern after change, unmanned boat operator is in visual model
Enclose interior or remote unmanned boat attitude and environment information acquisition unmanned boat according to human-computer interaction interface 505 position,
Attitude, and choose whether that carrying out handle 503 operates, if it is, into next step, if it is not, then proceeding previous step i.e.
Position, the attitude of unmanned boat are obtained, after selection carries out the operation of handle 503, through the acquisition process handle 503 of bank base industrial computer 506
After data, instruction to warship base industrial computer 603 is transmitted by communication system, then processed by carrier-borne industrial computer 603 and generate motion control
System order, is transferred to kinetic control system 605, and main power system 605b, the motor setting in motion of warship based system 605a control nothing
The motion of people's ship, it is achieved thereby that hand behaviour's motion control mode of operation of unmanned boat.In this embodiment, warship based system
605a includes control unit 200 (referring to Fig. 4), is easy to control the whole machine balancing of unmanned boat.
Schematic diagram as shown in Figure 8 understands that the workflow of motion control mode of operation of cruising is：Electricity is initial on unmanned boat
After change, unmanned boat operator in visual range or remote unmanned boat attitude according to human-computer interaction interface 505 and
The position of environment information acquisition unmanned boat, attitude, and choose whether enter cruise motor pattern work, unmanned boat operator according to
Task needs, and prior to the cruise route that unmanned boat is set on human-computer interaction interface 505, is processed through bank base industrial computer 506, by logical
Moving line is sent to carrier-borne industrial computer 603 by news system transfers instruction, is processed by carrier-borne industrial computer 603 and generated motion control
Order, is transferred to kinetic control system 605, and main power system 605b, the motor setting in motion of warship based system 605a control nobody
Ship is moved according to setting path, it is achieved thereby that the cruise motion control mode of operation of unmanned boat.
Schematic diagram as shown in Figure 9 understands that the workflow of visual target tracking motion control mode of operation is：Unmanned boat
After power-up initializing, unmanned boat motor pattern is selected to be worked for visual target tracking motor pattern by unmanned boat operator, CCD takes the photograph
As the water surface, air environment information in head 606a shooting unmanned boat movement environments, processed by carrier-borne industrial computer 603, by communication
Whether system transfers are shown by multi-screen 504 to bank base industrial computer 506, are selected on picture by unmanned boat operator and tracked
Target, if so, then enter next step, if it is not, then CCD camera 606a continues to shoot the water surface in unmanned boat movement environment, aerial
Environmental information, after selection tracking target, after being processed by bank base industrial computer 506, will track target information and return by communication system
Carrier-borne industrial computer 603 is passed to, then is processed by carrier-borne industrial computer 603 and is generated motion control commands, be transferred to kinetic control system
605, control unmanned boat tracking selected target campaign, and head 606b rotates the rotation of drive CCD camera 606a to track
Target, it is achieved thereby that the visual target tracking motion control mode of operation of unmanned boat.
Schematic diagram as shown in Figure 10 understands that the workflow of automatic obstacle avoiding motion control mode of operation is：On unmanned boat
After electricity initialization, under cruise motion control mode of operation and visual target tracking motion control mode of operation, unmanned boat has
Automatic obstacle avoiding motion control function, by the Big Dipper/GPS module 602a, micro- inertial navigation pose module 602b, depth flow sensor
602c, millimetre-wave radar 604a, multi beam wave sound 604b and CCD camera 606a have detected whether barrier, and information is anti-
Feed carrier-borne industrial computer 603, then by carrier-borne industrial computer 603 by merging the Big Dipper/GPS module 602a, micro- inertial navigation pose module
602b, depth flow sensor 602c, millimetre-wave radar 604a, the Information Number of multi beam wave sound 604b and CCD camera 606a
It is believed that breath, judges the information of barrier, motion control commands are automatically generated, be transferred to kinetic control system 605, control nobody
Ship circumvents barrier motion, it is achieved thereby that the automatic obstacle avoiding motion control mode of operation of unmanned boat.
As can be seen here, present invention firstly provides a kind of self balancing device and bavin suitable for bavin electricity mixed power unmanned boat
Electricity mixed power unmanned boat, can sufficiently achieve unmanned boat band diesel-driven generator under water and generate electricity, and improve its endurance, meet water
The demand of lower unmanned boat pelagic environment operation.
Meanwhile, the control system in the present invention is by bank base integrated control system 500 and warship base integrated control system 600
Cooperate, by the motion state of the charge of overseeing unmanned boat of bank base integrated control system 500, select the motor pattern of unmanned boat,
And warship base integrated control system 600 is used to merge various sensor informations, complete integrated navigation information is formed, and be responsible for control
The motion of unmanned boat so that this control system has that level of integrated system is high, the unmanned boat of motion control more intelligent, over the horizon is transported
The advantages of dynamic control, mode of operation is controlled to be combined by multi-motion, system is reliable and stable.
By bank base communication system 502, bank base processing system, warship base communication system 601, warship base processing system cooperation work
Make so that the semi-submersible type miniature self-service ship in of the invention possesses four kinds of motion control mode of operations：Hand behaviour's motion control work
Pattern, cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control work
Pattern, motion control is more intelligent.
Hand grasp motion control mode of operation from human-computer interaction interface 505 and handle 503 jointly be achieved；Cruise fortune
Dynamic control mode of operation from human-computer interaction interface 505, bank base industrial computer 506, carrier-borne industrial computer 603 it is common be achieved；
Visual target tracking motion control mode of operation is by CCD camera 606a, carrier-borne industrial computer 603, bank base industrial computer 506, multi-screen
The common cooperation of curtain 504 is achieved；Automatic obstacle avoiding motion control mode of operation is by carrier-borne industrial computer 603, the Big Dipper/GPS module
602a, micro- inertial navigation pose module 602b, depth flow sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b, CCD
Cooperation is achieved camera 606a jointly.
In the present invention, for being provided with a voltage changer in shore-based power supply system and warship base electric power system, so that
It can be as needed to be powered to each equipment again after needing voltage by the voltage transformation of lithium battery, it is ensured that the trouble-free operation of equipment.
It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferably
Embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to technology of the invention
Scheme is modified or equivalent, and without deviating from the spirit and scope of technical solution of the present invention, it all should cover in this hair
In the middle of bright right.
Claims (10)
1. a kind of self balancing device, it is characterised in that：Including,
First accommodating body (100), is internally provided with the first distance piece (101) and the second distance piece (102), first distance piece
And first accommodation space (100) is divided into the first separate space (M), second independent empty by the second distance piece (102) (101)
Between (N) and the 3rd separate space (S), first distance piece (101) and the second distance piece (102) can produce deformation；With,
Control unit (200), including the first monitoring component (201) and processing module (202), first monitoring component (201)
It is arranged in second separate space (N), the change of the interior first liquid of second separate space (N) can be monitored, it is described
Processing module (202) receives the monitoring signals of first monitoring component (201), and according in second separate space (N)
The change of first liquid, adjusts the change to first separate space (M) and the 3rd separate space (S) interior second liquid, makes
The change for obtaining the first liquid is identical in quality with the change of the second liquid.
2. self balancing device as claimed in claim 1, it is characterised in that：Also include,
Second accommodating body (300), is internally provided with the 3rd distance piece (301) and the 4th distance piece (302), the 3rd distance piece
And second accommodation space (300) is divided into the 4th separate space (m), the 5th independent empty by the 4th distance piece (302) (301)
Between (n) and the 6th separate space (s), the 3rd distance piece (301) and the 4th distance piece (302) can produce deformation.
3. self balancing device as claimed in claim 2, it is characterised in that：Also include,
Supply unit (400), including the first transfer unit (401), the second transfer unit (402) and the 3rd transfer unit (403),
First transfer unit (401) is connected with first separate space (M) and the 4th separate space (m), and described
Two transfer units (402) are connected with second separate space (N) and the 5th separate space (n), the 3rd conveying
Part (403) is connected with the 3rd separate space (S) and the 6th separate space (s).
4. the self balancing device as described in claims 1 to 3 is any, it is characterised in that：First distance piece (101) is by
One top board (103) is connected with first accommodating body (100) inner side, and second distance piece (102) is by the first base plate
(104) it is connected with first accommodating body (100) inner side.
5. the self balancing device as described in claims 1 to 3 is any, it is characterised in that：3rd distance piece (301) is by
Two top boards (303) are connected with second accommodating body (300) inner side, and the 4th distance piece (302) is by the second base plate
(304) it is connected with second accommodating body (300) inner side.
6. a kind of bavin electricity mixed power unmanned boat, including unmanned boat hull (T), it is characterised in that：Also include,
Self balancing device as claimed in claim 3, first accommodating body (100) is arranged at the unmanned boat hull (T)
Front end, second accommodating body (300) is arranged at the rear end of the unmanned boat hull (T).
7. bavin electricity mixed power unmanned boat as claimed in claim 6, it is characterised in that：First separate space (M) and
The first magnetic valve (107) and the second magnetic valve (108) are respectively arranged with three separate spaces (S), when the first monitoring component (201)
After detecting first liquid change, first magnetic valve (107) and second magnetic valve (108) are opened, to be input into or arrange
Go out second liquid.
8. a kind of control system for being applied to bavin electricity mixed power unmanned boat as claimed in claims 6 or 7, it is characterised in that：Bag
Include,
One is used to monitor unmanned boat motion state and selects the bank base integrated control system (500) of unmanned boat motor pattern, described
A bank base communication system (502), a bank base processing system, an opposite bank of the bank base integrated control system (500) including data interchange
The shore-based power supply system that base communication system (502) and bank base processing system are powered；With,
One warship base integrated control system (600) for being responsible for control unmanned boat motion, the warship base integrated control system (600) includes
One warship base communication system (601) of data interchange, a warship base processing system, a pair of warship bases communication system (601), warship base processing systems
The warship base electric power system united and be powered, the warship base processing system includes one with warship base communication system (601) data interchange
Warship base industrial computer (603), be connected with an obstacle avoidance system (604), a kinetic control system on the warship base industrial computer (603)
(605), a pose navigation system (602) and a vision system (606).
9. the control system of bavin electricity mixed power unmanned boat is applied to as claimed in claim 8, it is characterised in that：The motion
Control system (605) includes,
One direction of motion and the rising in water, the warship based system (605a) of dive for being used to change unmanned boat；With,
One main power system (605b) that power is provided for the forward-reverse of unmanned boat；Wherein,
The warship based system (605a) includes the control unit (200) as described in claims 1 to 3 is any.
10. the control system of bavin electricity mixed power unmanned boat is applied to as claimed in claim 8 or 9, it is characterised in that：It is described
Pose navigation system (602) includes,
One navigation module (602a) for being used for positioning unmanned boat position in water in real time；
One is used to measure orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the unmanned boat in water
(602b)；And,
The one depth flow sensor for being used to measure unmanned boat flow velocity of the depth of dive and unmanned boat ambient water in water
(602c)。
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| CN106933242B (en) | 2020-04-21 |
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