CN107117266B - A kind of self balancing device, unmanned vehicles and its control system - Google Patents
A kind of self balancing device, unmanned vehicles and its control system Download PDFInfo
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- CN107117266B CN107117266B CN201710330976.9A CN201710330976A CN107117266B CN 107117266 B CN107117266 B CN 107117266B CN 201710330976 A CN201710330976 A CN 201710330976A CN 107117266 B CN107117266 B CN 107117266B
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- unmanned vehicles
- battery pack
- sliding block
- fixing piece
- warship
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of self balancing device, unmanned vehicles and its control systems, including, the first balance element, including the first fixing piece, lateral battery pack and longitudinal battery pack, the transverse direction battery pack are connected with first fixing piece；Control unit, including monitoring component and processing module.Unmanned vehicles provided by the invention of working as are in water, unmanned vehicles vertical inclination angle and cross dip are first detected by monitoring component, and it will test result and be transmitted to processing module, and the variation of lateral battery pack and longitudinal battery pack relative to unmanned vehicles pose is driven by the first actuator and the second actuator respectively, to quickly, effectively, simply adjust the posture balancing of unmanned vehicles, and pass through battery equilibrium unmanned vehicles, additional balance object the space occupied can be saved, increases and effectively carries volume.
Description
Technical field
The invention belongs to unmanned vehicles technical field more particularly to a kind of self-balancing dresses suitable for unmanned vehicles
It sets, unmanned vehicles and its control system.
Background technique
The water surface or underwater unmanned vehicle, can be in bad weathers because having the characteristics that small in size, flexible operation, autonomous navigation
The lower substitution mankind execute a variety of dangerous persons, thus be widely used in scientific research of seas, exploration of ocean resources, military affairs are detectd
Look into equal fields.
The water surface or underwater unmanned vehicle can be completed as a kind of carrying platform by carrying different detecting modules
Various ocean operation tasks.However the production of unmanned vehicles and the installation of equipment, it is difficult to ensure that unmanned vehicles are in water
Posture balancing, often will appear light nose heave tail or the light cabrage of head and to the left or to the right inclined state.In the prior art, lead to
The method for often solving unmanned vehicles posture balancing is: before unmanned vehicles assembling, floating suffered by each section of unmanned vehicles of calculating
Power weighs each section of weight of unmanned vehicles and contained weight of equipment, by the contained equipment of reasonable layout and ballasting fill block, comes
Solve the problems, such as unmanned vehicles posture balancing.This mode often inefficiency, needs repeatedly to open unmanned vehicles to fill out
Pressurising cabin fill block does not meet the needs of the contained detecting devices modularization assembling high efficiency development of unmanned vehicles increasingly.
Summary of the invention
The purpose of this section is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferable implementations
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of above-mentioned existing self balancing device, unmanned vehicles and its control system there are the problem of, propose the present invention.
Therefore, the one of purpose of the present invention, which is to provide one kind, can be realized unmanned vehicles posture self balancing device, with
Convenient for the adjusting of unmanned vehicles.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of self balancing device, including, first is flat
Weigh part, including the first fixing piece, lateral battery pack and longitudinal battery pack, and the transverse direction battery pack is connected with first fixing piece
It connects；Control unit, including monitoring component and processing module, the both ends that the monitoring component can monitor first balance element are horizontal
To inclination angle, the processing module receives the detection signal of the monitoring component, by adjusting the lateral battery pack, longitudinal battery
Relationship between group and first fixing piece adjusts first balance element.
A kind of preferred embodiment as self balancing device of the present invention, in which: first fixing piece includes first sliding
Rail, first sliding rail are divided into the first horizontal slide rail and the second horizontal slide rail, and first horizontal slide rail and described second is laterally
Sliding rail is arranged in parallel；The transverse direction battery pack includes the first sliding block, and first sliding block is divided into the first transverse slider, second laterally
Sliding block, third transverse slider and the 4th transverse slider, first transverse slider and second transverse slider are arranged described
One side of lateral battery pack is both matched with first horizontal slide rail, the third transverse slider and the 4th cross
The another side of the lateral battery pack is set to sliding block, is both matched with second horizontal slide rail.
A kind of preferred embodiment as self balancing device of the present invention, in which: it further include the second balance element, including the
Two fixing pieces, second fixing piece are placed below first fixing piece, and second fixing piece includes the second sliding rail, institute
It states the second sliding rail and is divided into first longitudinal direction sliding rail and second longitudinal direction sliding rail, the first longitudinal direction sliding rail and the second longitudinal direction sliding rail are flat
Row setting.
A kind of preferred embodiment as self balancing device of the present invention, in which: the longitudinal direction battery pack includes second sliding
Block, second sliding block is divided into first longitudinal direction sliding block, second longitudinal direction sliding block, third longitudinal sliding block and the 4th longitudinal sliding block, described
One side of longitudinal battery pack is arranged in first longitudinal direction sliding block and the second longitudinal direction sliding block, both with the first longitudinal direction
Sliding rail matches, and the third longitudinal sliding block and the 4th longitudinal sliding block are arranged in the another side of longitudinal battery pack, and two
Person matches with the second longitudinal direction sliding rail.
A kind of unmanned vehicles, including unmanned vehicles, it is characterised in that: a kind of unmanned vehicles, including unmanned navigation
Hull, it is characterised in that: further include that the unmanned middle part for navigating by water hull is arranged in the first balance element and the second balance element
Point.
A kind of preferred embodiment as unmanned vehicles of the present invention, in which: actuator comprising the first actuator and
Second actuator, first actuator are placed on the middle position of first fixing piece, and the monitoring component detects institute
The both ends cross dip for stating the first balance element adjusts first balance element by first actuator；Second driving
Part is placed on the middle position of second fixing piece, and the monitoring component detects that the both ends of second balance element are longitudinally inclined
Angle adjusts second balance element by second actuator.
A kind of control system applied to the unmanned vehicles, including, one for monitoring unmanned vehicles motion state
And the bank base integrated control system of unmanned vehicles motor pattern is selected, the bank base integrated control system includes data interchange
The bank base that one bank base communication system, a bank base processing system, a pair of of bank base communication system and bank base processing system are powered supplies
Electric system；With one is responsible for the warship base integrated control system of control unmanned vehicles movement, and the warship base integrated control system includes
It one warship base communication system of data interchange, a warship base processing system, a pair of of warship base communication system, warship base processing system and is supplied
The warship base power supply system of electricity, the warship base processing system includes the warship base industrial personal computer of one Yu warship base communication system data interchange, institute
It states and is connected with an obstacle avoidance system, a kinetic control system, a pose navigation system and a vision system on warship base industrial personal computer.
A kind of preferred embodiment as the control system of the present invention applied to the unmanned vehicles, in which: described
Pose navigation system includes, and one for positioning the navigation module of unmanned vehicles position in water in real time；One for measuring nobody
Orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of aircraft in water；And one for measuring nobody
Aircraft in water around the depth of dive and unmanned vehicles the flow velocity of water depth flow sensor.
A kind of preferred embodiment as the control system of the present invention applied to the unmanned vehicles, in which: described
Kinetic control system includes that one for changing the direction of motion of unmanned vehicles and the warship base system of rising, dive in water
System；With one provides the main power system of power for the forward-reverse of unmanned vehicles；Wherein, the warship based system includes control
Unit.
A kind of preferred embodiment as the control system of the present invention applied to the unmanned vehicles, in which: described
Pose navigation system includes, and one for positioning the navigation module of unmanned vehicles position in water in real time；One for measuring nobody
Orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of aircraft in water；And one for measuring nobody
Aircraft in water around the depth of dive and unmanned vehicles the flow velocity of water depth flow sensor.
Beneficial effects of the present invention: when unmanned vehicles are in water, it is vertical that unmanned vehicles are first detected by monitoring component
To inclination angle and cross dip, and it will test result and be transmitted to processing module, and distinguished by the first actuator and the second actuator
The variation of lateral battery pack and longitudinal battery pack relative to unmanned vehicles pose is driven, to quickly, effectively, simply adjust
The posture balancing of unmanned vehicles, and by battery equilibrium unmanned vehicles, the sky that additional balance object occupies can be saved
Between, it increases and effectively carries volume.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the overall structure diagram of the first balance element described in first embodiment of self balancing device of the present invention；
Fig. 2 is the entirety of the first fixing piece in the first balance element described in first embodiment of self balancing device of the present invention
Structural schematic diagram；
Fig. 3 is the overall structure left view signal of the first balance element described in first embodiment of self balancing device of the present invention
Figure；
Fig. 4 is the overall structure diagram of the second balance element described in second embodiment of self balancing device of the present invention；
Fig. 5 is the overall structure diagram of the second fixing piece described in second embodiment of self balancing device of the present invention；
Fig. 6 is the overall structure diagram of unmanned vehicles described in self balancing device third embodiment of the present invention；
Fig. 7 is the overall schematic of control system of the present invention；
Fig. 8 is multi-sensor information integrated fusion schematic diagram in Fig. 7 illustrated embodiment of the present invention；
Fig. 9 is the flow chart that hand grasps motion control operating mode in Fig. 7 illustrated embodiment of the present invention；
Figure 10 is the flow chart of cruise motion control operating mode in Fig. 7 illustrated embodiment of the present invention；
Figure 11 is the flow chart of visual target tracking motion control operating mode in Fig. 7 illustrated embodiment of the present invention；
Figure 12 is the flow chart of automatic obstacle avoiding motion control operating mode in Fig. 5 illustrated embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
A specific embodiment of the invention is described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, 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 the specific embodiments disclosed below.
Secondly, combination schematic diagram of the present invention is described in detail, when describing the embodiments of the present invention, for purposes of illustration only, table
Show that the sectional view of device architecture can disobey general proportion and make partial enlargement, and the schematic diagram is example, is not answered herein
Limit the scope of protection of the invention.In addition, the three-dimensional space of length, width and depth should be included in actual fabrication.
Thirdly, " one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization of the present invention
A particular feature, structure, or characteristic in mode." in one embodiment " that different places occur in the present specification is not equal
Refer to the same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
As shown in FIG. 1, FIG. 1 is self-balancing dresses described in the first embodiment of the invention for an embodiment of the invention
The overall structure diagram set, the device includes the first balance element 100 and control unit 200 in figure.
First balance element 100 includes the first fixing piece 101, lateral battery pack 102 and longitudinal battery pack 103, and first is solid
Determine part 101 to be connected with longitudinal battery pack 103, the first fixing piece 101 is fixed plate, and support is placed lateral battery pack 102 and indulged
To battery pack 103, wherein preferably, the first fixing piece 101 is fixed plate, it is not easy to elastic deformation is generated, for example, first is solid
Determining part 101 can be plate, wherein plate be usually used 2 millimeters or more soft planar materials and thickness 0.5 millimeter with
On hard surface material.The biggish steel of compression strength can also be used, steel are that steel ingot, steel billet or steel are added by pressure
The material of certain shapes, size made of work and performance, according to steel, when lateral battery pack 102 is placed into the first fixing piece
After on 101, deformation is less likely to occur steel.
Preferably, the first fixing piece 101 includes that 101a, the first sliding rail 101a points of the first sliding rail is lateral for first referring to Fig. 2
Sliding rail 101a-1 and the second horizontal slide rail 101a-2, wherein the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 phase
It is mutually parallel, and distance between the two is less than or equal to first the distance between b (reference in a and second of lateral battery pack 102
Fig. 3).Wherein, in this embodiment, the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 can be single slideway,
It also can be double slideways.Lateral battery pack 102 includes that the first sliding block 102a, the first sliding block 102a is the first transverse slider
102a-1, the second transverse slider 102a-2, third transverse slider 102a-3 and the 4th transverse slider 102a-4, in conjunction with Fig. 2 and figure
3, the first transverse slider 102a-1 and the second transverse slider 102a-2 are arranged on the first side a of lateral battery pack 102, with first
Horizontal slide rail 101a-1 is matched, and third transverse slider 102a-3 and the 4th transverse slider 102a-4 are arranged in lateral battery pack
On 102 the second side b, matched with the second horizontal slide rail 101a-2.It should be noted that the first transverse slider 102a-1 and
Two transverse slider 102a-2 can be merged into a sliding block, and third transverse slider 102a-3 and the 4th transverse slider 102a-4 can be with
It is merged into a sliding block, that is to say, that a sliding block and first can be set on the first side a of lateral battery pack 102 laterally
Sliding rail 101a-1 is matched, another sliding block and the second horizontal slide rail is arranged on the second side b of lateral battery pack 102
101a-2 is matched.Lateral battery pack 102 is lateral by the first transverse slider 102a-1, the second transverse slider 102a-2, third
Sliding block 102a-3 and the 4th transverse slider 102a-4 is slided in the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2, is made
Device is obtained more to balance.
In terms of control structure angle, the first balance element 100 establishes " connection " by control unit 200.Control unit 200 is wrapped
Monitoring component 201 and processing module 202 (not showing in figure) are included, monitoring component 201 is placed on the first fixing piece 101
Middle position, and the cross dip at monitoring 100 both ends of the first balance element can be perceived, one " preset value " is set, monitoring portion is worked as
Part 201 feeds back to processing module 202 when detecting the cross dip at 100 both ends of the first balance element, processing module 202 receives monitoring
The detection signal of component 201, it is preferred that processing module 202 is the microprocessor based on single-chip microcontroller or PLC, processing module 202
After obtaining control command according to the algorithm of setting, control adjusts the relationship between lateral battery pack 102 and the first fixing piece 101,
The first balance element 100 is adjusted, its balance is made.
Show referring to Fig. 4 and Fig. 5, Fig. 4 overall structure for showing self balancing device described in second of embodiment of the invention
It is intended to, which is different from first implementation: in this embodiment further including the second balance element 300, the second balance element
300 include the second fixing piece 301.Embodiment are as follows: the second balance element 300 includes the second fixing piece 301, and the second fixing piece
301 are placed on 101 lower section of the first fixing piece, and the second fixing piece 301 is fixed plate, preferably, the second fixing piece 301 includes second
301a, the second sliding rail 301a points of sliding rail are first longitudinal direction sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2, wherein first longitudinal direction
Sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2 are parallel to each other, and distance between the two is less than or equal to the first fixing piece 101
Third in c and the 4th the distance between d (referring to Fig.1).Wherein, in this embodiment, first longitudinal direction sliding rail 301a-1 and
Second longitudinal direction sliding rail 301a-2 can be single slideway, also can be double slideways.Referring to Fig. 5, the lower section of the first fixing piece 101
It include first longitudinal direction sliding block 101b-1, second longitudinal direction sliding block 101b-2, the equipped with including the second sliding block 101b, the second sliding block 101b
Three longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4, first longitudinal direction sliding block 101b-1 and second longitudinal direction sliding block 101b-2 are set
It sets on the third side c of the first fixing piece 101 (referring to Fig.1), is matched with first longitudinal direction sliding rail 301a-1, third longitudinal sliding block
101b-3 and the 4th longitudinal sliding block 101b-4 is arranged on the 4th side d of the first fixing piece 101 (referring to Fig.1), with second longitudinal direction
Sliding rail 301a-2 is matched.It should be noted that first longitudinal direction sliding block 101b-1 and second longitudinal direction sliding block 101b-2 can merge
For a sliding block, third longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 can be merged into a sliding block, that is to say, that
A sliding block can be arranged on the third side c of the first fixing piece 101 to match with first longitudinal direction sliding rail 301a-1, it is solid first
Determine another sliding block is arranged on the 4th side d of part 101 and be matched with second longitudinal direction sliding rail 301a-2.First fixing piece 101 is logical
Cross first longitudinal direction sliding block 101b-1, second longitudinal direction sliding block 101b-2, third longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-
4 slide in first longitudinal direction sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2, so that device more balances.Preferably, can set
Set 4 groups of sliding blocks, two sides are respectively arranged four, during guarantee is slided, the stability of the first fixing piece 101.
It is shown referring to Fig. 6, Fig. 6 and self balancing device described in the third embodiment of the invention is applied to unmanned vehicles
Overall structure diagram.The unmanned vehicles include unmanned navigation hull T, further include the self-balancing as shown in Fig. 1~5
Device, wherein the unmanned middle section for navigating by water hull T is arranged in the first balance element 100 and the second balance element 300, and front end is used
In installation unmanned vehicles operating equipment, tail end provides power for unmanned course device and changes the unmanned vehicles direction of motion.
Specifically, in this embodiment including the first balance element 100, control unit 200 and the second balance element 300.First
Balance element 100 includes the first fixing piece 101, lateral battery pack 102 and longitudinal battery pack 103, and the first fixing piece 101 and longitudinal direction
Battery pack 103 is connected, and the first fixing piece 101 is fixed plate, and lateral battery pack 102 and longitudinal battery pack 103 are placed in support.
Referring to Fig. 2, the first fixing piece 101 includes that 101a, the first sliding rail 101a points of the first sliding rail is the first horizontal slide rail
101a-1 and the second horizontal slide rail 101a-2, wherein the first horizontal slide rail 101a-1 and the second horizontal slide rail 101a-2 is mutually flat
Row, and distance between the two be less than or equal to the first of lateral battery pack 102 in a and second the distance between b (referring to figure
3).Lateral battery pack 102 includes that the first sliding block 102a, the first sliding block 102a is the laterally cunning of the first transverse slider 102a-1, second
Block 102a-2, third transverse slider 102a-3 and the 4th transverse slider 102a-4, in conjunction with Fig. 2 and Fig. 3, the first transverse slider
102a-1 and the second transverse slider 102a-2 are arranged on the first side a of lateral battery pack 102, with the first horizontal slide rail 101a-1
It matching, third transverse slider 102a-3 and the 4th transverse slider 102a-4 are arranged on the second side b of lateral battery pack 102,
It is matched with the second horizontal slide rail 101a-2.Lateral battery pack 102 passes through the first transverse slider 102a-1, the second transverse slider
102a-2, third transverse slider 102a-3 and the 4th transverse slider 102a-4 are laterally sliding in the first horizontal slide rail 101a-1 and second
Rail 101a-2 sliding, so that device balances.
Second balance element 300 includes the second fixing piece 301, and the second fixing piece 301 is placed under the first fixing piece 101
Side, the second fixing piece 301 are fixed plate, and the second fixing piece 301 includes that 301a, the second sliding rail 301a points of the second sliding rail is vertical for first
To sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2, wherein first longitudinal direction sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2
Be parallel to each other, and distance between the two be less than or equal to the first fixing piece 101 third in c and the 4th the distance between d (ginseng
According to Fig. 1).Referring to Fig. 5, it includes the second sliding block 101b, the second sliding block 101b vertical including first that the lower section of the first fixing piece 101, which is equipped with,
It is vertical to sliding block 101b-1, second longitudinal direction sliding block 101b-2, third longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4, first
It is arranged on the third side c of the first fixing piece 101 (referring to Fig.1) to sliding block 101b-1 and second longitudinal direction sliding block 101b-2, with
One longitudinal slide rail 301a-1 is matched, and third longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 are arranged in the first fixing piece
On 101 the 4th side d (referring to Fig.1), it is matched with second longitudinal direction sliding rail 301a-2.First fixing piece 101 passes through first longitudinal direction
Sliding block 101b-1, second longitudinal direction sliding block 101b-2, third longitudinal sliding block 101b-3 and the 4th longitudinal sliding block 101b-4 are vertical first
It is slided to sliding rail 301a-1 and second longitudinal direction sliding rail 301a-2, so that device balances.Preferably, 4 groups of sliding blocks, two sides can be set
Each setting four, during guarantee is slided, the stability of the first fixing piece 101.
In terms of control structure angle, the first balance element 100 and the second balance element 300 are established by control unit 200 and " are joined
System ".Control unit 200 includes monitoring component 201 and processing module 202, and monitoring component 201 is placed on the first fixing piece 101
Middle position can monitor the cross dip at 100 both ends of the first balance element, monitor the vertical inclination angle at 300 both ends of the second balance element,
When monitoring component 201 detects the cross dip or vertical inclination angle at 300 both ends of the first balance element 100 or the second balance element, instead
Processing module of feeding 202, processing module 202 receive monitoring component 201 detection signal, it is preferred that processing module 202 be based on
The microprocessor of single-chip microcontroller or PLC, after processing module 202 obtains control command according to the algorithm of setting, control adjustment is laterally
Between battery pack 102 and the first fixing piece 101, and the relationship between longitudinal battery pack 103 and the second fixing piece 301, adjustment
First balance element 100 and the second balance element 300 balance the two.
It in this embodiment, further include actuator 400, actuator 400 includes the first actuator 401 and the second actuator
402, wherein the first actuator 401 is placed on the middle position of the first fixing piece 101, it is solid that the second actuator 402 is placed on second
Determine the middle position of part 301, the two it is positioned such that avoid due to the first actuator 401 and the second actuator 402 itself and
Caused unbalanced situation.When unmanned vehicles are in water, after power-up initializing, monitoring component 201 first detects unmanned boat
Row device vertical inclination angle and cross dip, and will test result and be transmitted to controller, processing module 202 is obtained according to the algorithm of setting
After control command, the first actuator 401 and 402 system motion of the second actuator are controlled, the second fixing piece 301 of driving is sliding second
Position on rail 301a, to drive the variation of longitudinal battery pack 302, lateral battery pack 102 position in the longitudinal direction, to adjust nobody
The posture of aircraft in the longitudinal direction；The movement of the second actuator 402 is controlled, to drive the first fixing piece 101 in the first sliding rail
Position on 101a drives the variation of lateral battery pack 102 horizontally position to adjust the appearance of unmanned vehicles horizontally
State；By change unmanned course device longitudinally and transversely on posture reach the overall balance of unmanned vehicles posture.
Referring to Fig. 7, the present invention also provides a kind of control systems applied to unmanned vehicles comprising: one for supervising
Depending on unmanned vehicles motion state and select the bank base integrated control system 500 of unmanned vehicles motor pattern, the integrated control of bank base
System 500 processed includes a bank base communication system 502 of data interchange, a bank base processing system, further includes a pair of of bank base communication system
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 personal computer 506, and the bank base industrial personal computer 506 and bank base communication system 502 are realized
Data interchange is connected with one handle 503, a multi-screen 504 on bank base industrial personal computer 506, shows on multi-screen 504 different
For showing the human-computer interaction interface 505 of monitoring unmanned vehicles motion state.
Shore-based power supply system includes sequentially connected bank base 220VAC/24VDC lithium battery 501 and bank base voltage changer
507.By being provided with a bank base voltage changer 507, so as to as needed by bank base 220VAC/24VDC lithium battery 501
Voltage transformation is to guarantee bank again to each equipment power supply in bank base communication system 502 and bank base processing system after needing voltage
The whole trouble-free operation of base integrated control system 500.
One is responsible for the warship base integrated control system 600 of control unmanned vehicles movement, the warship base integrated control system 600 packet
A warship base communication system 601, the warship base processing system for including data interchange, further include a pair of of warship base communication system 601, warship Ji Chu
Reason system and the warship base power supply system being powered, warship base processing system include one and warship base communication system 601 and a realization number
According to the warship base industrial personal computer 603 of intercommunication, be connected on warship base industrial personal computer 603 obstacle avoidance system 604, a kinetic control system 605,
One 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 one for measuring the millimetre-wave radar 604a of the water surface, aerial target and barrier, and one is used for
Measure the multi beam wave sound 604b of target and barrier in water.
Kinetic control system 605 include one for changing the direction of motion of unmanned vehicles and rising in water, under
Latent warship based system 605a, one provides the main power system 605b of power for the forward-reverse of unmanned vehicles.
Pose navigation system 602 includes one for positioning Beidou/GPS module of unmanned vehicles position in water in real time
602a, one for measuring orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of unmanned vehicles in water
602b, one for measure unmanned vehicles in water around the depth of dive and unmanned vehicles the flow velocity of water depth flow velocity
Sensor 602c.Wherein, mentioned " Beidou/GPS module " is for navigator fix here, and " pose module " can use
Attitude sensor is the high performance three-dimensional motion attitude measuring system based on MEMS technology, adds comprising three-axis gyroscope, three axis
Speedometer (i.e. IMU), the synkinesias sensor such as three axle electronic compass export calibration by embedded low-power consumption arm processor
The angular speed crossed, acceleration, magnetic data etc. carry out athletic posture measurement by the sensing data algorithm based on quaternary number, real
When export the zero shift 3 d pose data that indicate with quaternary number, Eulerian angles etc..
Vision system 606 includes one for acquiring the CCD camera 606a of unmanned vehicles external environment image, one being used for
Rotate the holder 606b of CCD camera 606a.
Warship base power supply system include sequentially connected warship base voltage converter 607 and a carrier-borne 72VDC lithium battery/
24VDC lithium battery 608.By being provided with a warship base voltage converter 607, so as to as needed by carrier-borne 72VDC lithium battery/
The voltage of 24VDC lithium battery 608 is transformed to need after voltage again to each in warship base communication system 601 and warship base processing system
A equipment power supply, guarantees the whole 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 form unmanned vehicles integrated control
The communication system of system, the biography of data and image for bank base integrated control system 500 and warship base integrated control system 600
It is defeated.
Schematic diagram as shown in Figure 8 it is found that integrated navigation information formation by navigation module 602a (namely: Beidou/
GPS module 602a), micro- inertial navigation pose module 602b, depth flow sensor 602c and multi beam wave sound 604b pass through respectively
RS232 interface is connect with carrier-borne industrial personal computer 603, and millimetre-wave radar 604a and CCD camera 606a pass through Ethernet interface respectively
It is connect with carrier-borne industrial personal computer 603, the information data of each sensor is carried out processing fusion by carrier-borne industrial personal computer 603, is formed complete
Integrated navigation information is sent to bank base integrated control system 500 by communication system.
There are four types of motion control operating modes altogether for unmanned vehicles in the present invention, are respectively as follows: hand behaviour's motion control work
Mode, cruise motion control operating mode, visual target tracking motion control operating mode and automatic obstacle avoiding motion control work
Mode, motion control are more intelligent.
Schematic diagram as shown in Figure 9 is it is found that hand grasps the workflow of motion control operating mode are as follows: unmanned vehicles power on
After initialization, unmanned vehicles motor pattern is selected to grasp motor pattern work, unmanned navigation for hand by unmanned vehicles operator
Device operator in the visible range or at a distance believe by the unmanned vehicles posture according to human-computer interaction interface 505 and environment
Breath obtains the position of unmanned vehicles, posture, and chooses whether to carry out the operation of handle 503, if it is, entering in next step, such as
Fruit is no, then continues position, posture that previous step obtains unmanned vehicles, after selection carries out the operation of handle 503, through bank
After 506 acquisition process handle of base industrial personal computer, 503 data, warship base industrial personal computer 603 is arrived by communication system transmission instruction, then by carrier-borne
Industrial personal computer 603 handles and generates motion control commands, is transferred to kinetic control system 605, main power system 605b, warship based system
The motor setting in motion of 605a, controls the movement of unmanned vehicles, to realize hand behaviour's motion control work of unmanned vehicles
Operation mode.In this embodiment, warship based system 605a includes control unit 200 (referring to Fig. 7), convenient for the unmanned boat of control
The whole machine balancing of row device.
Schematic diagram as shown in Figure 10 it is found that cruise motion control operating mode workflow are as follows: on unmanned vehicles
After electricity initialization, the in the visible range or remote nothing according to human-computer interaction interface 505 of unmanned vehicles operator
The position of people's aircraft posture and environment information acquisition unmanned vehicles, posture, and choose whether to enter cruise motor pattern work
Make, unmanned vehicles operator is according to task needs, prior to the cruise road for setting unmanned vehicles on human-computer interaction interface 505
Line is handled through bank base industrial personal computer 506, moving line is transmitted to carrier-borne industrial personal computer 603 by communication system transmission instruction, by warship
It carries industrial personal computer 603 to handle and generate motion control commands, is transferred to kinetic control system 605, main power system 605b, warship base system
The motor setting in motion of system 605a, control unmanned vehicles are moved according to setting path, to realize patrolling for unmanned vehicles
Navigate motion control operating mode.
Schematic diagram as shown in figure 11 it is found that visual target tracking motion control operating mode workflow are as follows: nobody
After aircraft power-up initializing, select unmanned vehicles motor pattern for visual target tracking movement by unmanned vehicles operator
Mode work, CCD camera 606a shoots the water surface, air environment information in unmanned vehicles movement environment, by carrier-borne industry control
The processing of machine 603, is transferred to bank base industrial personal computer 506 by communication system, is shown by multi-screen 504, operated by unmanned vehicles
Member selectes whether track target on picture, if so, entering in next step, if it is not, then CCD camera 606a continues to shoot nobody
The water surface, air environment information in aircraft movement environment after being handled by bank base industrial personal computer 506, pass through after selection tracks target
Communication system will track target information and pass back to carrier-borne industrial personal computer 603, then is handled by carrier-borne industrial personal computer 603 and generate motion control
Order, is transferred to kinetic control system 605, and the tracking selected target campaign of control unmanned vehicles and holder 606b rotate band
The rotation of CCD camera 606a is moved to track target, to realize the visual target tracking motion control work of unmanned vehicles
Operation mode.
Schematic diagram as shown in figure 12 it is found that automatic obstacle avoiding motion control operating mode workflow are as follows: unmanned navigation
After device power-up initializing, under cruise motion control operating mode and visual target tracking motion control operating mode, unmanned boat
Row device has automatic obstacle avoiding motion control function, is passed by Beidou/GPS module 602a, micro- inertial navigation pose module 602b, depth flow velocity
Sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b and CCD camera 606a have detected whether barrier, and will letter
Breath feeds back to carrier-borne industrial personal computer 603, then passes through fusion Beidou/GPS module 602a, micro- inertial navigation pose by carrier-borne industrial personal computer 603
The letter of module 602b, depth flow sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b and CCD camera 606a
Data information is ceased, the information of barrier is judged, automatically generates motion control commands, be transferred to kinetic control system 605, is controlled
Unmanned vehicles circumvent barrier movement, to realize the automatic obstacle avoiding motion control operating mode of unmanned vehicles.
Control system in the present invention is mutual by bank base integrated control system 500 and warship base integrated control system 600
Cooperation is responsible for the motion state of monitoring unmanned vehicles by bank base integrated control system 500, selects the movement mould of unmanned vehicles
Formula, and warship base integrated control system 600 forms complete integrated navigation information, and be responsible for merge various sensor informations
The movement of unmanned vehicles is controlled, level of integrated system is high, motion control is more intelligent so that this control system has, over the horizon
The advantages that unmanned vehicles motion control, controls operating mode by multi-motion and combines, and 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 aircraft in of the invention has four kinds of motion control operating modes: hand grasps motion control
Operating mode, cruise motion control operating mode, visual target tracking motion control operating mode and automatic obstacle avoiding motion control
Operating mode, motion control are more intelligent.
Hand grasp motion control operating mode from human-computer interaction interface 505 and handle 503 jointly be achieved；Cruise fortune
Dynamic control operating mode from human-computer interaction interface 505, bank base industrial personal computer 506, carrier-borne industrial personal computer 603 it is common be achieved；
Visual target tracking motion control operating mode is by CCD camera 606a, carrier-borne industrial personal computer 603, bank base industrial personal computer 506, multi-screen
Cooperation is achieved curtain 504 jointly；Automatic obstacle avoiding motion control operating mode is by carrier-borne industrial personal computer 603, Beidou/GPS module
602a, micro- inertial navigation pose module 602b, depth flow sensor 602c, millimetre-wave radar 604a, multi beam wave sound 604b, CCD
Camera 606a cooperates jointly to be achieved.
In the present invention, for being provided with a voltage changer in shore-based power supply system and warship base power supply system, thus
It can be as needed to power again to each equipment after needing voltage by the voltage transformation of lithium battery, guarantee the trouble-free operation of equipment.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferable
Embodiment describes the invention in detail, those skilled in the art should understand that, it can be to technology of the invention
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (2)
1. a kind of unmanned vehicles, it is characterised in that: including, self balancing device and control system,
Wherein, the self balancing device, including,
First balance element (100), including the first fixing piece (101), lateral battery pack (102) and longitudinal battery pack (103), it is described
Lateral battery pack (102) is connected with first fixing piece (101)；
Control unit (200), including monitoring component (201) and processing module (202), the monitoring component (201) can monitor
The both ends cross dip of first balance element (100), the processing module (202) receive the inspection of the monitoring component (201)
Signal is surveyed, by adjusting between the lateral battery pack (102), longitudinal battery pack (103) and first fixing piece (101)
Relationship adjusts first balance element (100)；
First fixing piece (101) includes the first sliding rail (101a), and first sliding rail (101a) is divided into the first horizontal slide rail
(101a-1) and the second horizontal slide rail (101a-2), first horizontal slide rail (101a-1) and second horizontal slide rail
(101a-2) is arranged in parallel；
The transverse direction battery pack (102) includes the first sliding block (102a), and first sliding block (102a) is divided into the first transverse slider
(102a-1), the second transverse slider (102a-2), third transverse slider (102a-3) and the 4th transverse slider (102a-4), it is described
First transverse slider (102a-1) and second transverse slider (102a-2) setting are the one of the lateral battery pack (102)
Side is both matched with first horizontal slide rail (101a-1), the third transverse slider (102a-3) and the described 4th
Transverse slider (102a-4) setting in the another side of the lateral battery pack (102), both with second horizontal slide rail
(101a-2) is matched；
Second balance element (300), including the second fixing piece (301), it is fixed that second fixing piece (301) is placed on described first
Below part (101)；
Second fixing piece (301) includes the second sliding rail (301a), and second sliding rail (301a) is divided into first longitudinal direction sliding rail
(301a-1) and second longitudinal direction sliding rail (301a-2), the first longitudinal direction sliding rail (301a-1) and the second longitudinal direction sliding rail
(301a-2) is arranged in parallel；
The longitudinal direction battery pack (103) includes the second sliding block (101b), and second sliding block (101b) is divided into first longitudinal direction sliding block
(101b-1), second longitudinal direction sliding block (101b-2), third longitudinal sliding block (101b-3) and the 4th longitudinal sliding block (101b-4), it is described
First longitudinal direction sliding block (101b-1) and the second longitudinal direction sliding block (101b-2) setting are the one of longitudinal battery pack (103)
Side is both matched with the first longitudinal direction sliding rail (301a-1), the third longitudinal sliding block (101b-3) and the described 4th
Longitudinal sliding block (101b-4) setting in the another side of longitudinal battery pack (103), both with the second longitudinal direction sliding rail
(301a-2) is matched；
The self balancing device, the first balance element (100) and the second balance element (300) setting are in unmanned navigation hull (T)
Middle section；
Actuator (400) comprising the first actuator (401) and the second actuator (402),
First actuator (401) is placed on the middle position of first fixing piece (101), the monitoring component (201)
It is flat to adjust described first by first actuator (401) for the both ends cross dip for detecting first balance element (100)
It weighs part (100)；
Second actuator (402) is placed on the middle position of second fixing piece (301), the monitoring component (201)
It is flat to adjust described second by second actuator (402) for the both ends vertical inclination angle for detecting second balance element (300)
It weighs part (300)；
The control system, including,
One is used to monitor unmanned vehicles motion state and selects the bank base integrated control system of unmanned vehicles motor pattern
(500), the bank base integrated control system (500) includes a bank base communication system (502) of data interchange, a bank base processing system
The shore-based power supply system that system, a pair of of bank base communication system (502) and bank base processing system are powered；With,
One is responsible for the warship base integrated control system (600) of control unmanned vehicles movement, the warship base integrated control system (600)
A warship base communication system (601), a warship base processing system, a pair of of warship base communication system (601), warship Ji Chu including data interchange
Reason system and the warship base power supply system being powered, the warship base processing system include one and warship base communication system (601) data
The warship base industrial personal computer (603) of intercommunication is connected with an obstacle avoidance system (604), a motion control system on the warship base industrial personal computer (603)
System (605), a pose navigation system (602) and a vision system (606)；
Wherein, the first balance element (100) and the second balance element (300) are arranged in the middle section of unmanned navigation hull (T), before
For installing unmanned vehicles operating equipment, tail end provides power for unmanned course device and changes unmanned vehicles movement side at end
To；
The kinetic control system (605) includes,
One for changing the direction of motion of unmanned vehicles and the warship based system (605a) of rising, dive in water；With,
One provides the main power system (605b) of power for the forward-reverse of unmanned vehicles；Wherein,
The warship based system (605a) includes the control unit (200).
2. unmanned vehicles as described in claim 1, it is characterised in that: the pose navigation system (602) includes,
One for positioning the navigation module (602a) of unmanned vehicles position in water in real time；
One for measuring orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of unmanned vehicles in water
(602b)；And
One for measure unmanned vehicles in water around the depth of dive and unmanned vehicles the flow velocity of water depth flow velocity
Sensor (602c).
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| CN108995775B (en) * | 2018-06-11 | 2019-10-25 | 江阴市北海救生设备有限公司 | A kind of closed unmanned boat |
| CN111831003B (en) * | 2020-07-27 | 2021-11-16 | 江苏科技大学 | Diesel-electric hybrid unmanned aircraft and attitude adjustment method thereof |
| CN114954864A (en) * | 2021-11-23 | 2022-08-30 | 中国船舶重工集团公司第七〇五研究所 | Portable UUV |
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| JPH0352636Y2 (en) * | 1985-04-30 | 1991-11-14 | ||
| CN2880670Y (en) * | 2005-11-26 | 2007-03-21 | 赵鹤鸣 | Solid mini-submarine balance device |
| CN100431917C (en) * | 2006-04-29 | 2008-11-12 | 中国科学院沈阳自动化研究所 | Underwater robot sliding driven by buoyant force |
| CN100384693C (en) * | 2006-07-04 | 2008-04-30 | 浙江大学 | Underwater gliding detector |
| CN100532192C (en) * | 2007-01-23 | 2009-08-26 | 天津大学 | Hybrid type underwater sailing device |
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| KR20140014975A (en) * | 2012-07-27 | 2014-02-06 | 현대중공업 주식회사 | A ship |
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