CN109002036A - A kind of one key of unmanned boat makes a return voyage control system and method - Google Patents
A kind of one key of unmanned boat makes a return voyage control system and method Download PDFInfo
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- CN109002036A CN109002036A CN201810378257.9A CN201810378257A CN109002036A CN 109002036 A CN109002036 A CN 109002036A CN 201810378257 A CN201810378257 A CN 201810378257A CN 109002036 A CN109002036 A CN 109002036A
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- 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
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Abstract
It makes a return voyage control system and method the invention discloses a kind of one key of unmanned boat, includes the following steps: A, in unmanned boat driving process, according to preset time interval or preset distance interval, the current location and current course for measuring unmanned boat are as current destination；B, current way point information is obtained, and numbers in order and is kept records of, while the ship trajectory of the unmanned boat is judged and/or handled according to current destination；C, judge whether that needing to be implemented a key makes a return voyage, if not needing, repeats step A；If desired, then it executes a key to make a return voyage, control unmanned boat by treated, make a return voyage by the reverse tracking of ship trajectory progress, correcting action.One key of unmanned boat through the invention makes a return voyage control method, significantly improve the accuracy of system storage destination, it can effectively avoid collision obstacle when unmanned boat makes a return voyage, while saving memory when storage unit stores destination, and be greatly saved electricity used when unmanned boat makes a return voyage.
Description
Technical field
The invention belongs to unmanned boat control technology field, make a return voyage control system and side more particularly to a kind of one key of unmanned boat
Method.
Background technique
Unmanned boat is a kind of novel monitoring platform waterborne, wherein with waters such as rivers and creeks, lake, reservoir, seashore and bays
For object, using spitkit as carrier, integrated positioning navigation, communication and control equipment can carry a variety of monitoring sensors, with distant
Control/autonomous working method completes the specific hydrology and seawater environmental parameters monitoring.Since there is unmanned boat flexible arrangement, cost to pass through
The features such as Ji, automatic measurement, in the assessment of hydrographic features observation, monitoring water environment, reservoir and channel sediment deposition amount, hydraulic engineering
Addressing and underwater archaeology etc. have broad application prospects.With the development of science and technology, to the application study of unmanned boat
More and more extensive, the technologies such as Path Planning Technique, autonomous navigation technology and a key make a return voyage are the key that related unmanned boat research
The important content of problem and unmanned boat artificial intelligence study indicate the height of unmanned boat level of intelligence to a certain extent.
Unmanned boat needs autonomous navigation and operation in complicated marine environment, and makes a return voyage safely after the completion of operation, therefore unmanned boat
More stringent requirement is proposed to maneuverability, control performance and reliability.In order to guarantee that unmanned boat is safe and reliable, autonomous
Ground completes various complex tasks and makes a return voyage safely, this just needs to study more advanced path planning, independent navigation, a key and makes a return voyage
Etc. technologies.
Unmanned boat is in water surface driving process, in case of exceptional circumstances, such as remote controler disconnection, low battery, need to be implemented one
Key makes a return voyage, i.e., traveling returns to homeposition.A key about unmanned boat makes a return voyage technology, be primarily present in existing technical solution as
Lower two methods:
A kind of method is only record start point, executes and executes straight line return for starting point as track points when a key makes a return voyage.
The shortcomings that such scheme is directly to return using starting point as destination along straight line, if there is barrier or corner in the middle, nobody
Ship will be unable to hit damage with avoiding.
Another method is to return every certain time or apart from current unmanned ship position is recorded as track points when executing a key
The sequential track destination that record track points are then pressed when operation is returned, until returning to initial position.The shortcomings that such scheme is indifference
Ground can generate larger memory by certain time or apart from current unmanned ship position is recorded for destination, meanwhile, when unmanned boat is at one
Region repeated travel can generate many repetition tracks, greatly waste memory, and when one key of execution makes a return voyage, unmanned boat can be one
A region repeated travel, will cause the significant wastage of electricity.
Summary of the invention
Collision obstacle when in order to effectively unmanned boat be avoided to make a return voyage, while memory when storage unit stores destination is saved,
And institute electricity consumption of unmanned boat when making a return voyage is saved, it makes a return voyage control system and method the invention proposes a kind of one key of unmanned boat.
To achieve the above object, the control method the present invention adopts the following technical scheme: a kind of one key of unmanned boat makes a return voyage, it is special
Sign is that described method includes following steps:
A, in unmanned boat driving process, according to preset time interval or preset distance interval, unmanned boat is measured
Current location and current course are as current destination；
B, obtain current way point information, and number in order and kept records of, at the same according to the judgement of current destination and/or
Handle the ship trajectory of the unmanned boat；
C, judge whether that needing to be implemented a key makes a return voyage, if not needing, repeats step A；If desired, then a key is executed
It makes a return voyage, control unmanned boat by treated, make a return voyage by the reverse tracking of ship trajectory progress, correcting action.
Preferably, in the step B, according to the judgement of current destination and/or the tool for the ship trajectory for handling the unmanned boat
Body method are as follows: interval records the destination in ship trajectory to the unmanned boat at regular intervals during navigation, and described in
Destination is recorded in GPS map and is saved.
Preferably, in the step B, the storage format of current destination is (X, Y, N), wherein X, Y are current destination seat
Mark, N are the current destination serial number of record, are natural number.
Preferably, in the step C, judge whether that needing to be implemented a case where key makes a return voyage includes:
It judges whether there is the key for receiving from controlling terminal to make a return voyage request, if there is the key for receiving controlling terminal
It makes a return voyage request, then executes a key and make a return voyage；Or
It judges whether there is and detects the case where unmanned boat electric quantity of power supply occurs lower than certain threshold value, when detecting unmanned boat
When there is electric quantity of power supply lower than certain threshold value, then executes a key and make a return voyage；Or
Judge whether unmanned boat has executed the task and broken with controlling terminal to join, above situation such as occurs, then execute
One key makes a return voyage.
Preferably, it in the step C, executes a key and makes a return voyage, ship trajectory carries out inversely control unmanned boat by treated
Tracking the process maked a return voyage includes:
C1, using current destination as the center of circle, preset R be radius be arranged a border circular areas；
C2, judge that the destination recorded with the presence or absence of before in the border circular areas then increases the numerical value of R if it does not exist, expand
The border circular areas, and rejudge the destination recorded with the presence or absence of before in the border circular areas；The boat recorded before if it exists
Point, the then destination recorded before judging are as one or multiple: if one, then the destination being directed toward in unmanned ship's head；If
To be multiple, then the minimum destination recorded before destination serial number in the border circular areas is selected to refer to as the unmanned ship's head
To, while rejecting other destinations in the circle region；
C3, judge whether that the tracking for completing all destinations of record before is maked a return voyage, make a return voyage if so, terminating a key；If it is not,
Then return step C1, the tracking of record destination is maked a return voyage until completing all.
Preferably, the R is more than or equal to the maximum distance between the destination of two adjacent serial numbers, described two adjacent serial numbers
Destination between maximum distance be the unmanned boat maximum speed and the time interval product.
It makes a return voyage control system the present invention also provides a kind of one key of unmanned boat, it is characterised in that: the system comprises:
Acquisition module: for according to preset time interval or preset distance interval, surveying in unmanned boat driving process
The current location and current course for measuring unmanned boat are sent to main control module as current destination；
Main control module: for obtaining current way point information, and numbering in order and kept records of, while according to current boat
Point judgement and/or the ship trajectory for handling the unmanned boat；And judge whether that needing to be implemented a key makes a return voyage, and if desired executes a key
It makes a return voyage, then controlling unmanned boat, the reverse tracking of ship trajectory progress is maked a return voyage along treated, correcting action.
Preferably, the acquisition module includes:
GPS navigation module: for measuring the present bit of unmanned boat according to preset time interval or preset distance interval
It sets；
Electronic compass: for measuring the current course of unmanned boat according to preset time interval or preset distance interval.
Preferably, the main control module includes:
Storage unit: it for storing the current way point information obtained, and numbers in order and is kept records of；
Judge processing unit: for obtaining current destination, and the unmanned boat is judged and/or handled according to current destination
Ship trajectory；
It makes a return voyage control unit: making a return voyage request for judging whether there is the key for receiving from controlling terminal, either
It is no to detect that the case where electric quantity of power supply is lower than certain threshold value occurs in unmanned boat or whether unmanned boat has executed the task
And unmanned boat is controlled by the boat after judging processing unit processes if there is any of the above-described situation with the disconnected connection of controlling terminal
Row track carries out reverse tracking and makes a return voyage, correcting action.
Preferably, one key of the execution makes a return voyage, and control unmanned boat by treated, make a return voyage by the reverse tracking of ship trajectory progress
Process include:
Using current destination as the center of circle, preset R is that a border circular areas is arranged in radius；Judge whether deposit in the border circular areas
In the destination recorded before, if it does not exist, then increases the numerical value of R, expand the border circular areas, and rejudge the border circular areas
The interior destination recorded with the presence or absence of before；The destination recorded before if it exists then judges the destination recorded before as one still
It is multiple: if one, then the destination to be directed toward in unmanned ship's head；If multiple, then destination serial number in the border circular areas is selected
Minimum destination to record before is directed toward as the unmanned ship's head, while rejecting other destinations in the circle region；
Judge whether that the tracking for completing all destinations of record before is maked a return voyage, makes a return voyage if so, terminating a key；If it is not, then
Above-mentioned steps are returned to, the tracking of record destination is maked a return voyage until completing all.
The present invention is using technical solution bring advantageous effects as above: technical solution according to the present invention realizes
A kind of one key of unmanned boat makes a return voyage control method, meanwhile, by the method for the invention, significantly improve the accurate of system storage destination
Property, it can effectively avoid collision obstacle when unmanned boat makes a return voyage, while saving memory when storage unit stores destination, Yi Jiji
Big saves electricity used when unmanned boat makes a return voyage, and realizes that the low electricity of unmanned boat makes a return voyage.
Detailed description of the invention
In order to illustrate more clearly of embodiment of the present invention, the required attached drawing of embodiment will be made below simple
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is that one key of unmanned boat provided by one embodiment of the present invention makes a return voyage control method flow diagram；
Fig. 2 is the method flow schematic diagram of making a return voyage that one key of execution provided by one embodiment of the present invention makes a return voyage；
Fig. 3 is provided by one embodiment of the present invention according to preset distance interval, the current destination of the unmanned boat of measurement, and
Number in order the schematic diagram kept records of；
Signal when Fig. 4 is the destination provided by one embodiment of the present invention recorded in one previously when judgement circle memory
Figure；
Fig. 5 is provided by one embodiment of the present invention when there are signals when multiple destinations recorded before in judgement circle
Figure；
Fig. 6 is that a key provided by one embodiment of the present invention inversely tracks processed ship trajectory schematic diagram when making a return voyage；
Fig. 7 is that one key of unmanned boat provided by one embodiment of the present invention makes a return voyage the structural schematic diagram of control system.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples, herein by the embodiment being described with reference to the drawings
It is exemplary, it is intended to be used to explain the present invention, and be not considered as limiting the invention, i.e., described embodiment is this
A part of the embodiment of invention, instead of all the embodiments, in the absence of conflict, embodiment and implementation in the application
Feature in example can be combined with each other.
Embodiment 1
The control method as shown in Figure 1, one key of a kind of unmanned boat provided by the invention makes a return voyage, includes the following steps:
A, in unmanned boat driving process, according to preset time interval or preset distance interval, unmanned boat is measured
Current location and current course are as current destination；
B, obtain current way point information, and number in order and kept records of, at the same according to the judgement of current destination and/or
Handle the ship trajectory of the unmanned boat；
C, judge whether that needing to be implemented a key makes a return voyage, if not needing, repeats step A；If desired, then a key is executed
It makes a return voyage, control unmanned boat by treated, make a return voyage by the reverse tracking of ship trajectory progress, correcting action.
In a preferred embodiment, as shown in Fig. 2, in the step B, institute is judged and/or handled according to current destination
State the ship trajectory of unmanned boat method particularly includes: unmanned boat interval record navigation at regular intervals during navigation
Destination in track, and the destination is recorded in GPS map and is saved.
In a preferred embodiment, in the step B, the storage format of current destination is (X, Y, N), wherein X, Y are
Current destination coordinate；N is the current destination serial number of record, is natural number.
In a preferred embodiment, in the step C, judge whether that needing to be implemented a case where key makes a return voyage includes: to sentence
It is disconnected whether to there is the key for receiving from controlling terminal to make a return voyage request, if there is the key for receiving controlling terminal to make a return voyage request,
A key is then executed to make a return voyage；The case where unmanned boat electric quantity of power supply occurs lower than certain threshold value is detected alternatively, judging whether there is, when having
When detecting that unmanned boat electric quantity of power supply occurs lower than certain threshold value, then executes a key and make a return voyage；Alternatively, judging whether unmanned boat has been held
Gone the task and with the disconnected connection of controlling terminal, such as there is above situation, then execute a key and make a return voyage.
In a preferred embodiment, it in the step C, executes a key and makes a return voyage, control unmanned boat is navigated by water by treated
Track carries out inversely tracking the process maked a return voyage
C1, using current destination as the center of circle, preset R be radius be arranged a border circular areas；
C2, judge that the destination recorded with the presence or absence of before in the border circular areas then increases the numerical value of R if it does not exist, expand
The border circular areas, and rejudge the destination recorded with the presence or absence of before in the border circular areas；The boat recorded before if it exists
Point, the then destination recorded before judging are as one or multiple: if one, then the destination being directed toward in unmanned ship's head；If
To be multiple, then the minimum destination recorded before destination serial number in the border circular areas is selected to refer to as the unmanned ship's head
To, while rejecting other destinations in the circle region；
C3, judge whether that the tracking for completing all destinations of record before is maked a return voyage, make a return voyage if so, terminating a key；If it is not,
Then return step C1, the tracking of record destination is maked a return voyage until completing all.
In a preferred embodiment, the R is more than or equal to the maximum distance between the destination of two adjacent serial numbers, described
Maximum distance between the destination of two adjacent serial numbers is the maximum speed of the unmanned boat and the product of the time interval.
Illustratively, in order in the clearer description present invention one key of unmanned boat make a return voyage the specific method of control, be detailed in Fig. 3
Shown in~Fig. 6, steps are as follows for detailed description:
Step A, unmanned boat is along direction running shown in Fig. 3 arrow, and D, measures nobody by GPS navigation module at a certain distance
The current location of ship and the current course that unmanned boat is measured by electronic compass, as current destination；
Step B, current way point information is obtained, respectively in T1、T2、T3、T4... the moment is using 1,2,3,4 ... saves as serial number
Destination is recorded into GPS map；
C, judge whether that needing to be implemented a key makes a return voyage, if not needing, repeats step A；If desired, then a key is executed
It makes a return voyage, control unmanned boat by treated, make a return voyage (as shown in fig. 6, according to destination serial number by big by the reverse tracking of ship trajectory progress
Track In Track is carried out to small sequence), correcting action.Specifically, execute the process of making a return voyage maked a return voyage of a key and include, C1, with
Current destination is the center of circle, and preset R is that a border circular areas is arranged in radius；C2, before judging to whether there is in the border circular areas
The destination of record then increases the numerical value of R if it does not exist, expands the border circular areas, and rejudge in the border circular areas whether
In the presence of the destination recorded before；The destination recorded before if it exists, the then destination recorded before judging are as one or multiple: if
It is one, then the destination is directed toward (as shown in figure 4, such as remembering before the T5 moment judges to exist in circle region in unmanned ship's head
Destination N4 is recorded, then allows T5 moment destination serial number to be equal to and N4 and saves, while deleting the destination that the T4 moment records)；If multiple, then
It selects the minimum destination recorded before destination serial number in the border circular areas to be directed toward as the unmanned ship's head, rejects simultaneously
Other destination in the circle region is (as shown in figure 5, then allowing and working as there are the destination N7 and N8 that record before multiple in circle region
Front position destination serial number is equal to N7 and saves, while the destination N7 and N8 and serial number recorded before deleting is greater than the boat of N7
Point)；C3, judge whether that the tracking for completing all destinations of record before is maked a return voyage, make a return voyage if so, terminating a key；If it is not, then returning
Step C1 is returned, the tracking of record destination is maked a return voyage until completing all.
Embodiment 2
One key of a kind of unmanned boat provided by the invention makes a return voyage control system, and system includes:
Acquisition module: for according to preset time interval or preset distance interval, surveying in unmanned boat driving process
The current location and current course for measuring unmanned boat are sent to main control module as current destination；
Main control module: for obtaining current way point information, and numbering in order and kept records of, while according to current boat
Point judgement and/or the ship trajectory for handling the unmanned boat；And judge whether that needing to be implemented a key makes a return voyage, and if desired executes a key
It makes a return voyage, then controlling unmanned boat, the reverse tracking of ship trajectory progress is maked a return voyage along treated, correcting action.
Further, in the present embodiment, system further includes the wireless communication module for wirelessly communicating with controlling terminal,
The main control module receives make a return voyage instruction or the automatic equal moulds that make a return voyage of triggering from controlling terminal via the wireless communication module
Formula.
In a preferred embodiment, the acquisition module includes:
GPS navigation module: for measuring the present bit of unmanned boat according to preset time interval or preset distance interval
It sets；
Electronic compass: for measuring the current course of unmanned boat according to preset time interval or preset distance interval.
In the present embodiment, GPS navigation module, electronic compass are connect with main control module respectively.
In a preferred embodiment, the main control module includes:
Storage unit: it for storing the current way point information obtained, and numbers in order and is kept records of；
Judge processing unit: for obtaining current destination, and the unmanned boat is judged and/or handled according to current destination
Ship trajectory；
It makes a return voyage control unit: making a return voyage request for judging whether there is the key for receiving from controlling terminal, either
It is no to detect that the case where electric quantity of power supply is lower than certain threshold value occurs in unmanned boat or whether unmanned boat has executed the task
And unmanned boat is controlled by the boat after judging processing unit processes if there is any of the above-described situation with the disconnected connection of controlling terminal
Row track carries out reverse tracking and makes a return voyage, correcting action.
In the present embodiment, further include have for receive controlling terminal (such as remote controler) instruction RF receiving and transmission module and
Radio frequency processing module, the radio frequency processing module are generated for detecting remote command received by RF receiving and transmission module
Corresponding remote signal is simultaneously sent to control unit of making a return voyage, or when unmanned boat has executed the task and controlling terminal (as being remotely controlled
Device) there is disconnected connection so that when the radio frequency processing module can't detect remote command, the radio frequency processing module feedback information
To control unit of making a return voyage, the control unit of making a return voyage automatically controls unmanned plane execution and makes a return voyage, after judging processing unit processes
Ship trajectory carries out reverse tracking and makes a return voyage, correcting action.
In the present embodiment, whether detection unmanned boat there is the lower situation of electric quantity of power supply (lower than certain threshold value), can pass through
Voltage detector component is set and detects electric quantity of power supply, when voltage detector component detects that electric quantity of power supply is lower, generates low battery letter
Breath, unmanned boat issues low electric alarm and under the control for control unit of making a return voyage, by judging the ship trajectory after processing unit processes
It carries out reverse tracking to make a return voyage, correcting action.
In the present embodiment, judge that processing unit can be general processor, digital signal processor, specific integrated circuit
ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof etc..Controlling terminal can be to provide geography
(such as mobile phone, pad or other mobile terminals, are operated the flight controller of position coordinates by ship hand, are returned for remotely controlling unmanned boat
The operation such as boat), storage unit is volatile memory or nonvolatile memory, and storage unit stores current destination in the present invention
Storage format be (X, Y, N), wherein X, Y are current destination coordinate, and N be the current destination serial number of record, for natural number.
In a preferred embodiment, according to the judgement of current destination and/or the tool for the ship trajectory for handling the unmanned boat
Body method are as follows: interval records the destination in ship trajectory to the unmanned boat at regular intervals during navigation, and described in
Destination is recorded in GPS map and is saved.
In a preferred embodiment, one key of the execution makes a return voyage, and by treated, ship trajectory carries out control unmanned boat
Inversely tracking the process maked a return voyage includes:
Using current destination as the center of circle, preset R is that a border circular areas is arranged in radius；Judge whether deposit in the border circular areas
In the destination recorded before, if it does not exist, then increases the numerical value of R, expand the border circular areas, and rejudge the border circular areas
The interior destination recorded with the presence or absence of before；The destination recorded before if it exists then judges the destination recorded before as one still
It is multiple: if one, then the destination to be directed toward in unmanned ship's head；If multiple, then destination serial number in the border circular areas is selected
Minimum destination to record before is directed toward as the unmanned ship's head, while rejecting other destinations in the circle region；
Judge whether that the tracking for completing all destinations of record before is maked a return voyage, makes a return voyage if so, terminating a key；If it is not, then
Above-mentioned steps are returned to, the tracking of record destination is maked a return voyage until completing all.
In a preferred embodiment, the R is more than or equal to the maximum distance between the destination of two adjacent serial numbers, described
Maximum distance between the destination of two adjacent serial numbers is the maximum speed of the unmanned boat and the product of the time interval.
By using present system and method, it is remarkably improved the accuracy of system storage destination, effectively avoids nobody
Ship when making a return voyage collision obstacle due to damage, while memory when can largely save storage unit storage destination, and can be very big
Saving unmanned boat make a return voyage when institute's electricity consumption, realize that the low electricity of unmanned boat makes a return voyage.
By the description of embodiment of above, the terms such as " module ", " system " used in the present invention are intended to include and count
The relevant entity of calculation machine, such as, but not limited to hardware, firmware, combination thereof, software or software in execution, i.e. this field
Those of ordinary skill can be understood that some embodiments can add the side of required general hardware platform by software
Formula is realized, naturally it is also possible to pass through hardware.Based on this understanding, above-mentioned technical proposal is substantially in other words to the prior art
The part to contribute be it is reflected in the form of hardware adds computer software product, which can deposit
It stores up in a computer-readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes certain portions of each embodiment or embodiment
Method described in point.Finally, it should be noted that embodiment described above is merely illustrative of the technical solution of the present invention, and it is not
It is limited.Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should
It is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technology
Feature is equivalently replaced, and these are modified or replaceed, and the present invention that it does not separate the essence of the corresponding technical solution is each to be implemented
The spirit and scope of example technical solution.
Claims (10)
- The control method 1. a kind of one key of unmanned boat makes a return voyage, which is characterized in that described method includes following steps:A, in unmanned boat driving process, according to preset time interval or preset distance interval, the current of unmanned boat is measured Position and current course are as current destination；B, current way point information is obtained, and numbers in order and is kept records of, while judging and/or handling according to current destination The ship trajectory of the unmanned boat；C, judge whether that needing to be implemented a key makes a return voyage, if not needing, repeats step A；If desired, then a key is executed to return Boat, control unmanned boat by treated, make a return voyage by the reverse tracking of ship trajectory progress, correcting action.
- The control method 2. one key of unmanned boat according to claim 1 makes a return voyage, which is characterized in thatIn the step B, the ship trajectory of the unmanned boat is judged and/or handled according to current destination method particularly includes: institute Stating unmanned boat, interval records the destination in ship trajectory at regular intervals during navigation, and the destination is recorded It is saved in GPS map.
- The control method 3. one key of unmanned boat according to claim 2 makes a return voyage, which is characterized in thatIn the step B, the storage format of current destination is (X, Y, N), wherein X, Y are current destination coordinate；N is record Current destination serial number is natural number.
- The control method 4. one key of unmanned boat according to claim 1 makes a return voyage, which is characterized in thatIn the step C, judge whether that needing to be implemented a case where key makes a return voyage includes:It judges whether there is the key for receiving from controlling terminal to make a return voyage request, if there is the key for receiving controlling terminal to make a return voyage Request, then execute a key and make a return voyage；OrIt judges whether there is and detects the case where unmanned boat electric quantity of power supply occurs lower than certain threshold value, when detecting that unmanned boat occurs When electric quantity of power supply is lower than certain threshold value, then executes a key and make a return voyage；OrJudge whether unmanned boat has executed the task and broken with controlling terminal to join, above situation such as occurs, then execute a key It makes a return voyage.
- The control method 5. one key of unmanned boat according to claim 2 makes a return voyage, which is characterized in thatIt in the step C, executes a key and makes a return voyage, ship trajectory progress inversely tracks the mistake maked a return voyage to control unmanned boat by treated Journey includes:C1, using current destination as the center of circle, preset R be radius be arranged a border circular areas；C2, judge the destination recorded in the border circular areas with the presence or absence of before, if it does not exist, then increase the numerical value of R, described in expansion Border circular areas, and rejudge the destination recorded with the presence or absence of before in the border circular areas；The destination recorded before if it exists, then The destination recorded before judging is as one or multiple: if one, then the destination being directed toward in unmanned ship's head；If more It is a, then select the minimum destination recorded before destination serial number in the border circular areas to be directed toward as the unmanned ship's head, together When reject in the circle region other destinations；C3, judge whether that the tracking for completing all destinations of record before is maked a return voyage, make a return voyage if so, terminating a key；If it is not, then returning Step C1 is returned, the tracking of record destination is maked a return voyage until completing all.
- The control method 6. one key of unmanned boat according to claim 5 makes a return voyage, which is characterized in thatThe R is more than or equal to the maximum distance between the destination of two adjacent serial numbers, between the destination of described two adjacent serial numbers Maximum distance be the unmanned boat maximum speed and the time interval product.
- The control system 7. a kind of one key of unmanned boat makes a return voyage, it is characterised in that: the system comprises:Acquisition module: for according to preset time interval or preset distance interval, measuring nothing in unmanned boat driving process The current location of people's ship and current course are sent to main control module as current destination；Main control module: for obtaining current way point information, and numbering in order and kept records of, while being sentenced according to current destination Ship trajectory that is disconnected and/or handling the unmanned boat；And judge whether that needing to be implemented a key makes a return voyage, and if desired executes a key and returns Boat, then controlling unmanned boat, the reverse tracking of ship trajectory progress is maked a return voyage along treated, correcting action.
- The control system 8. one key of unmanned boat according to claim 7 makes a return voyage, which is characterized in that the acquisition module includes:GPS navigation module: for measuring the current location of unmanned boat according to preset time interval or preset distance interval；Electronic compass: for measuring the current course of unmanned boat according to preset time interval or preset distance interval.
- The control system 9. one key of unmanned boat according to claim 7 makes a return voyage, which is characterized in that the main control module includes:Storage unit: it for storing the current way point information obtained, and numbers in order and is kept records of；Judge processing unit: for obtaining current destination, and the navigation of the unmanned boat is judged and/or handled according to current destination Track；It makes a return voyage control unit: making a return voyage request, or whether have for judging whether there is the key for receiving from controlling terminal Detect the case where there is electric quantity of power supply lower than certain threshold value in unmanned boat or unmanned boat whether executed the task and with The disconnected connection of controlling terminal controls unmanned boat by the navigation rail after judging processing unit processes if there is any of the above-described situation Mark carries out reverse tracking and makes a return voyage, correcting action.
- The control system 10. one key of unmanned boat according to claim 9 makes a return voyage, which is characterized in thatOne key of the execution makes a return voyage, and control unmanned boat inversely tracks the process maked a return voyage by the progress of treated ship trajectory and includes:Using current destination as the center of circle, preset R is that a border circular areas is arranged in radius；Judge in the border circular areas with the presence or absence of it The destination of preceding record then increases the numerical value of R if it does not exist, expands the border circular areas, and rejudges in the border circular areas and be The destination recorded before no presence；The destination recorded before if it exists, the then destination recorded before judging are as one or multiple: If one, then the destination is directed toward in unmanned ship's head；If multiple, then select in the border circular areas before destination serial number The minimum destination of record is directed toward as the unmanned ship's head, while rejecting other destinations in the circle region；Judge whether that the tracking for completing all destinations of record before is maked a return voyage, makes a return voyage if so, terminating a key；If it is not, then returning Above-mentioned steps, the tracking of record destination is maked a return voyage until completing all.
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