CN108445884A - A kind of patrol system and method based on the collaboration of more unmanned boats - Google Patents
A kind of patrol system and method based on the collaboration of more unmanned boats Download PDFInfo
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- CN108445884A CN108445884A CN201810318518.8A CN201810318518A CN108445884A CN 108445884 A CN108445884 A CN 108445884A CN 201810318518 A CN201810318518 A CN 201810318518A CN 108445884 A CN108445884 A CN 108445884A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims abstract description 21
- 230000008447 perception Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000036541 health Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003862 health status Effects 0.000 claims description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses a kind of patrol systems and method based on the collaboration of more unmanned boats.This system includes single ship GPS/IMU modules, single ship environmental perception module, single ship navigation obstacle avoidance module, single ship control module, single ship operating condition monitoring modular, wireless transport module and a collaborative center.Collaborative center came to send instruction to the unmanned boat for participating in patrol mission according to the case where patrol mission demand and unmanned boat；Information is sent between unmanned boat and control centre to be completed by wireless transport module；GPS/IMU modules and environmental perception module can provide the position and attitude information and obstacle information of ship in real time respectively；Navigation obstacle avoidance module calculates next movement velocity size and direction according to the moving target point that obstacle information and collaborative center are sent out；Control module completes patrol mission according to the moving target instruction given by navigation obstacle avoidance module, control unmanned boat.The present invention is reliably reasonable, can effectively improve the high efficiency and robustness of patrol.
Description
Technical field
The present invention relates to a kind of patrol systems and method based on the collaboration of more unmanned boats, belong to unmanned boat synergistic application technology
Field and unmanned boat intelligent patrol field.
Background technology
Unmanned water surface ship is a small-size water surface task platform for possessing autonomous operation ability, the task that it can be executed
Type is very more, other than being detected these basic functions to environment and target, can also be directed to specific task class
Type completes task object using different module devices.Outstanding performance and foreground due to it in military field at present, generation
Jie Ge states all show very strong interest to the research and development of military unmanned water surface ship.Simultaneously as unmanned water surface ship scientific research with
Have the characteristics that coverage area is big, at low cost in civil applications, so before unmanned boat also has a wide range of applications in these fields
Scape.
In the patrol of ocean, compared with completing patrol with using unmanned boat, more spent human and material resources using common naval vessels,
And since people is to inadaptable and people itself the unreliability of Yu Haiyang, the patrol of common manned naval vessels will be more likely to occur
Dangerous situation cannot be found in time, therefore in general, the intelligent patrol of unmanned surface vehicle is that a profit is much larger than disadvantage
Thing.
For deepwater patrol mission, beat is generally large；If only worksheet processing unmanned boat, meeting
There is the case where completing the overlong time that primary patrol needs, cannot completing to cover to specific beat in time, and works as
When the unmanned boat breaks down, patrol mission will will appear the case where can not continuing.Therefore design one is assisted based on more unmanned boats
Same patrol system and method has prodigious value.
Invention content
The purpose of the present invention is to provide a kind of patrol systems and method based on the collaboration of more unmanned boats, solve single ship
Limited, smaller to the coverage area in the region problem of locomitivity, in addition when single ship breaks down, more ships patrols system
System can allow trouble-free unmanned boat constantly to adjust its position and posture, ensure the validity of patrol covering.The present invention can have
Improve the high efficiency of patrol and the robustness of patrol system in effect ground.
To reach above-mentioned requirements, idea of the invention is that：
According to the area size gone on patrol, choosing more has communication, path planning, the unmanned water surface ship of barrier avoiding function
It is common to complete patrol mission；It is first depending on the patrol initial position for sending the quantity of unmanned boat to calculate each unmanned boat, is referred to later
Fixed each unmanned boat navigation is to initial position and starts to go on patrol；During patrol, all unmanned boats are by uploading the fortune of oneself
Row status information simultaneously obtains next operating instruction, and operation health condition of the control centre according to each unmanned boat, sees later
Whether continue that corresponding unmanned boat is allowed to continue to execute patrol mission, and the institute for adjusting remaining trouble-free unmanned boat is to be achieved
Target location, to cover up to preferable control to beat.
Conceived according to foregoing invention, the present invention uses following technical proposals：
A kind of patrol system based on the collaboration of more unmanned boats, includes a collaborative center in land, and on ship
Single ship GPS/IMU modules, single ship environmental perception module, single ship navigation obstacle avoidance module, single ship control module, single ship operating condition
Monitoring modular and wireless transport module；It is characterized in that：The collaborative center is connected by wireless signal and is respectively set on ship
It is standby, and come according to the motion conditions of the characteristic of patrol mission, the size of beat, the number of unmanned boat and each unmanned boat
Instruction is sent to the unmanned boat for participating in patrol mission；The list ship GPS/IMU modules can provide position and the posture of ship in real time
Information；It is dynamic that the list ship environmental perception module can provide island, the static-obstacle thing information in continent and ship, naval vessels etc. in real time
State obstacle information；The obstacle information and collaborative center that the navigation obstacle avoidance module is obtained according to environmental perception module
The moving target point sent out calculates next movement velocity size and direction；The list ship control module can be according to leading
Moving target instruction given by obstacle avoidance module of navigating, control unmanned boat complete patrol mission；The list ship operating condition monitors mould
Block is monitored the fault condition of unmanned boat, and monitoring data are sent to collaborative center by wireless transport module；
The wireless transport module by the position and attitude of unmanned boat, health information and environmental information be sent to collaborative center into
Row processing.
A kind of patrol method based on the collaboration of more unmanned boats, is operated using above system, is as follows：
S01, patrol prepare：According to the quantity of beat and the unmanned boat for participating in patrol mission, respectively distributed to each unmanned boat
One initial patrol position, and each unmanned boat is sent to reach initial position.
S02 transmits single ship information to collaborative center：Each unmanned boat is by the position of oneself, posture, health status and
The environmental information that itself environmental perception module is perceived uploads to collaborative center.
S03, collaborative center carry out patrol mission planning：Collaborative center judges each unmanned boat with the presence or absence of event
Barrier, if there is there are the unmanned boats of failure, is then ready for sending and exits maintenance instructions to failure unmanned boat and send new unmanned boat
It is added in patrol mission；For fault-free unmanned boat, situation of the control centre according to all unmanned boats for continuing patrol,
Institute's specific item punctuate to be achieved in next time cycle is distributed to them.
S04 issues the patrol mission of each unmanned boat in next time cycle to corresponding real ship：By each fault-free without
The secondary target point to be reached in people's ship next time cycle and failure unmanned boat exit maintenance instructions, pass sequentially through wirelessly
Transmitting device is sent to corresponding real ship.
S05, all unmanned boats complete the patrol mission of oneself, jump to S02 later and continue to execute：All continue to execute is patrolled
The unmanned boat utilization for patrolling task includes nobody of GPS/IMU modules, environmental perception module, navigation obstacle avoidance module and control module
Control system reaches the patrol target point obtained from collaborative center.
Compared with prior art, substantive distinguishing features of the invention and notable technological progress be：
This is reasonable based on the patrol system reliable design that more unmanned boats cooperate with.For more compared to single ships of ship patrol, to region
Coverage area bigger.More ship patrol systems can allow trouble-free unmanned boat to continue to complete when part unmanned boat breaks down
Path covers task, and trouble-free unmanned boat is allowed to continue to adjust its position and posture, ensures the validity of patrol covering.This is
System effectively improves the high efficiency of patrol and the robustness of patrol system.
Description of the drawings
Fig. 1 is the patrol system schematic diagram of the present invention cooperateed with based on more unmanned boats.
Fig. 2 is the patrol method schematic diagram of the present invention cooperateed with based on more unmanned boats.
Fig. 3 is the target point schematic diagram that collaborative center distributes in the case of all unmanned boats are trouble-free.
Fig. 4 is when a unmanned boat breaks down the target point schematic diagram of the distribution of collaborative center at present.
Specific implementation mode
The present invention is further detailed below in conjunction with attached drawing and preferred embodiment.
A preferred embodiment of the present invention is as follows：
As shown in Figure 1, based on the patrol system that more unmanned boats cooperate with, include a collaborative center 1 in land, with
And single ship GPS/IMU modules 5 on unmanned boat, single ship environmental perception module 4, single ship navigation obstacle avoidance module 6, single ship control mould
Block 7, single ship operating condition monitoring modular 3 and wireless transport module 2；The collaborative center 1 is connected by wireless signal
Each equipment on ship, and according to the characteristic of patrol mission, the fortune of the size of beat, the number of unmanned boat and each unmanned boat
Emotionally condition to send instruction to the unmanned boat for participating in patrol mission；The list ship GPS/IMU modules 5 can provide the position of ship in real time
It sets and posture information；The list ship environmental perception module 4 can provide island, the static-obstacle thing information in continent and ship in real time
Only, the dynamic barriers information such as naval vessels；The obstacle information that the navigation obstacle avoidance module 6 is obtained according to environmental perception module 4
And the moving target point that collaborative center 1 is sent out calculates next movement velocity size and direction；The list ship control
Molding block 7 can complete patrol mission according to the moving target instruction control unmanned boat given by navigation obstacle avoidance module 6；The list
Ship operating condition monitoring modular 3 is monitored the fault condition of unmanned boat, and is sent out monitoring data by wireless transport module
Give collaborative center 1；The wireless transport module 2 is by the position and attitude of unmanned boat, health information and environmental information
Collaborative center 1 is sent to be handled.
Embodiment two：
As shown in Fig. 2, based on the patrol method that more unmanned boats cooperate with, the above-mentioned patrol system based on the collaboration of more unmanned boats is used
System.Concrete operation step is as follows：
S01, patrol prepare：According to the quantity of beat and the unmanned boat for participating in patrol mission, divide successively to all unmanned boats
With an initial patrol position, and each unmanned boat is sent to reach initial position.
S02 transmits single ship information to collaborative center 1：Each unmanned boat by the position of GPS/IMU modules 5 and posture,
The environmental information that the monitoring state and itself environmental perception module 4 that operating condition monitoring modular 3 obtains are perceived is using wirelessly
Transmission module 2 uploads to collaborative center 1.
S03, collaborative center 1 carry out patrol mission planning：Collaborative center 1 judges that each unmanned boat whether there is
Failure is then ready for sending if there is there are the unmanned boats of failure and exits maintenance instructions and give failure unmanned boat, and sends new nobody
Ship is added in patrol mission；For fault-free unmanned boat, position feelings of the control centre 1 according to all unmanned boats for continuing patrol
Condition distributes institute's specific item punctuate to be achieved in next time cycle to them.
S04 issues the patrol mission of each unmanned boat in next time cycle to corresponding real ship：Collaborative center will
The secondary target point to be reached in each fault-free unmanned boat next time cycle and failure unmanned boat exit maintenance instructions,
It passes sequentially through radio transmitting device 2 and is sent to corresponding real ship.The calculating of secondary target point needs to consider all carry out patrol missions
Unmanned boat operating condition and unmanned boat beat position distinguish situation.Such as in figure 3, each ship is being all just at this time
It often runs and each ship is kept symmetrically substantially in the position of beat, the target location that collaborative center is sent to each ship is opposite
Distance in current location is essentially identical.And when wherein No. 2 unmanned boats break down, as shown in figure 4, control centre is recognized at this time
The fixed failure ship will move out patrol mission, in order to allow remaining three ships holding to cover uniform, Collaborative Control to beat
Center 1 is allowed No. 1 ship also to accelerate patrol and compares the speed of No. 4 ships faster by allowing No. 4 unmanned boats to accelerate patrol, surplus to allow
Remaining unmanned boat is better controlled beat before patrol is added in new unmanned boat.
S05, all unmanned boats complete the patrol mission of oneself, jump to S02 later and continue to execute：All continue to execute is patrolled
The unmanned boat utilization for patrolling task includes GPS/IMU modules 5, environmental perception module 4, navigation obstacle avoidance module 6 and control module 7
Unmanned control system execute Navigation Control algorithm, eventually arrive at the patrol target point obtained from collaborative center 1.
Above-mentioned specific implementation mode is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, to any modifications and changes that the present invention makes, the protection model in the present invention is all fallen
It encloses.
Claims (2)
1. a kind of patrol system based on the collaboration of more unmanned boats, the corrdination centre（1）It is connected by aerial signal and is respectively set on ship
It is standby；It is included in the collaborative center of land（1）, and single ship GPS/IMU modules on ship（5）, single ship environment sensing
Module（4）, single ship navigates obstacle avoidance module（6）, single ship control module（7）, single ship operating condition monitoring modular（3）And wireless transmission
Module（2）；It is characterized in that：The collaborative center（1）According to the characteristic of patrol mission, the size of beat, ginseng
To send to the unmanned boat for participating in patrol mission with the number of the unmanned boat of patrol and the motion conditions of each unmanned boat and move
Target instruction target word；The list ship GPS/IMU modules（5）Position and the posture information of ship can be provided in real time；The list ship environment sense
Know module（4）The dynamic barriers information such as island, the static-obstacle thing information in continent and ship, naval vessels can be provided in real time；Institute
State navigation obstacle avoidance module（6）According to environmental perception module（4）The obstacle information and collaborative center obtained（1）It is sent out
Moving target point calculate next movement velocity size and direction；The list ship control module（7）It can be according to navigation
Obstacle avoidance module（6）Given moving target instruction, control unmanned boat complete patrol mission；The list ship operating condition monitors mould
Block（3）The fault condition of unmanned boat is monitored, and passes through wireless transport module（2）Monitoring data are sent to Collaborative Control
Center（1）；The wireless transport module（2）By the position and attitude of unmanned boat, health information and environmental information are sent to association
Same control centre（1）It is handled.
2. a kind of patrol method based on the collaboration of more unmanned boats uses patrolling based on the collaboration of more unmanned boats described in claim 1
The system of patrolling is operated, it is characterised in that：Concrete operation step is as follows：
S01, patrol prepare：According to the quantity of beat and the unmanned boat for participating in patrol mission, to all nothings for participating in patrol
People's ship respectively distributes an initial patrol position, and each unmanned boat is sent to reach initial position；
S02 transmits single ship information to collaborative center（1）：Each unmanned boat is by the position of oneself, posture, health status and
Itself environmental perception module（4）The environmental information perceived uploads to collaborative center；
S03, collaborative center（1）Carry out patrol mission planning：Collaborative center（1）Judge that each unmanned boat whether there is
Failure is then ready for sending if there is there are the unmanned boats of failure and exits maintenance instructions to failure unmanned boat and send new nobody
Ship is added in patrol mission；For fault-free unmanned boat, position feelings of the control centre according to all unmanned boats for continuing patrol
Condition distributes institute's specific item punctuate to be achieved in next time cycle to them；
S04 issues the patrol mission of each unmanned boat in next time cycle to corresponding real ship：By each fault-free unmanned boat
The secondary target point to be reached in next time cycle and failure unmanned boat exit maintenance instructions, pass sequentially through wireless transmission
Device（2）It is sent to corresponding real ship；
S05, all unmanned boats complete the patrol mission of oneself, jump to step S02 later and continue to execute：All continue to execute is patrolled
The unmanned boat utilization for patrolling task includes GPS/IMU modules（5）, environmental perception module（4）, navigation obstacle avoidance module（6）And control
Module（7）Unmanned control system reach from collaborative center（1）Obtained patrol target point.
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| CN109445445A (en) * | 2018-12-28 | 2019-03-08 | 珠海云洲智能科技有限公司 | A kind of more ship cooperative control systems |
| CN109696203A (en) * | 2019-01-29 | 2019-04-30 | 珠海云洲智能科技有限公司 | Marine environment measurement method, device and electronic equipment |
| CN112817318A (en) * | 2021-01-06 | 2021-05-18 | 上海大学 | Multi-unmanned-boat collaborative search control method and system |
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Application publication date: 20180824 |