CN108639301A - A kind of light-duty shipboard ship ship end control system, tele-control system and automatic control system - Google Patents
A kind of light-duty shipboard ship ship end control system, tele-control system and automatic control system Download PDFInfo
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- CN108639301A CN108639301A CN201810398244.8A CN201810398244A CN108639301A CN 108639301 A CN108639301 A CN 108639301A CN 201810398244 A CN201810398244 A CN 201810398244A CN 108639301 A CN108639301 A CN 108639301A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention provides a kind of light-duty shipboard ship ship end control system, tele-control system and automatic control systems, belong to unmanned boat technical field.Light-duty shipboard controls throttle by controlling bracing wire, gear and/or rudder to, ship end control system includes that ship carries communication unit, ship set controller, electric control unit and mechanical control unit, mechanical control unit includes steering engine, ship set controller carries communication unit by ship and receives remote control commands, and the electric interfaces that electric control unit controls engine are controlled according to control instruction, steering engine push-and-pull control bracing wire is controlled to control throttle, gear and/or rudder to, ship set controller also carries the engine condition information that communication unit sends position navigation information and electric control unit and mechanical control unit feedback by ship, so that tele-control system receives the engine condition information of navigation information and electric control unit and mechanical control unit feedback.The present invention is realized to be automatically controlled to inexpensive, the strong unmanned boat of cruising ability.
Description
Technical field
The present invention relates to a kind of light-duty shipboard ship ship end control system, tele-control system and automatic control systems, belong to
In unmanned boat technical field.
Background technology
Because unmanned boat has the advantages that people can be replaced to carry out operation in severe even foul water, so in recent years with nothing
The development of people's technology, unmanned boat control technology gradually draw attention.The type of drive of unmanned boat is inherited from someone's ship, at present someone
There are three types of type of drive for ship：Electric drive, built-in motor driving and shipboard driving.Electric drive and built-in motor driving
Cost is higher and mostly digital control type interface, it is easy to accomplish unmanned control.Shipboard is of relatively low cost, and especially horsepower is 20
Hereinafter, gear, throttle and rudder be mechanical bracing wire control the non-numerical control shipboard cost of low side it is lower, but be not easy to realize nobody
Change control.Current unmanned boat is mostly built-in numerical control engine ship type and electric drive ship type.
Since built-in numerical control engine cost is higher and power type ship cruising ability is limited to battery capacity, there is an urgent need for one
Automatic control system of the kind for light-duty shipboard, to realize the automation control of the type ship.
Invention content
For solve problems of the prior art, the present invention provides a kind of light-duty shipboard ship ship end control system,
Tele-control system and automatic control system are automatically controlled with realizing to inexpensive, the strong unmanned boat of cruising ability.
The technical solution that the present invention takes in order to solve the above problem is as follows：
A kind of light-duty shipboard ship ship end control system, the light-duty shipboard control throttle, gear by controlling bracing wire
And/or rudder includes that ship carries communication unit, ship set controller, electric control unit to, which is characterized in that the ship end control system
And mechanical control unit, the mechanical control unit include steering engine, the ship set controller carries communication unit by the ship and connects
Remote control commands are received, and the electric interfaces that the electric control unit controls engine, control are controlled according to the control instruction
It makes the steering engine and pushes and pulls the control bracing wire to control throttle, gear and/or rudder to the ship set controller also passes through the ship
It carries communication unit and sends position navigation information and the electric control unit and the engine condition letter of mechanical control unit feedback
Breath, so that tele-control system receives the hair of the navigation information and the electric control unit and mechanical control unit feedback
Motivational state information.
In an alternative embodiment, the control bracing wire includes acceleration cable, gear bracing wire and rudder to bracing wire, the machinery
Control unit includes steering engine controller, the first steering engine, the second steering engine, third steering engine, the first displacement sensor, second displacement sensing
Device and speed increaser, first steering engine is for pushing and pulling the acceleration cable to control throttle, and second steering engine is for pushing and pulling institute
Gear bracing wire is stated to control gear, the third steering engine for control flaps to bracing wire with control flaps to first displacement sensing
Device is connect with the acceleration cable, the displacement for detecting and sending the acceleration cable, the second displacement sensor and institute
Gear bracing wire connection is stated, for detecting and sending the gear bracing wire displacement, the speed increaser connects the third steering engine and institute
Rudder is stated to bracing wire, for increasing third steering engine stroke, the control that the steering engine controller is used to send according to the ship set controller
System instruction controls first steering engine, the second steering engine and/or the work of third steering engine and according to the acceleration cable displacement and gear
Bracing wire displacement determines throttle and range state.
In an alternative embodiment, the electric control unit includes relay driver, the first relay, the second relay
Device and third relay, the ship set controller control the relay driver driving described first according to the control instruction
Relay, the second relay and/or third relay, first relay are used to control the capacitive discharge ignition of engine
System works, and second relay is used to control the starter motor work of engine, and the third relay is sent out for controlling
The work of motivation itself electrical system.
In an alternative embodiment, the electric control unit further includes current detector, is started for detecting and sending
Whether the current direction of the startup battery charging and discharging of machine, the ship set controller judge the engine according to the current direction
Normal work.
In an alternative embodiment, the electric control unit further includes photosensitive sensor, for detecting the engine
Oil pressure warning light whether light, whether the ship set controller receives the warning light, which lights signal, judges whether engine lacks
Machine oil.
Further include that the ship being connect with the ship set controller carries mission payload device extension interface in an alternative embodiment
Unit carries the task data information that task device is sent for receiving ship.
In an alternative embodiment, it includes that ship carries principal communication unit that the ship, which carries communication unit, and the ship carries principal communication list
Member includes that ship carries data radio station and ship load figure and conducts electricity platform, and the ship carries data radio station for receiving remote control commands and transmission
The position navigation information and engine condition information, the ship load figure conduct electricity platform for sending the ship load task device transmission
Task data information so that the tele-control system receives the task data information；The figure platform that conducts electricity is additionally operable to
Remote control commands are received in the data radio station malfunction and failure and send the position navigation information and engine
Status information.
Further include emergency controller in an alternative embodiment, it further includes that ship carries emergency communication that the ship, which carries communication unit,
Unit, it includes ship end ad hoc network radio station and ship end laser signal receiver board that the ship, which carries emergency communication unit, and the ship end is from group
Net radio station is used to make the emergency controller receive the remote control commands in emergency rating, and the emergency controller passes through
The ship end ad hoc network radio station sends position navigation information and engine condition information, so that the process control system receives institute
State the engine condition information of navigation information and the electric control unit and mechanical control unit feedback, ship end laser letter
Number receiver board, for receiving remote flameout control instruction, the emergency controller use when the ship end ad hoc network radio station fail
According to the flame-out control instruction control engine misses.
A kind of tele-control system of light-duty shipboard ship, which is characterized in that including remote controllers and telecommunication list
Member, the remote controllers are used for for sending remote control commands, the telecommunication unit by the remote control commands
It is sent to ship and carries communication unit, start so that ship set controller controls the electric control unit control according to the control instruction
The electric interfaces of machine, control steering engine push-and-pull control bracing wire is to control throttle, gear and/or rudder to the telecommunication unit is also
The position navigation information and the electrical control list that communication unit is sent are carried by the ship for receiving the ship set controller
The engine condition information of member and mechanical control unit feedback.
In an alternative embodiment, the telecommunication unit includes long-range principal communication unit, the long-range principal communication list
Member includes that remote data transmission radio station and long-range figure conduct electricity platform, and the remote data transmission radio station is for sending remote control commands, so that ship
Carry data radio station and receive the remote control commands, be additionally operable to receive the ship carry position navigation information that data radio station is sent and
Engine condition information, the long-range figure conduct electricity platform for receiving task data information, and the task data information is carried by ship appoints
Business equipment carries mission payload device extension interface unit by ship and is sent to the ship set controller, then is conducted electricity platform hair by ship load figure
The long-range figure is given to conduct electricity platform；The long-range figure platform that conducts electricity is additionally operable to issue in the remote data transmission radio station malfunction and failure situation
It send remote control commands and receives the position navigation information and engine condition information.
In an alternative embodiment, the telecommunication unit further includes remote emergency communication unit, the remote emergency
Communication unit includes long-range ad hoc network radio station and laser signal generator, and the long-range ad hoc network radio station is used under emergency rating
It sends the remote control commands and receives the position navigation information and engine condition information, the laser signal generator
Flame-out control instruction for sending the remote controllers when the long-range ad hoc network radio station is failed.
Further include portable emergency remote controler in an alternative embodiment, for sending remote control under emergency rating
Instruction.
A kind of light-duty shipboard ship automatic control system, including light-duty shipboard ship, ship end control system and remote control
System, it is characterised in that：
The light-duty shipboard ship by control bracing wire control throttle, gear and/or rudder to；
The ship end control system includes that ship carries communication unit, ship set controller, electric control unit and Mechanical course list
Member, the mechanical control unit include steering engine, and the ship set controller carries communication unit reception remote control by the ship and refers to
It enables, and the electric interfaces that the electric control unit controls engine, or the control steering engine is controlled according to the control instruction
The control bracing wire is pushed and pulled to control throttle, gear and/or rudder to the ship set controller also carries communication unit by the ship
The engine condition information for sending position navigation information and the electric control unit and mechanical control unit feedback, so that remotely
Control system receives the navigation information and the electric control unit and the engine condition letter of mechanical control unit feedback
Breath；
The tele-control system includes remote controllers and telecommunication unit, and the remote controllers are remote for sending
Process control instructs, and the telecommunication unit, which is used to the remote control commands being sent to ship, carries communication unit reception institute rheme
Set navigation information and engine condition information.
The present invention has the advantages that compared with prior art：
(1) light-duty shipboard ship ship end control system provided in an embodiment of the present invention, by the way that controller, root is arranged at ship end
According to remote control commands control steering engine work, steering engine can drive the bracing wire displacement of throttle, gear, rudder to realize to engine
Throttle, gear and rudder to control because shipboard is machine paddle one, change throttle can change the rotating speed of propeller to
Change the speed of a ship or plane of unmanned boat, the working condition of propeller rotating forward, stalling and reversion can be changed to change nobody by changing gear
Ship advances, the operational configuration suspending and retreats, and change rudder is to can change the thrust method of propeller to change unmanned boat
Direction is navigated by water, it is achieved that being achieved that the automation control of shipboard throttle, gear and rudder to light-duty shipboard
The automation control of ship navigation；The light-duty shipboard ship engine energy is gasoline, and at low cost and cruising ability is strong；
(2) electric control unit provided in an embodiment of the present invention by power supply that ship set controller is sent, starts and promptly puts out
Fiery instruction, is converted into the control signal of relay, controls the folding condition of relay, what realization powered, and started and promptly stops working
Automation control, the functional unit component is simple, and function is reliable and cost is relatively low；
(3) low current feeds to shipboard from battery is started after the power is turned on using light-duty shipboard, there is high current confession in when startup
Outboard machine, have after startup electric current from shipboard feed to start battery (to charge the battery) characteristic, ship set controller according to
The size of current and direction that detection module detects can be with the working conditions residing for the light-duty shipboard of automatic decision；
(4) detection module provided in an embodiment of the present invention detects whether alarm lamp is lighted by light-sensitive device, and will detection
Signal is sent to ship set controller in real time, realizes the automatic detection that machine oil signal is lacked to light-duty shipboard；
(5) the loading device extended interface unit of the embodiment of the present invention, the opening of the increased ship end control system,
So that being equipped with the ship of this control system, it need not additionally increase equipment and can extend different mission payloads and complete different works
Industry task；
(6) number transmission control instruction and status information data, figure pass transformation task load data in work(under normal circumstances
Realization modularization management can be gone up；When number biography is unable to normal transmission data because of failure, figure passes the function transmission load that can be compatible with number biography
Control instruction and status information data are transmitted while lotus task data, i.e. figure passes the Hot Spare for doing number biography, improves system
Reliability；
(7) it is used as the redundancy of ship set controller and ship load communication unit by increasing emergency controller and emergency communication unit
Backup passes through emergency flight control in the case where the ship set controller and ship load communication unit go wrong cisco unity malfunction
Device and emergency communication unit can still be implemented effectively to control, and avoid causing ship missing because being unable to control.
Description of the drawings
Fig. 1 is light-duty shipboard interface diagram provided in an embodiment of the present invention；
Fig. 2 is automatic control system schematic diagram provided in an embodiment of the present invention；
Fig. 3 is that Radio Link provided in an embodiment of the present invention forms schematic diagram；
Fig. 4 is tele-control system main system schematic diagram provided in an embodiment of the present invention；
Fig. 5 is tele-control system emergency system schematic diagram provided in an embodiment of the present invention；
Fig. 6 is ship end control system schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
It is by the following examples it will be further appreciated that of the invention, but present disclosure cannot be limited.The skill in the field
Art skilled person can make some nonessential modifications and adaptations according to aforementioned present invention content to the present invention.
An embodiment of the present invention provides a kind of light-duty shipboard ship ship end control system, the light-duty shipboard ship passes through control
Bracing wire processed control throttle, gear and/or rudder include that ship carries communication unit, ship set controller, electrical to, the ship end control system
Control unit and mechanical control unit, the mechanical control unit include steering engine, and the ship set controller is carried logical by the ship
Believe that unit receives remote control commands, and the electric control unit is controlled according to the control instruction and controls the electrical of engine
Interface controls the steering engine and pushes and pulls the control bracing wire to control throttle, gear and/or rudder to the ship set controller is also logical
It crosses the ship and carries communication unit and send starting for position navigation information and the electric control unit and mechanical control unit feedback
Machine status information, so that tele-control system receives the navigation information and the electric control unit and mechanical control unit
The engine condition information of feedback.
Specifically, referring to Fig. 1, in the embodiment of the present invention, the light-duty preferred speed of a ship or plane of shipboard ship is light-duty less than 10 sections
Shipboard ship, light-duty shipboard refers to horsepower at 20 hereinafter, gear, throttle and rudder (mechanical interface) are controlled by mechanical bracing wire
The non-numerical control shipboard of one kind, it is generally the case that rudder is that people direction of rotation disk drives rudder to be realized to bracing wire to control, throttle and shelves
Position control is that people manipulates throttle and gear control lever drives throttle and gear bracing wire to realize；As shown in Figure 1, light-duty shipboard ship
Electric interfaces may include starting battery, generator, itself electrical system power supply interface, starter motor, CDI (capacitor discharge types
Ignition system) and machine oil hydraulic warning light etc., it is generally the case that the power supply and startup of light-duty shipboard are rotated by people
Initiation key controls high power switch and realizes, urgent stop working realizes that working condition is by people by people's triggering emergency stop switch
What sense organ was judged；
The engine condition information may include the information such as power supply state, starting state, throttle and range state；
The Position Fixing Navigation System that the position navigation information can be carried by kayak body determines that the navigation elements that can also be carried by system are true
It is fixed, may include the information such as real time position, course and the speed of a ship or plane；The remote control commands may include starting, being powered, is flame-out etc.
Electrical control instruction can also include that Throttle Opening Control, gear control or rudder are instructed to Mechanical courses such as controls；
Light-duty shipboard ship ship end control system provided in an embodiment of the present invention, by the way that controller is arranged at ship end, according to
Remote control commands control steering engine work, and steering engine can drive the bracing wire of throttle, gear, rudder to generate displacement and realize to starting
Throttle, gear and the rudder of machine to control, control is navigated by water to the automation of light-duty shipboard ship to realize；Light-duty shipboard ship
The engine energy is gasoline, and at low cost and cruising ability is strong.
In an alternative embodiment, the control bracing wire includes acceleration cable, gear bracing wire and rudder to bracing wire, the machinery
Control unit includes steering engine controller, the first steering engine, the second steering engine, third steering engine, the first displacement sensor, second displacement sensing
Device and speed increaser, first steering engine is for pushing and pulling the acceleration cable to control throttle, and second steering engine is for pushing and pulling institute
Gear bracing wire is stated to control gear, the third steering engine for control flaps to bracing wire with control flaps to first displacement sensing
Device is connect with the acceleration cable, the displacement for detecting and sending the acceleration cable, the second displacement sensor and institute
Gear bracing wire connection is stated, for detecting and sending the gear bracing wire displacement, the speed increaser connects the third steering engine and institute
Rudder is stated to bracing wire, for increasing third steering engine stroke, the control that the steering engine controller is used to send according to the ship set controller
System instruction controls first steering engine, the second steering engine and/or the work of third steering engine and according to the acceleration cable displacement and gear
Bracing wire displacement determines throttle and range state.
Throttle that the steering engine controller of mechanical control unit provided in an embodiment of the present invention sends ship set controller, gear
It is converted into control instruction that the drive signal of corresponding steering engine, driving steering engine is driven to do mechanical movement and drive corresponding bracing wire fortune with rudder
It is dynamic, to realize to the throttle, gear and rudder of light-duty shipboard to automatically control.In addition, the first displacement sensor and second
Displacement sensor detects the displacement of throttle and gear bracing wire and feeds back to steering engine controller in real time, realizes feedback control, improves
Control accuracy of the mechanical driving unit to light-duty shipboard throttle and gear；Speed increaser expands the stroke of third steering engine, realizes
To rudder to a wide range of maneuver autopilot.
In an alternative embodiment, the electric control unit includes relay driver, the first relay, the second relay
Device and third relay, the ship set controller control the relay driver driving described first according to the control instruction
Relay, the second relay and/or third relay, first relay are used to control the capacitive discharge ignition of engine
System works, and enables igniting or control is flame-out, and second relay is used to control the starter motor work of engine, starts horse
Firing action is not executed up to the execution firing action that is powered, power-off, the third relay is for controlling engine itself electrically
The work (power on/off) of system.
Electric control unit provided in an embodiment of the present invention, the power supply that ship set controller is sent start and promptly stop working
Instruction, is converted into the control signal of relay, controls the folding condition of relay, realize power supply, start and promptly it is flame-out from
Dynamicization controls.
In an alternative embodiment, when the second relay controls starter motor work, need the startup battery of engine into
Row rapid large-current discharges, and it is to drive the generator of itself to produce electricl energy after engine start and export to start battery charging, is given
Start battery charging, the electric control unit further includes current detector, is filled for detecting and sending engine start battery
The current direction of electric discharge, the ship set controller judge whether the engine works normally according to the current direction.
There is low current to feed to shipboard from battery is started after the power is turned on using light-duty shipboard, when startup has high current to feed to the side of a ship
Outer machine has electric current to feed to the characteristic for starting battery (to charge the battery) from shipboard after startup, ship set controller is according to detection
The size of current and direction that module detects can be with the working conditions residing for the light-duty shipboard of automatic decision.
In an alternative embodiment, the electric control unit further includes photosensitive sensor, for detecting the engine
Oil pressure warning light whether light, whether the ship set controller receives the warning light, which lights signal, judges whether engine lacks
Machine oil.
Under normal conditions, light-duty shipboard is all to observe whether oil pressure alarm lamp is lighted to determine whether the machine of lacking by people
Oil.Detection module provided in an embodiment of the present invention detects whether alarm lamp is lighted by light-sensitive device, and detection signal is implemented
It is sent to ship set controller, realizes the automatic detection for lacking machine oil signal to light-duty shipboard.
In an alternative embodiment, ship end control system provided by the invention further includes being connect with the ship set controller
Ship carry mission payload device extension interface unit, for receive ship carry task device send task data information.
Specifically, the ship carry mission payload device extension interface unit may include network interface, RS232 mouthfuls, RS485 mouthfuls,
NMEA0183 mouthfuls, mission payload often uses two kinds of common video device interfaces of communication interface and VGN, DVI-D on five kinds of ships of CAN mouths,
Ship for extending the different mission payload such as photoelectricity, sonar, radar, weather monitoring, hydrologic monitoring, water quality monitoring as needed
End equipment (task device)；
The loading device extended interface unit of the embodiment of the present invention, the opening of the increased ship end control system, makes
It must be equipped with the ship of this control system, need not additionally increase equipment and can extend different mission payloads and complete different operations
Task.
In an alternative embodiment, it includes that ship carries principal communication unit that the ship, which carries communication unit, and the ship carries principal communication list
Member includes that ship carries data radio station and ship load figure and conducts electricity platform, and the ship carries data radio station for receiving remote control commands and transmission
The position navigation information and engine condition information, the ship load figure conduct electricity platform for sending the ship load task device transmission
Task data information so that the tele-control system receives the task data information；The figure platform that conducts electricity is additionally operable to
Remote control commands are received in the data radio station malfunction and failure and send the position navigation information and engine
Status information.
Number transmission control instruction and status information data, figure pass transformation task load data functionally under normal circumstances
Realize modularization management；When number biography is unable to normal transmission data because of failure, the function transmission payload that figure biography can be compatible with number biography is appointed
Transmission control instruction and status information data while data of being engaged in, i.e. figure pass the Hot Spare for doing number biography, improve the reliable of system
Property.
In an alternative embodiment, ship end control system further includes emergency controller, and the ship carries communication unit and further includes
Ship carries emergency communication unit, and it includes ship end ad hoc network radio station and ship end laser signal receiver board that the ship, which carries emergency communication unit,
The ship end ad hoc network radio station is used to make the emergency controller receive the remote control commands in emergency rating, described to answer
Anxious controller sends position navigation information and engine condition information by the ship end ad hoc network radio station, so that the process control
System receives the engine condition information of the navigation information and the electric control unit and mechanical control unit feedback, institute
Ship end laser signal receiver board is stated, it is described for receiving remote flameout control instruction when the ship end ad hoc network radio station is failed
Emergency controller is used to control engine misses according to the flame-out control instruction.
The redundancy for being used as ship set controller and ship load communication unit by increase emergency controller and emergency communication unit is standby
Part, in the case where the ship set controller and ship load communication unit go wrong cisco unity malfunction, pass through emergency controller
It can still implement effectively to control with emergency communication unit, avoid causing ship missing because being unable to control.
The embodiment of the present invention additionally provides a kind of tele-control system of light-duty shipboard ship, including remote controllers and remote
Journey communication unit, for the remote controllers for sending remote control commands, the telecommunication unit is used for will be described long-range
Control instruction is sent to ship and carries communication unit, so that ship set controller controls the electric control unit according to the control instruction
The electric interfaces of engine, or control steering engine push-and-pull control bracing wire are controlled to control throttle, gear and/or rudder to described long-range
Communication unit is additionally operable to receive the ship set controller and carries position navigation information that communication unit is sent and described by the ship
The engine condition information of electric control unit and mechanical control unit feedback.
In an alternative embodiment, the telecommunication unit includes long-range principal communication unit, the long-range principal communication list
Member includes that remote data transmission radio station and long-range figure conduct electricity platform, and the remote data transmission radio station is for sending remote control commands, so that ship
Carry data radio station and receive the remote control commands, be additionally operable to receive the ship carry position navigation information that data radio station is sent and
Engine condition information, the long-range figure conduct electricity platform for receiving task data information, and the task data information is carried by ship appoints
Business equipment carries mission payload device extension interface unit by ship and is sent to the ship set controller, then is conducted electricity platform hair by ship load figure
The long-range figure is given to conduct electricity platform；The long-range figure platform that conducts electricity is additionally operable to issue in the remote data transmission radio station malfunction and failure situation
It send remote control commands and receives the position navigation information and engine condition information.
In an alternative embodiment, the telecommunication unit further includes remote emergency communication unit, the remote emergency
Communication unit includes long-range ad hoc network radio station and laser signal generator, and the long-range ad hoc network radio station is used under emergency rating
It sends the remote control commands and receives the position navigation information and engine condition information, the laser signal generator
Flame-out control instruction for sending the remote controllers when the long-range ad hoc network radio station is failed.
Further include portable emergency remote controler in an alternative embodiment, for sending remote control under emergency rating
Instruction.
By the way that portable emergency remote controler is arranged, convenient for carrying out emergency flight control to unmanned boat at any time.
Specifically, medium-long range of embodiment of the present invention controller can be by obtaining user to touch control display, push-pull rod, behaviour
The operation information of the devices such as control lever determines and sends remote control commands, can also pass through touch control display display and receive
The position navigation information and engine condition information arrived；Portable emergency remote controler may include instruction keyboard, microcontroller, display
Screen and battery, battery are powered for portable emergency remote controler, microcontroller link order keyboard, display screen and emergency communication unit,
The emergency flight control system for the instruction of instruction keyboard input be transferred to after coded treatment ship end through emergency communication unit can be with
Pass through the control instruction of instruction keyboard quick obtaining user.
Tele-control system provided in an embodiment of the present invention is realized light-duty for being communicated with above-mentioned ship end control system
Shipboard ship automatically controls, and configuration is adapted with ship end control system, specifically describes and effect is referring to ship end control system,
Details are not described herein.
The embodiment of the present invention additionally provides a kind of light-duty shipboard ship automatic control system, including light-duty shipboard ship, ship
End control system and tele-control system, the light-duty shipboard ship by control bracing wire control throttle, gear and/or rudder to；
The ship end control system includes that ship carries integrated navigation unit, ship carries communication unit, ship set controller, electric control unit and machine
Tool control unit, the ship carry integrated navigation unit and detect the operational configuration generation position navigation information of unmanned boat in real time and send
To the ship set controller, the mechanical control unit includes steering engine, and the ship set controller carries communication unit by the ship
Remote control commands are received, and the electric interfaces that the electric control unit controls engine are controlled according to the control instruction,
Or the control steering engine pushes and pulls the control bracing wire to control throttle, gear and/or rudder to the ship set controller also passes through institute
It states ship and carries the engine shape that communication unit sends position navigation information and the electric control unit and mechanical control unit feedback
State information, so that tele-control system receives the navigation information and the electric control unit and mechanical control unit feedback
Engine condition information；The tele-control system includes remote controllers and telecommunication unit, the remote controllers
For sending remote control commands, the telecommunication unit, which is used to the remote control commands being sent to ship, carries communication unit
Receive the position navigation information and engine condition information.
Ship end control system and tele-control system provided in an embodiment of the present invention are respectively by above-mentioned ship end control system reality
It applies example and tele-control system embodiment provides, be described in detail referring to above-described embodiment.
Light-duty shipboard ship automatic control system provided in an embodiment of the present invention makes ship by sending remote control commands
End setting controller controls steering engine work according to remote control commands, and steering engine can drive the bracing wire position of throttle, gear, rudder
Move realize to the throttle, gear and rudder of engine to control, to realize the automation control to light-duty shipboard ship；It is light-duty
The shipboard ship engine energy is gasoline, and at low cost and cruising ability is strong.
It is the specific embodiment of the present invention below：
The present invention provides a kind of light-duty shipboard ship automatic control systems, including light-duty shipboard ship, setting are on ship
Ship end control system and setting remote control station by land tele-control system.
The light-duty shipboard ship is equipped with horsepower at 20 hereinafter, the speed of a ship or plane is less than 10 sections, and gear, throttle and rudder are to pass through machine
The non-numerical control low cost ship of tool bracing wire control, electric interfaces and mechanical interface are as shown in Figure 1, mechanical interface is bracing wire, electrically
Interface is analog switch amount.
In the present embodiment, ship end control system includes that ship carries integrated navigation unit, ship carries principal communication unit, ship carries emergent lead to
Believe that unit, ship set controller, emergency controller, electric control unit and mechanical control unit, tele-control system include long-range
Controller, portable emergency remote controler, long-range principal communication unit and remote emergency communication unit；As seen in figs, ship load group
Close navigation elements, ship carries principal communication unit, ship set controller, the electric control unit and mechanical control unit and forms the control of ship end
The main system of system processed, ship carries integrated navigation unit, ship carries emergency communication unit, emergency controller, the electric control unit
The emergency system of ship end control system is formed with mechanical control unit；Remote controllers, long-range principal communication unit form long-range control
The main system of system processed, portable emergency remote controler and remote emergency communication unit form the emergency system of tele-control system；
The primary link formed by principal communication unit between the main system of both ends is communicated, and passes through emergency communication unit between emergency system
The emergent link communication formed；Primary link is used for the interaction of the instruction and status information in the case of normal operation, and link of meeting an urgent need connects
It connects and emergency flight control is carried out to unmanned boat in the case of failing for primary link or master control system.
Tele-control system acquires the manipulation instruction of operator, will be adopted by Radio Link (primary link or emergent link)
The instruction collected be sent to ship end control system and real-time reception and show ship end control system feedback unmanned boat (start
Machine) status information；Ship end control system is according to the instruction of the remote control commands received or itself navigation calculation to outboard
Gear, throttle and the rudder of machine carry out manipulation and realize to the remote control of unmanned boat and autonomous navigation control, while acquiring unmanned boat in real time
Status information and status information is sent by tele-control system by Radio Link, status information is the start and stop of shipboard, shelves
The information such as position, throttle, rudder angle, the real time position of unmanned boat, course and the speed of a ship or plane.
As shown in figure 3, primary link is conducted electricity platform and ship end figure by remote data transmission radio station and ship end data radio station and long-range figure
The platform that conducts electricity is constituted, and data radio station is used for transmission control instruction and status information.The conduct electricity purposes one of platform of figure does data radio station
Backup link, transmission control instruction and status information after number passes malfunction and failure, purposes is second is that the data volume for extension is bigger
Mission payload enough wireless data transmission bandwidth are provided.Emergency chain route ad hoc network radio station and laser communication unit composition,
The emergency controller of portable remote controller and ship end is connected, the state letter of the emergency flight control instruction and feedback between two systems is transmitted
Breath.Laser communication unit is made of the laser intelligence generator at portable remote controller end and the laser signal receiver board at ship end, hair
Raw device can only send out laser signal, and receiver board can only receive the laser signal that generator is sent out, and laser communication unit is only used for leading
The flame-out ship that stops is sent under the ad hoc network radio station of link and emergent link while failure conditions to unmanned boat to instruct.
As shown in figure 4, remote controllers by control computer, touch control display, emergency stop button, four-degree-of-freedom control lever,
Throttle push rod and power module composition, control computer are pre-loaded with unmanned boat operating area electronic map；Control computer
It connects touch control display, emergency stop button, four-degree-of-freedom control lever, throttle push rod and mission payload device extension unit and figure passes number
Link is passed, integrated data processing is used for；Four-degree-of-freedom control lever generates advance respectively by the degree of freedom of front, rear, left and right four
Gear, retreating gear, rudder is made on a left side and right rudder of beating instructs and instructs real-time Transmission to control computer；Throttle push rod is pushed forward post-tensioning two
Degree of freedom generates open out to being pushed forward for throttle push rod and rear pulling process and subtracts throttle demand respectively, and instructs and pass in real time
It is defeated by control computer；Display screen isloation state viewing area, map display area and the instruction control area three parts of touch control display, shape
The gear of real-time display shipboard, throttle, rudder angle and unmanned boat navigational speed information, map display area exist in digital form for state viewing area
The position of real-time display unmanned boat and course information and reconnaissance carries out planning flight path on map using touch function on map, refer to
Enabling control area, shipboard opens/stops, flight path bookbinding and autonomous track are instructed for being generated by touch control manner, and by generation
Instruction is sent to control computer in real time；Mission payload device extension unit be integrated with network interface, RS232 mouthfuls, RS485 mouthfuls,
NMEA0183 mouthfuls, two kinds of common video equipments of communication interface and VGN, DVI-D are commonly used at mission payload bank base end on five kinds of ships of CAN mouths
Interface is carried for extending the different task such as photoelectricity, sonar, radar, weather monitoring, hydrologic monitoring, water quality monitoring as needed
The bank base end equipment of lotus；Emergency stop button generates a key for emergency and shuts down control instruction；Power module is used to be entire remote
Process control system main system is powered.
Portable emergency remote controler as shown in Figure 5 is by instruction keyboard, microcontroller, display screen and battery composition；Battery is just
Take formula meet an urgent need remote controler power supply, microcontroller link order keyboard, display screen and emergent link remote controler end, it is defeated to instruction keyboard
After the instruction progress coded treatment entered ship end emergency controller is transferred to through emergent link；Instruction keyboard by opening/stopping, it is preceding, empty,
Afterwards, add, subtract, left and right 8 instruction buttons and 1 switch key are constituted, open/stop keyboard and start or shut down for controlling shipboard,
Before, empty, rear key corresponds to forward gear, neutral gear and the retreating gear of shipboard, add, subtract that key corresponds to the throttle increasing of engine and throttle subtracts,
Left-right key correspond to shipboard a left side beat rudder and it is right make rudder, switching on and shutting down of the switch key for controlling portable emergency remote controler, just
Take formula meet an urgent need remote controler booting when can send power-on instruction automatically by emergency chain road direction ship end emergency controller, when shutdown, also can
Shutdown command is sent automatically by emergency chain road direction ship end emergency controller；Display screen for show the current start and stop of shipboard,
Gear, throttle and rudder angle state parameter.
Ship side controller as shown in Figure 6 is made of integrated navigation unit and host computer, host computer connection
Each unit (including electric control unit and mechanical control unit) and the ship end figure biography of primary link, data radio station, for information
Integrated treatment；The integrated navigation unit monitors the position, course and navigational speed information of unmanned boat in real time, and is transferred to control and calculates
The position received, course and navigational speed information are sent to remote control by machine, control computer by the primary link of Radio Link
Itself navigation calculation is additionally operable to while system；The mission payload extended interface unit is integrated with network interface, RS232 mouthfuls, RS485
Mouthful, NMEA0183 mouthfuls, mission payload is often connect with two kinds of common video equipments of communication interface and VGN, DVI-D on five kinds of ships of CAN mouths
Mouthful, for extending the different mission payloads such as photoelectricity, sonar, radar, weather monitoring, hydrologic monitoring, water quality monitoring as needed
Ship end equipment；The electric interfaces of electric control unit the connection main control computer and light-duty shipboard；The Mechanical course
Unit connects the mechanical interface of main control computer and light-duty shipboard.
Ship end emergency system and main system share combination navigation elements, electric control unit and mechanical control unit；It is emergent
Processor connects ship end ad hoc network radio station and the laser signal receiver of emergent radio link, for carrying out General Office to information
Reason.
Electric control unit, by three relays of current detector, photosensitive sensor, relay driver and its driving
(relay 1, relay 2 and relay 3) forms；Photosensitive sensor connects the machine oil hydraulic of control computer and light-duty shipboard
Alarm lamp is used to monitor the alarm condition of oil pressure；Relay 1 connects the CDI of relay driving and light-duty shipboard, is used for basis
The enabled igniting of the enabled light-duty shipboard of control of control instruction and control are flame-out；Relay 2 connects relay driving and light-duty outboard
The starter motor of machine, the power on/off for controlling starter motor according to control instruction are powered and execute firing action, and power-off does not execute
Firing action；Relay 3 connects itself electrical system power supply interface of relay driving and light-duty shipboard, for according to control
Instruction controls the power on/off of light-duty outboard electrical-mechanical system；Current detector connects light-duty shipboard and starts battery charging and discharging conducting wire
With the main control computer of captain boat control system and the emergency flight control processor of emergent supplementary controlled system, the electric current stream that will be detected
Main control computer and emergency flight control processor are sent to signal simultaneously；Relay driving connects while connecting three relays
Main control computer and emergency processing device can issue while feeding back shipboard electric state information simultaneously to the two according to the two
Control instruction drive corresponding relay to realize different control functions, the priority that sends instructions under emergency flight control processor is high
In the instruction that main control computer issues.
Mechanical control unit, by steering engine controller and its three steering engines of control (steering engine 1, steering engine 2 and steering engine 3), speedup
Device and two stay wire displacement sensor (stay wire displacement sensor 1 and stay wire displacement sensor 2) compositions；Steering engine 1 and bracing wire displacement
Sensor 1 connects the acceleration cable of steering engine controller and light-duty shipboard, and steering engine pushes and pulls acceleration cable and realizes to light-duty shipboard
The control of throttle, displacement sensor detect the push-and-pull amount of acceleration cable and feed back to steering engine controller in real time；Steering engine 2 and bracing wire position
Displacement sensor 2 connects the gear bracing wire of steering engine controller and light-duty shipboard, and steering engine pushes and pulls gear bracing wire and realizes to light-duty outboard
The control of machine gear, displacement sensor detect the push-and-pull amount of gear bracing wire and feed back to steering engine controller in real time；Steering engine controller,
The rudder bracing wire of steering engine 3, speed increaser and light-duty shipboard is sequentially connected, and steering engine 3 is real by the bracing wire of speed increaser push/pull rudder
The control in existing unmanned boat course；Steering engine controller is also connected with main control computer and is answered in addition to connection steering engine and stay wire displacement sensor
Anxious processor while feeding back throttle, gear, rudder to information simultaneously to the two, can drive according to the control instruction that the two issues
Corresponding steering engine realizes that different control functions, the priority to send instructions under emergency processing device are higher than the finger that main control computer issues
It enables.
The above, best specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (13)
1. a kind of light-duty shipboard ship ship end control system, the light-duty shipboard by control bracing wire control throttle, gear and/
Or rudder to, which is characterized in that the ship end control system include ship carry communication unit, ship set controller, electric control unit and
Mechanical control unit, the mechanical control unit include steering engine, and the ship set controller carries communication unit by the ship and receives
Remote control commands, and the electric interfaces that the electric control unit controls engine, control are controlled according to the control instruction
The steering engine pushes and pulls the control bracing wire to control throttle, gear and/or rudder to the ship set controller is also carried by the ship
Communication unit sends the engine condition information of position navigation information and the electric control unit and mechanical control unit feedback,
So that tele-control system receive the navigation information and the electric control unit and mechanical control unit feedback start
Machine status information.
2. a kind of light-duty shipboard ship ship end control system according to claim 1, which is characterized in that the control bracing wire
Including acceleration cable, gear bracing wire and rudder to bracing wire, the mechanical control unit includes steering engine controller, the first steering engine, second
Steering engine, third steering engine, the first displacement sensor, second displacement sensor and speed increaser, first steering engine are described for pushing and pulling
Acceleration cable is to control throttle, and second steering engine for pushing and pulling the gear bracing wire to control gear, use by the third steering engine
In control flaps to bracing wire with control flaps to first displacement sensor is connect with the acceleration cable, for detecting and sending
The displacement of the acceleration cable, the second displacement sensor is connect with the gear bracing wire, for detecting and sending the shelves
Position bracing wire displacement, the speed increaser connection third steering engine and the rudder are described for increasing third steering engine stroke to bracing wire
Control instruction control first steering engine that steering engine controller is used to be sent according to the ship set controller, the second steering engine and/or
Third steering engine works and determines throttle and range state according to the acceleration cable displacement and gear bracing wire displacement.
3. a kind of light-duty shipboard ship ship end control system according to claim 1, which is characterized in that the electrical control
Unit includes relay driver, the first relay, the second relay and third relay, and the ship set controller is according to
Control instruction controls the relay driver and drives first relay, the second relay and/or third relay, described
First relay is used to control the CD ignition system work of engine, and second relay is for controlling engine
Starter motor work, the third relay is used to control the work of engine itself electrical system.
4. a kind of light-duty shipboard ship ship end control system according to claim 3, which is characterized in that the electrical control
Unit further includes current detector, and the current direction of the startup battery charging and discharging for detecting and sending engine, the ship carries
Controller judges whether the engine works normally according to the current direction.
5. a kind of light-duty shipboard ship ship end control system according to claim 3, which is characterized in that the electrical control
Unit further includes photosensitive sensor, and whether the oil pressure warning light for detecting the engine is lighted, and the ship set controller connects
Receive the warning light whether light signal judge engine whether lack machine oil.
6. a kind of light-duty shipboard ship ship end control system according to claim 1, which is characterized in that further include with it is described
The ship of ship set controller connection carries mission payload device extension interface unit, and the number of tasks that task device is sent is carried for receiving ship
It is believed that breath.
7. light-duty shipboard ship ship end control system according to claim 6, which is characterized in that the ship carries communication unit
Principal communication unit is carried including ship, and it includes that ship carries data radio station and ship load figure conducts electricity platform that the ship, which carries principal communication unit, and the ship carries
For receiving remote control commands and sending the position navigation information and engine condition information, the ship carries data radio station
The figure platform that conducts electricity carries the task data information that task device is sent for sending the ship, so that the tele-control system receives
The task data information；The figure conduct electricity platform be additionally operable in the case that the data radio station malfunction and failure receive remote control refer to
Enable and send the position navigation information and engine condition information.
8. light-duty shipboard ship ship end control system according to claim 1, which is characterized in that further include emergency flight control
Device, it further includes that ship carries emergency communication unit that the ship, which carries communication unit, and it includes ship end ad hoc network that the ship, which carries emergency communication unit,
Radio station and ship end laser signal receiver board, the ship end ad hoc network radio station are used to make the emergency controller receive in emergency rating
To the remote control commands, the emergency controller sends position navigation information by the ship end ad hoc network radio station and starts
Machine status information, so that the process control system receives the navigation information and the electric control unit and Mechanical course list
The engine condition information of member feedback, the ship end laser signal receiver board, for when the ship end ad hoc network radio station is failed
Remote flameout control instruction is received, the emergency controller is used to control engine misses according to the flame-out control instruction.
9. a kind of tele-control system of light-duty shipboard ship, which is characterized in that including remote controllers and telecommunication unit,
The remote controllers are for sending remote control commands, and the telecommunication unit is for sending the remote control commands
Communication unit is carried to ship, so that ship set controller controls the electric control unit according to the control instruction controls engine
Electric interfaces, or control steering engine push-and-pull control bracing wire is to control throttle, gear and/or rudder to the telecommunication unit is also used
The position navigation information and the electric control unit that communication unit is sent are carried by the ship in receiving the ship set controller
With the engine condition information of mechanical control unit feedback.
10. the tele-control system of light-duty shipboard ship according to claim 9, it is characterised in that：The telecommunication
Unit includes long-range principal communication unit, the long-range principal communication unit includes remote data transmission radio station and long-range figure conducts electricity platform, described
Remote data transmission radio station, so that ship carries data radio station and receives the remote control commands, is additionally operable to for sending remote control commands
It receives the ship and carries the position navigation information and engine condition information that data radio station is sent, the long-range figure conducts electricity platform for connecing
Task data information is received, the task data information carries task device by ship and carries mission payload device extension interface unit by ship
It is sent to the ship set controller, then is sent to the long-range figure by the ship load figure platform that conducts electricity and is conducted electricity platform；The long-range figure conducts electricity platform
It is additionally operable to send remote control commands in remote data transmission radio station malfunction and failure and receives the position navigation letter
Breath and engine condition information.
11. the tele-control system of light-duty shipboard ship according to claim 9, it is characterised in that：The telecommunication
Unit further includes remote emergency communication unit, and the remote emergency communication unit includes long-range ad hoc network radio station and laser signal hair
Raw device, the long-range ad hoc network radio station under emergency rating for sending the remote control commands and receiving the position navigation
Information and engine condition information, the laser signal generator are used for when the long-range ad hoc network radio station is failed described in transmission
The flame-out control instruction of remote controllers.
12. the tele-control system of light-duty shipboard ship according to claim 11, it is characterised in that：Further include portable
Emergent remote controler, for sending remote control commands under emergency rating.
13. a kind of light-duty shipboard ship automatic control system, including light-duty shipboard ship, ship end control system and remote control system
System, it is characterised in that：
The light-duty shipboard ship by control bracing wire control throttle, gear and/or rudder to；
The ship end control system includes that ship carries communication unit, ship set controller, electric control unit and mechanical control unit, institute
It includes steering engine to state mechanical control unit, and the ship set controller carries communication unit by the ship and receives remote control commands, and
The electric interfaces that the electric control unit controls engine are controlled according to the control instruction, are controlled described in the steering engine push-and-pull
Control bracing wire is to control throttle, gear and/or rudder to the ship set controller also carries communication unit by the ship and sends position
The engine condition information of navigation information and the electric control unit and mechanical control unit feedback, so that tele-control system
Receive the engine condition information of the navigation information and the electric control unit and mechanical control unit feedback；
The tele-control system includes remote controllers and telecommunication unit, and the remote controllers are for sending long-range control
System instruction, the telecommunication unit are used to the remote control commands being sent to the ship load communication unit reception position and lead
Information of navigating and engine condition information.
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| CN201810398244.8A CN108639301B (en) | 2018-04-28 | 2018-04-28 | Light outboard motorboat end control system, remote control system and automatic control system |
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| CN201810398244.8A CN108639301B (en) | 2018-04-28 | 2018-04-28 | Light outboard motorboat end control system, remote control system and automatic control system |
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| CN110127009A (en) * | 2019-05-08 | 2019-08-16 | 北京航天控制仪器研究所 | A kind of untetheredization communication submariner device |
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| CN111522272A (en) * | 2020-04-29 | 2020-08-11 | 宁波扇贝科技有限公司 | High-speed boat multi-place remote control method and system based on follow-up synchronization |
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| CN115140291A (en) * | 2022-04-22 | 2022-10-04 | 应急管理部天津消防研究所 | Outboard engine remote control device and control method thereof |
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| CN113655784B (en) * | 2021-06-22 | 2023-06-23 | 中国船舶重工集团公司第七0七研究所 | Double-diesel outboard-mounted control device and method for measuring unmanned ship |
| CN113655784A (en) * | 2021-06-22 | 2021-11-16 | 中国船舶重工集团公司第七0七研究所 | Double-diesel outboard engine control device and method for measuring unmanned ship |
| CN114115078A (en) * | 2021-12-16 | 2022-03-01 | 北京航空航天大学云南创新研究院 | Device and method for controlling low-no-load airship transportation based on equipment cross redundancy |
| CN115140291A (en) * | 2022-04-22 | 2022-10-04 | 应急管理部天津消防研究所 | Outboard engine remote control device and control method thereof |
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