CN108922088A - Unmanned boat burglary-resisting system and its control method - Google Patents
Unmanned boat burglary-resisting system and its control method Download PDFInfo
- Publication number
- CN108922088A CN108922088A CN201810732576.5A CN201810732576A CN108922088A CN 108922088 A CN108922088 A CN 108922088A CN 201810732576 A CN201810732576 A CN 201810732576A CN 108922088 A CN108922088 A CN 108922088A
- Authority
- CN
- China
- Prior art keywords
- ship
- integrated treatment
- treatment unit
- unit
- wind speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000011897 real-time detection Methods 0.000 claims abstract description 7
- 239000003643 water by type Substances 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000004927 fusion Effects 0.000 claims 1
- 238000003786 synthesis reaction Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 206010016275 Fear Diseases 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Burglar Alarm Systems (AREA)
Abstract
The invention discloses a kind of unmanned boat burglary-resisting system and its control method, the automatic navigation control signal that control unit of engine, turning control cell receive the sending of integrated treatment unit controls engine operating respectively, control ship is turned to；The wind speed and direction in the current waters of wind speed and direction detection unit real-time detection ship and the water velocity of ship driving direction are simultaneously passed the information on to integrated treatment unit；Integrated treatment unit ship when issuing or not issuing automatic navigation control signal enters the automatic course line planned or in flame-out parked state, the location information that integrated treatment unit obtains positioning unit transmitting judges whether ship deviates automatic course line or mooring point, if it is then judge whether ship by factor of natural environment is deviateed automatic course line or mooring point according to the wind speed and direction of wind speed and direction detection unit transmitting, water velocity information, if otherwise determining that current ship has stolen risk integrative processing unit sending alarm signal.
Description
Technical field
The invention belongs to unmanned boat control field, in particular to a kind of unmanned boat burglary-resisting system and its control method.
Background technique
With the development of science and technology, pilotless automobile and unmanned plane have more and more come into the visual field of people,
And developing direction is also gradually close to the complete full automation direction for excluding human intervention, with the maturation of technology, present nothing
People's ship is increasingly becoming the goal in research of technology company.Unmanned boat can be applied to monitoring water environment, emergent search and the hydrology,
Looks, oceanographic survey, while in order to which business demand can complete transport cargo, but unmanned boat is in application process, drives at nobody
During sailing or it is flame-out berth in the case of, be easy to be dragged away by force by unauthorized people.Institute is stolen on the water surface to avoid unmanned boat
For urgent problem in the industry.
Goal of the invention
The purpose of the present invention is to provide a kind of unmanned boat burglary-resisting system, when ship in the case that automatic navigation or it is flame-out berth,
Ensure to judge whether ship has stolen risk in time, and alarms.
To achieve the goals above, the present invention takes following technical scheme：A kind of unmanned boat burglary-resisting system, including engine
Control unit, turning control cell, wind speed and direction detection unit, positioning unit and integrated treatment unit, wherein：Engine control
Unit processed, turning control cell receive the automatic navigation that integrated treatment unit issues control signal control respectively engine operate,
Control ship is turned to；The wind speed and direction and ship driving direction in the current waters of wind speed and direction detection unit real-time detection ship
Water velocity and pass the information on to integrated treatment unit；Positioning unit obtains the current location information of ship in real time and will letter
Breath is transferred to integrated treatment unit；Integrated treatment unit ship when issuing or not issuing automatic navigation control signal enters planning
Good automatic course line is in flame-out parked state, and the location information that integrated treatment unit obtains positioning unit transmitting judges ship
Whether automatic course line or mooring point are deviateed, if it is then according to the wind speed and direction of wind speed and direction detection unit transmitting, water flow velocity
Degree information judge ship whether by the factor of natural environment automatic course line of deviation or mooring point, if otherwise determine current ship have by
It steals risk integrative processing unit and issues alarm signal.
In above-mentioned technical proposal, integrated treatment unit navigates for exporting the control instruction pre-set when issuing automatically
Integrated treatment unit can assign control to control unit of engine, turning control cell according to itself control algolithm when row control signal
System order, so that the navigation throttle numerical value and direction values of ship are manipulated, if integrated treatment unit when without navigating by water automatically
It controls ship and is in flame-out parked state；Positioning unit can be tied for obtaining the location information of ship, integrated treatment unit in real time
The throttle numerical value and direction values for closing wind speed and direction, water velocity information and ship itself that wind speed and direction detection unit is transmitted are sentenced
Disconnected ship currently deviates whether state is that factor of natural environment influences, and is then particularly likely that if not factor of natural environment influence
By external force, judgement has stolen risk to issue alarm signal fright stealer in real time at this time and notifies staff.
The object of the invention is also to provide a kind of control method of unmanned boat burglary-resisting system, when ship in automatic navigation or
Stop working in the case of berthing, it is ensured that judge whether ship has stolen risk in time, and alarm.
To achieve the goals above, the present invention takes following technical scheme：A kind of control method of unmanned boat burglary-resisting system,
Include the following steps：A, ship enters the automatic course line planned when integrated treatment unit issues automatic navigation control signal, into
Enter step B；Or it is flame-out parked state that integrated treatment unit, which does not issue ship when automatic navigation controls signal, enters step C；B,
Control unit of engine, turning control cell, which receive the automatic navigation control signal that integrated treatment unit issues and control respectively, to be started
Machine operating, control ship are turned to, and C is entered step；C, the wind in the current waters of wind speed and direction detection unit real-time detection ship
Fast wind direction and water velocity are simultaneously passed the information on to integrated treatment unit, and positioning unit obtains the current location information of ship in real time
And it passes the information on to integrated treatment unit；D, the location information that integrated treatment unit obtains positioning unit transmitting judges that ship is
It is no to deviate automatic course line or mooring point, if it is then according to the wind speed and direction of wind speed and direction detection unit transmitting, water velocity
Information judges ship whether by the automatic course line of factor of natural environment deviation or mooring point, if it is stolen otherwise to determine that current ship has
Risk integrative processing unit issues alarm signal.
In above-mentioned technical proposal, integrated treatment unit navigates for exporting the control instruction pre-set when issuing automatically
Integrated treatment unit can assign control to control unit of engine, turning control cell according to itself control algolithm when row control signal
System order, so that the navigation throttle numerical value and direction values of ship are manipulated, if integrated treatment unit when without navigating by water automatically
It controls ship and is in flame-out parked state；Positioning unit can be tied for obtaining the location information of ship, integrated treatment unit in real time
The throttle numerical value and direction values for closing wind speed and direction, water velocity information and ship itself that wind speed and direction detection unit is transmitted are sentenced
Disconnected ship currently deviates whether state is that factor of natural environment influences, and is then particularly likely that if not factor of natural environment influence
By external force, judgement has stolen risk to issue alarm signal fright stealer in real time at this time and notifies staff.
Detailed description of the invention
Fig. 1 is present system functional block diagram.
Specific embodiment
Specifically Fig. 1 is combined to make further instructions the present invention：
A kind of unmanned boat burglary-resisting system, it is characterised in that：Including control unit of engine 10, turning control cell 20, wind speed and wind
To detection unit 30, positioning unit 40 and integrated treatment unit 50, wherein：Control unit of engine 10, turning control cell
The automatic navigation control signal that 20 reception integrated treatment units 50 issue controls engine operating respectively, control ship is turned
To；The water velocity of the wind speed and direction in the 30 current waters of real-time detection ship of wind speed and direction detection unit and ship driving direction is simultaneously
It passes the information on to integrated treatment unit 50；Positioning unit 40 obtain in real time the current location information of ship and pass the information on to
Integrated treatment unit 50；Integrated treatment unit 50 ship when issuing or not issuing automatic navigation control signal, which enters, have been planned
Automatic course line is in flame-out parked state, and integrated treatment unit 50 obtains the location information that positioning unit 40 transmits and judges ship
Whether automatic course line or mooring point are deviateed, if it is then according to the wind speed and direction of the transmitting of wind speed and direction detection unit 30, water flow
Velocity information judges ship whether by the automatic course line of factor of natural environment deviation or mooring point, if otherwise determining that current ship has
Stolen risk integrative processing unit 50 issues alarm signal.
Integrated treatment unit 50 is comprehensive when issuing automatic navigation control signal for exporting the control instruction pre-set
Control command can be assigned to control unit of engine 10, turning control cell 20 according to itself control algolithm by closing processing unit 50,
To manipulate the navigation throttle numerical value and direction values of ship, if integrated treatment unit 50 controls ship when without navigating by water automatically
Only in flame-out parked state；Positioning unit 40 can be combined for obtaining the location information of ship, integrated treatment unit 50 in real time
The throttle numerical value and direction values of wind speed and direction, water velocity information and ship itself that wind speed and direction detection unit 30 is transmitted are sentenced
Disconnected ship currently deviates whether state is that factor of natural environment influences, and is then particularly likely that if not factor of natural environment influence
By external force, judgement has stolen risk to issue alarm signal fright stealer in real time at this time and notifies staff.
Pass through turning control cell（20）Make ship forward-reverse, left and right turn, if what ship was promoted simply by spray pump, turn
It is controlled to by pumping hole, front and back is controlled by drainage plate；If ship is promoted simply by shipboard, it is diverted through shipboard swing
Control, front and back is controlled by propeller positive and negative rotation；If ship is promoted simply by double fixing oars, it is diverted through propeller differential or just
Reversion control, front and back are controlled by propeller positive and negative rotation, if ship is equipped with rudder, are diverted through rudder rotation control.
It further include wireless communication unit 60, ground control base station 70, integrated treatment unit 50 is by ship status information and report
Alert signal is transferred to ground control base station 70 by radio-cell 60, and ground control base station 70 passes through radio-cell 60 to General Office
Reason unit 50 assigns manipulation instruction.Ground control base station 70, wireless communication unit 60 realize the remote control and nothing to ship
Line Communication, ground control base station 70 be ship plan automatic course line or select flame-out mooring point pass through radio-cell 60 to
Integrated treatment unit 50 assigns manipulation instruction；Ship status information and alarm signal are passed through radio-cell by integrated treatment unit 50
60 are transferred to ground control base station 70, and the sending of ground control base station 70 manipulation instruction artificially controls boat trip can be with Iterim Change
Boat trip state can not also allow stealer to drag ship away easily.
When integrated treatment unit 50 issues automatic navigation control signal ship and enters the automatic course line planned, if ship is inclined
With a certain distance from automatic course line, control base station 70 sends deviation warning to integrated treatment unit 50 to the ground immediately；Pass through wind simultaneously
Fast wind direction detection unit 30 detects wind speed and direction, water velocity information, judges what the throttle numerical value of ship and direction values generated
Whether thrust magnitude is greater than the Resistance Value that current water velocity generates；If not, integrated treatment unit 50 issues the letter of weather danger
Number it is sent to ground control base station 70, and chain is flame-out to drop anchor berths；If so, integrated treatment unit 50 issues alarm signal extremely
Ground control base station 70 starts anti-theft modes：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, ground
Control base station 70 receives alarm signal, issues manipulation instruction and artificially controls boat trip, avoids stealing and rob.If ship deviates at this time
Automatic course line control base station 70 can send deviation warning prompting surface personnel to the ground at the first time, then specific again
Judge whether current ship has stolen risk, thrust magnitude is positive, against the wind when Resistance Value be positive, Resistance Value is when sailing with the wind
It is negative, judge whether the thrust magnitude that the throttle numerical value of ship and direction values generate is greater than the Resistance Value that current water velocity generates,
If it is less than then proving that maritime environment may be relatively severe at this time, force ship to drift off the course, then first stop working and berth；If it is greater than
It then proves that the current throttle numerical value of ship and direction values are able to satisfy normal/cruise, but because has depositing for added force
Causing ship to deviate automatic course line, then opening anti-theft mode is needed to be alarmed and notified surface personnel.
Ship is flame-out parked state when integrated treatment unit 50 does not issue automatic navigation control signal, if ship deviation is put out
Fiery mooring point certain distance, control base station 70 sends deviation warning to integrated treatment unit 50 to the ground immediately；Pass through wind speed simultaneously
Wind direction detection unit 30 detects wind speed and direction, water velocity information, calculates ship in conjunction with positioning unit 40 and deviates speed, if ship
Only deviate speed and obviously exceed water velocity, integrated treatment unit 50 issues alarm signal to ground control base station 70, and starting is anti-
Robber's mode：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, and ground control base station 70 receives alarm signal
Number, it issues manipulation instruction and artificially controls boat trip, avoid stealing and rob.If ship deviates flame-out mooring point at this time, at the first time
Control base station 70 deviation warning prompting surface personnel can be sent to the ground, then specifically judge whether current ship has again
Stolen risk, if ship deviates, speed is consistent with water velocity and direction is identical, proves to belong to normal natural environment shadow
It rings, proves have the presence of added force that ship is caused to deviate automatic course line if inconsistent, need to carry out opening anti-theft mould
Surface personnel is alarmed and notified to formula.
It further include image processing unit 80 and radar detection unit 90, image processing unit 80 acquires the obstacle around ship
Object image information, radar detection unit 90 acquire the obstacle position information around ship, and integrated treatment unit 50 merges obstacle
Object image information and obstacle position information determine barrier, and when anti-theft modes are opened, integrated treatment unit 50 controls ship and exists
The water surface is navigated by water to any direction of not barrier.After judging that current ship has stolen risk, casting alarm audio is carried out immediately
And notify surface personnel, but stealer is probably ignored or surface personnel cannot make control in time,
At this time integrated treatment unit 50 can voluntarily control in conjunction with image processing unit 80 and radar detection unit 90 ship the water surface to times
The navigation of meaning direction, makes certain interference to the towboat behavior of stealer, fears stealer, while in order to more accurately determine
Barrier can be combined with sonar contact unit and further determine underwater obstacle, and ship any direction is avoided to hit a submerged reef when navigating by water
Etc. being damaged.
A kind of control method of unmanned boat burglary-resisting system, includes the following steps：A, integrated treatment unit 50 issues automatic boat
Ship enters the automatic course line planned when row control signal, enters step B；Or integrated treatment unit 50 does not issue automatic navigation
Ship is flame-out parked state when controlling signal, enters step C；B, control unit of engine 10, turning control cell 20 receive
The automatic navigation control signal that integrated treatment unit 50 issues controls engine operating respectively, control ship is turned to, and enters
Step C；C, the wind speed and direction in the 30 current waters of real-time detection ship of wind speed and direction detection unit and water velocity and information is passed
It is handed to integrated treatment unit 50, positioning unit 40 obtains the current location information of ship in real time and passes the information on to integrated treatment
Unit 50；D, integrated treatment unit 50 obtain positioning unit 40 transmit location information judge ship whether deviate automatic course line or
Mooring point, if it is then according to wind speed and direction detection unit 30 transmit wind speed and direction, water velocity information judge that ship is
It is no to be deviateed automatic course line or mooring point by factor of natural environment, if otherwise determining that current ship has stolen risk integrative processing single
Member 50 issues alarm signal.
Integrated treatment unit 50 is comprehensive when issuing automatic navigation control signal for exporting the control instruction pre-set
Control command can be assigned to control unit of engine 10, turning control cell 20 according to itself control algolithm by closing processing unit 50,
To manipulate the navigation throttle numerical value and direction values of ship, if integrated treatment unit 50 controls ship when without navigating by water automatically
Only in flame-out parked state；Positioning unit 40 can be combined for obtaining the location information of ship, integrated treatment unit 50 in real time
The throttle numerical value and direction values of wind speed and direction, water velocity information and ship itself that wind speed and direction detection unit 30 is transmitted are sentenced
Disconnected ship currently deviates whether state is that factor of natural environment influences, and is then particularly likely that if not factor of natural environment influence
By external force, judgement has stolen risk to issue alarm signal fright stealer in real time at this time and notifies staff.
It further include wireless communication unit 60, ground control base station 70；In the step A, ground control base station 70 is ship
It only plans automatic course line or selectes flame-out mooring point and manipulation instruction is assigned to integrated treatment unit 50 by radio-cell 60；Institute
In the step D stated, ship status information and alarm signal are transferred to ground by radio-cell 60 and controlled by integrated treatment unit 50
Base station 70 processed, ground control base station 70 issue manipulation instruction and artificially control boat trip.Ground control base station 70, wireless communication are single
Member 60, which is realized, exchanges the remote control of ship with wireless telecommunications, and ground control base station 70 is that ship plans automatic course line or choosing
It sets flame-out mooring point and manipulation instruction is assigned to integrated treatment unit 50 by radio-cell 60；Integrated treatment unit 50 is by ship
Status information and alarm signal pass through radio-cell 60 and are transferred to ground control base station 70, and ground control base station 70 issues manipulation and refers to
Make us stealer can not also being allowed to drag ship away easily with Iterim Change boat trip state for control boat trip.
Determine whether ship deviates automatic course line and include the following steps in the step D：If D1, ship deviate automatic boat
Line certain distance, control base station 70 sends deviation warning to integrated treatment unit 50 to the ground immediately；D2, it is detected by wind speed and direction
Unit 30 detect wind speed and direction, water velocity information, judge ship throttle numerical value and direction values generate thrust magnitude whether
The Resistance Value generated greater than current water velocity；If not, the signal that integrated treatment unit 50 issues weather danger is sent to ground
Face control base station 70, and chain is flame-out to drop anchor berths；D3, if so, integrated treatment unit 50 issue alarm signal to ground control
Base station 70 processed starts anti-theft modes：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, and ground controls base
Stand 70 receive alarm signals, issue manipulation instruction artificially control boat trip, avoid steal rob.If ship deviates automatic boat at this time
Line control base station 70 can send deviation warning prompting surface personnel to the ground at the first time, and then specific judgement is worked as again
Whether preceding ship has stolen risk, and thrust magnitude is positive, against the wind when Resistance Value be positive, Resistance Value is negative when sailing with the wind, and sentences
Whether the thrust magnitude that the throttle numerical value and direction values of disconnected ship generate is greater than the Resistance Value that current water velocity generates, if small
In then proving that maritime environment may be relatively severe at this time, force ship to drift off the course, then first stop working and berth；If it is greater than then proving
The current throttle numerical value and direction values of ship are able to satisfy normal/cruise, but because have the presence of added force to cause
Ship deviates automatic course line, then opening anti-theft mode is needed to be alarmed and notified surface personnel.
Determine whether ship deviates flame-out mooring point and include the following steps in the step D：If D4, ship deviate flame-out
Mooring point certain distance, control base station 70 sends deviation warning to integrated treatment unit 50 to the ground immediately；Pass through wind speed and wind simultaneously
Wind speed and direction, water velocity information are detected to detection unit 30, ship is calculated in conjunction with positioning unit 40 and deviates speed；If D5,
Ship deviates speed and obviously exceeds water velocity, and integrated treatment unit 50 issues alarm signal to ground control base station 70, starting
Anti-theft modes：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, and ground control base station 70 receives alarm signal
Number, it issues manipulation instruction and artificially controls boat trip, avoid stealing and rob.If ship deviates flame-out mooring point at this time, at the first time
Control base station 70 deviation warning prompting surface personnel can be sent to the ground, then specifically judge whether current ship has again
Stolen risk, if ship deviates, speed is consistent with water velocity and direction is identical, proves to belong to normal natural environment shadow
It rings, proves have the presence of added force that ship is caused to deviate automatic course line if inconsistent, need to carry out opening anti-theft mould
Surface personnel is alarmed and notified to formula；This specific judgment step is applied to two kinds of situations, and one：It is mentioned in above content
When ship is in automatic course line, maritime environment may be relatively more severe at this time, and ship is forced to drift off the course, then first stops working and berth；Two：
Ship stops working when not in use is docked in bay or other areas.
It further include image processing unit 80 and radar detection unit 90, anti-theft modes include the following steps after opening：E, scheme
As the barrier image information around the acquisition ship of processing unit 80, radar detection unit 90 acquires the obstacle level around ship
Confidence breath, integrated treatment unit 50 merges barrier image information and obstacle position information determines barrier, and anti-theft modes are opened
Qi Shi, integrated treatment unit 50 control ship and navigate by water in the water surface to any direction of not barrier；F, integrated treatment unit 50
Judge whether to meet the current traveling of ship in conjunction with the throttle numerical value and steering numerical value of wind speed and direction, water velocity signal and ship
Direction and speed prove that the active force that ship additionally applies without the external world, integrated treatment unit 50 are single according to positioning if meeting
The location informations that member 40 obtains plan automatic course line or flame-out mooring point before course line returns to ship again.Judgement is worked as
After preceding ship has stolen risk, casting alarm audio is carried out immediately and notifies surface personnel, but stealer is very possible
It ignores or surface personnel cannot make control in time, integrated treatment unit 50 can combine image processing unit 80 at this time
And radar detection unit 90 voluntarily controls ship and navigates by water in the water surface to any direction, makes to the towboat behavior of stealer certain
Interference, fears stealer, while in order to more accurately determine that barrier can be combined with sonar contact unit further really
Determine underwater obstacle, avoids ship any direction from hitting a submerged reef etc. when navigating by water and be damaged；It is comprehensive during opening anti-theft mode
Processing unit 50 also can calculate always whether ship driving status is also influenced by external force, and ship returns normal shape if not influencing
State is robbed if being stolen in automatic operational configuration, then integrated treatment unit 50 is cooked up again to the course line of deviation point, and is calculated
Corresponding throttle numerical value and steering numerical value out, automatic course line when boat trip to deviation point, before continuing；If ship is
It is towed under flame-out parked state, then integrated treatment unit can cook up the course line for returning flame-out mooring point automatically, and is counted
It calculates corresponding throttle numerical value and turns to numerical value, when boat trip to flame-out mooring point, chain is flame-out to drop anchor.
Claims (10)
1. a kind of unmanned boat burglary-resisting system, it is characterised in that：Including control unit of engine（10）, turning control cell（20）,
Wind speed and direction detection unit（30）, positioning unit（40）And integrated treatment unit（50）, wherein：
Control unit of engine（10）, turning control cell（20）Receive integrated treatment unit（50）The automatic navigation control issued
Signal controls engine operating respectively, control ship is turned to；
Wind speed and direction detection unit（30）The wind speed and direction in the current waters of real-time detection ship and the water flow velocity of ship driving direction
It spends and passes the information on to integrated treatment unit（50）；
Positioning unit（40）The current location information of ship is obtained in real time and is passed the information on to integrated treatment unit（50）；
Integrated treatment unit（50）When issuing or not issuing automatic navigation control signal, ship enters the automatic course line planned
Or in flame-out parked state, integrated treatment unit（50）Obtain positioning unit（40）Whether the location information of transmitting judges ship
Deviate automatic course line or mooring point, if it is then according to wind speed and direction detection unit（30）Wind speed and direction, the water flow velocity of transmitting
Degree information judge ship whether by the factor of natural environment automatic course line of deviation or mooring point, if otherwise determine current ship have by
Steal risk integrative processing unit（50）Issue alarm signal.
2. unmanned boat burglary-resisting system according to claim 1, it is characterised in that：It further include wireless communication unit（60）,
Face control base station（70）, integrated treatment unit（50）Ship status information and alarm signal are passed through into radio-cell（60）It is transferred to
Ground control base station（70）, ground control base station（70）Pass through radio-cell（60）To integrated treatment unit（50）Manipulation is assigned to refer to
It enables.
3. unmanned boat burglary-resisting system according to claim 2, it is characterised in that：Integrated treatment unit（50）Issue automatic boat
When row control signal ship enters the automatic course line planned, if ship deviates automatic course line certain distance, integrated treatment unit
（50）Control base station to the ground immediately（70）Send deviation warning；Pass through wind speed and direction detection unit simultaneously（30）Detect wind speed and wind
To, water velocity information, whether the thrust magnitude for judging that the throttle numerical value of ship and direction values generate is greater than current water velocity
The Resistance Value of generation；If not, integrated treatment unit（50）The signal for issuing weather danger is sent to ground control base station（70）,
And chain is flame-out berths to drop anchor；If so, integrated treatment unit（50）Alarm signal is issued to ground control base station（70）, starting
Anti-theft modes：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, ground control base station（70）Receive alarm
Signal issues manipulation instruction and artificially controls boat trip, avoids stealing and rob.
4. unmanned boat burglary-resisting system according to claim 3, it is characterised in that：Integrated treatment unit（50）It does not issue automatic
Ship is flame-out parked state when navigation control signal, if ship deviates flame-out mooring point certain distance, integrated treatment unit
（50）Control base station to the ground immediately（70）Send deviation warning；Pass through wind speed and direction detection unit simultaneously（30）Detect wind speed and wind
To, water velocity information, in conjunction with positioning unit（40）It calculates ship and deviates speed, if ship deviates speed and obviously exceeds water flow
Speed, integrated treatment unit（50）Alarm signal is issued to ground control base station（70）, start anti-theft modes：Public Address System on ship
It opens, the big continual broadcasting of volume alerts audio, ground control base station（70）Alarm signal is received, it is artificial to issue manipulation instruction
Boat trip is controlled, avoids stealing and rob.
5. unmanned boat burglary-resisting system according to claim 3 or 4, it is characterised in that：It further include image processing unit（80）
And radar detection unit（90）, image processing unit（80）Acquire the barrier image information around ship, radar detection unit
（90）Acquire the obstacle position information around ship, integrated treatment unit（50）Merge barrier image information and obstacle level
Confidence, which ceases, determines barrier, when anti-theft modes are opened, integrated treatment unit（50）Ship is controlled in the water surface to not barrier
Any direction navigation.
6. the control method of unmanned boat burglary-resisting system as described in claim 1, it is characterised in that：Include the following steps：
A, integrated treatment unit（50）Ship enters the automatic course line planned when issuing automatic navigation control signal, enters step
B；Or integrated treatment unit（50）Ship is flame-out parked state when not issuing automatic navigation control signal, enters step C；
B, control unit of engine（10）, turning control cell（20）Receive integrated treatment unit（50）The automatic navigation control issued
Signal processed controls engine operating respectively, control ship is turned to, and enters step C；
C, wind speed and direction detection unit（30）The wind speed and direction and water velocity in the current waters of real-time detection ship simultaneously pass information
It is handed to integrated treatment unit（50）, positioning unit（40）The current location information of ship is obtained in real time and is passed the information on to synthesis
Processing unit（50）；
D, integrated treatment unit（50）Obtain positioning unit（40）The location information of transmitting judges whether ship deviates automatic course line
Or mooring point, if it is then according to wind speed and direction detection unit（30）The wind speed and direction of transmitting, water velocity information judge ship
Only whether by the automatic course line of factor of natural environment deviation or mooring point, if otherwise determining that current ship has at stolen risk integrative
Manage unit（50）Issue alarm signal.
7. control method according to claim 6, it is characterised in that：It further include wireless communication unit（60）, ground control
Base station（70）；In the step A, ground control base station（70）Automatic course line, which is planned, for ship or selectes flame-out mooring point leads to
Cross radio-cell（60）To integrated treatment unit（50）Assign manipulation instruction；In the step D, integrated treatment unit（50）It will
Ship status information and alarm signal pass through radio-cell（60）It is transferred to ground control base station（70）, ground control base station（70）
It issues manipulation instruction and artificially controls boat trip.
8. control method according to claim 6, it is characterised in that：Determine whether ship offsets from the step D
Dynamic course line includes the following steps：
If D1, ship deviate automatic course line certain distance, integrated treatment unit（50）Control base station to the ground immediately（70）It sends
Deviation warning；
D2, pass through wind speed and direction detection unit（30）Detect wind speed and direction, water velocity information, judge ship throttle numerical value and
Whether the thrust magnitude that direction values generate is greater than the Resistance Value that current water velocity generates；If not, integrated treatment unit（50）
The signal for issuing weather danger is sent to ground control base station（70）, and chain is flame-out to drop anchor berths；
D3, if so, integrated treatment unit（50）Alarm signal is issued to ground control base station（70）, start anti-theft modes：Ship
Upper Public Address System is opened, and the big continual broadcasting of volume alerts audio, ground control base station（70）Alarm signal is received, behaviour is issued
The artificial control boat trip of control instruction is avoided stealing and be robbed.
9. control method according to claim 6, it is characterised in that：Determine whether ship deviates in the step D to put out
Fiery mooring point includes the following steps：
If D4, ship deviate flame-out mooring point certain distance, integrated treatment unit（50）Control base station to the ground immediately（70）Hair
Send deviation warning；Pass through wind speed and direction detection unit simultaneously（30）Wind speed and direction, water velocity information are detected, in conjunction with positioning unit
（40）It calculates ship and deviates speed；
If D5, ship deviate speed and obviously exceed water velocity, integrated treatment unit（50）Alarm signal to ground is issued to control
Base station（70）, start anti-theft modes：Public Address System is opened on ship, and the big continual broadcasting of volume alerts audio, and ground controls base
It stands（70）Alarm signal is received, manipulation instruction is issued and artificially controls boat trip, avoids stealing and rob.
10. control method according to claim 6, it is characterised in that：It further include image processing unit（80）And radar is visited
Survey unit（90）, include the following steps after anti-theft modes unlatching：
E, image processing unit（80）Acquire the barrier image information around ship, radar detection unit（90）Acquire ship week
The obstacle position information enclosed, integrated treatment unit（50）Fusion barrier image information and obstacle position information determine obstacle
Object, when anti-theft modes are opened, integrated treatment unit（50）Ship is controlled to navigate by water in the water surface to any direction of not barrier；
F, integrated treatment unit（50）Throttle numerical value and steering numerical value judgement in conjunction with wind speed and direction, water velocity signal and ship
Whether meet ship current driving direction and speed, the active force that ship additionally applies without the external world is proved if meeting, it is comprehensive
Close processing unit（50）According to positioning unit（40）Before the location information of acquisition plans that course line returns to ship again
Automatic course line or flame-out mooring point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810732576.5A CN108922088A (en) | 2018-07-05 | 2018-07-05 | Unmanned boat burglary-resisting system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810732576.5A CN108922088A (en) | 2018-07-05 | 2018-07-05 | Unmanned boat burglary-resisting system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108922088A true CN108922088A (en) | 2018-11-30 |
Family
ID=64425357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810732576.5A Pending CN108922088A (en) | 2018-07-05 | 2018-07-05 | Unmanned boat burglary-resisting system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108922088A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141309A (en) * | 2019-12-03 | 2020-05-12 | 诚邦测绘信息科技(浙江)有限公司 | Unmanned ship surveying and mapping path calibration method, system and computer storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101161547A (en) * | 2006-10-13 | 2008-04-16 | 沈阳航天新光集团有限公司 | An automatic cruising unmanned drive vessel |
| CN105129064A (en) * | 2015-09-09 | 2015-12-09 | 广州睿航电子科技有限公司 | Cruise control method and system of unmanned ship |
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| CN105923135A (en) * | 2016-04-18 | 2016-09-07 | 太仓弘杉环保科技有限公司 | Intelligent rudder with self-correcting function and operating method thereof |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
| CN106909145A (en) * | 2017-02-22 | 2017-06-30 | 武汉理工大学 | Unmanned hydrographical survey ship barrier real-time perception obstacle avoidance system and method |
| CN106959698A (en) * | 2017-05-24 | 2017-07-18 | 大连海事大学 | A kind of path trace avoidance method of guidance |
| KR20170088123A (en) * | 2016-01-22 | 2017-08-01 | 대우조선해양 주식회사 | Navigation system of unmanned ship and method for controlling navigation using the same |
| CN107728618A (en) * | 2017-09-28 | 2018-02-23 | 南通大学 | A kind of barrier-avoiding method of unmanned boat |
-
2018
- 2018-07-05 CN CN201810732576.5A patent/CN108922088A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101161547A (en) * | 2006-10-13 | 2008-04-16 | 沈阳航天新光集团有限公司 | An automatic cruising unmanned drive vessel |
| CN105129064A (en) * | 2015-09-09 | 2015-12-09 | 广州睿航电子科技有限公司 | Cruise control method and system of unmanned ship |
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| KR20170088123A (en) * | 2016-01-22 | 2017-08-01 | 대우조선해양 주식회사 | Navigation system of unmanned ship and method for controlling navigation using the same |
| CN105923135A (en) * | 2016-04-18 | 2016-09-07 | 太仓弘杉环保科技有限公司 | Intelligent rudder with self-correcting function and operating method thereof |
| CN106909145A (en) * | 2017-02-22 | 2017-06-30 | 武汉理工大学 | Unmanned hydrographical survey ship barrier real-time perception obstacle avoidance system and method |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
| CN106959698A (en) * | 2017-05-24 | 2017-07-18 | 大连海事大学 | A kind of path trace avoidance method of guidance |
| CN107728618A (en) * | 2017-09-28 | 2018-02-23 | 南通大学 | A kind of barrier-avoiding method of unmanned boat |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141309A (en) * | 2019-12-03 | 2020-05-12 | 诚邦测绘信息科技(浙江)有限公司 | Unmanned ship surveying and mapping path calibration method, system and computer storage medium |
| CN111141309B (en) * | 2019-12-03 | 2022-02-01 | 诚邦测绘信息科技(浙江)有限公司 | Unmanned ship surveying and mapping path calibration method, system and computer storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109634289A (en) | A kind of unmanned boat autonomous navigation system and its working method | |
| US8996210B2 (en) | Integrated vessel monitoring and control system | |
| US6904341B2 (en) | Integrated vessel monitoring and control system | |
| CN109739238A (en) | A kind of ship automatic berthing system and its working method | |
| CN108922247A (en) | A kind of ship based on AIS-navigation mark Risk-Degree of Collision evaluation method | |
| KR20170088123A (en) | Navigation system of unmanned ship and method for controlling navigation using the same | |
| CN107748561A (en) | A kind of unmanned boat part obstacle avoidance system and method based on more parameter sensings | |
| CN107945578B (en) | Accuse formula boats and ships safety navigation induction system in navigation construction waters | |
| US20200012283A1 (en) | System and method for autonomous maritime vessel security and safety | |
| CN109285389A (en) | A kind of automatic docking system of unmanned boat and method | |
| GB2512455A (en) | Ship course obstruction warning transport | |
| CN109460035A (en) | Second level automatic obstacle avoiding system and barrier-avoiding method under a kind of unmanned boat fast state | |
| CN110517537A (en) | A kind of unmanned boat autonomous navigation system and method | |
| WO2021075319A1 (en) | Ship maneuvering assistance system and method | |
| US20210094665A1 (en) | System and method for positioning an aquatic vessel | |
| EP3353764A1 (en) | Alarm device for ships | |
| WO2020046133A1 (en) | Method and system to improve navigation safety for sea-going vessels in hazardous waters | |
| CN203094401U (en) | Shipborne automatic identification system (AIS) automatic intelligent collision prevention system adopting sonar detection | |
| CN108922088A (en) | Unmanned boat burglary-resisting system and its control method | |
| CN109866885A (en) | A kind of unmanned boat is prevented stranded with relevant method of relying on oneself | |
| US20230195118A1 (en) | Autonomous marine autopilot system | |
| US11990045B2 (en) | Periphery recognition support system and method for personal watercraft | |
| KR100713168B1 (en) | Remote Control System Of Unmanned Patrol Vehicle | |
| Hagargund et al. | Implementation of Global Ship Tracking And Monitor System | |
| CN113903163A (en) | Water area safety system and water area lifesaving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |