CN109002036B - Unmanned ship one-key return control system and method - Google Patents
Unmanned ship one-key return control system and method Download PDFInfo
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- CN109002036B CN109002036B CN201810378257.9A CN201810378257A CN109002036B CN 109002036 B CN109002036 B CN 109002036B CN 201810378257 A CN201810378257 A CN 201810378257A CN 109002036 B CN109002036 B CN 109002036B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a one-key return control system and a one-key return control method for an unmanned ship, which comprise the following steps of: A. measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship; B. acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint; C. judging whether one-key return voyage needs to be executed or not, and if not, repeatedly executing the step A; and if so, executing one-key return flight, controlling the unmanned ship to carry out reverse tracking return flight according to the processed flight path, and returning to the initial position. By the one-key return control method for the unmanned ship, the accuracy of a system for storing the waypoint is obviously improved, the collision of the unmanned ship with an obstacle during return can be effectively avoided, the memory of the storage unit during storage of the waypoint is saved, and the electric quantity used during return of the unmanned ship is greatly saved.
Description
Technical Field
The invention belongs to the technical field of unmanned ship control, and particularly relates to a one-key return control system and method for an unmanned ship.
Background
The unmanned ship is a novel water monitoring platform, wherein waters such as rivers, lakes, reservoirs, seacoasts, estuaries and the like are taken as objects, a small ship is taken as a carrier, positioning navigation, communication and control equipment is integrated, various monitoring sensors can be carried, and specific hydrological and water environment element monitoring is completed in a remote control/autonomous working mode. The unmanned ship has the characteristics of flexible arrangement, economic cost, automatic measurement and the like, and has wide application prospects in the aspects of hydrological element observation, water environment monitoring, reservoir and river sediment accumulation evaluation, hydraulic engineering site selection, underwater archaeology and the like. With the development of scientific technology, the application research of unmanned ships is more and more extensive, and technologies such as a path planning technology, an autonomous navigation technology and a one-key return navigation are key problems related to the research of unmanned ships and are important contents of artificial intelligence research of unmanned ships, and the level of the intelligent level of the unmanned ships is marked to a certain extent. Unmanned ships need to navigate and operate autonomously in complex marine environments and return safely after the operation is completed, so that the unmanned ships have more rigorous requirements on maneuverability, control performance and reliability. In order to ensure that the unmanned ship completes various complex tasks safely, reliably and autonomously and returns safely, more advanced technologies such as path planning, autonomous navigation and one-key returning need to be researched.
When the unmanned ship runs on the water surface, if special conditions such as disconnection of a remote controller and low power are met, one-key return navigation is required to be executed, and the unmanned ship runs back to the starting position. Regarding a one-key return flight technology of an unmanned ship, the following two methods mainly exist in the existing technical scheme:
one method is to record only the starting point, and when performing one-key return flight, perform a straight-line return with the starting point as a track point. The disadvantage of this solution is that the unmanned ship will inevitably be hit and damaged if there is an obstacle or bend in the course of returning along a straight line directly with the starting point as the waypoint.
Another method is to record the current position of the unmanned ship as a track point at a certain time or distance, and track the track point in the order of recording the track point when a one-key return operation is performed until the unmanned ship returns to the starting position. The scheme has the disadvantages that large memory can be generated for navigation points by indiscriminately recording the current position of the unmanned ship according to a certain time or distance, and meanwhile, when the unmanned ship repeatedly runs in one area, a plurality of repeated tracks can be generated, so that the memory is greatly wasted, and when one-key return navigation is executed, the unmanned ship repeatedly runs in one area, so that the electric quantity is greatly wasted.
Disclosure of Invention
The invention provides a one-key return control system and method for an unmanned ship, which aims to effectively avoid collision with obstacles when the unmanned ship returns, save memory when a storage unit stores waypoints and save power consumption when the unmanned ship returns.
In order to achieve the purpose, the invention adopts the following technical scheme: a one-key return control method for an unmanned ship is characterized by comprising the following steps:
A. measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship;
B. acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint;
C. judging whether one-key return voyage needs to be executed or not, and if not, repeatedly executing the step A; and if so, executing one-key return flight, controlling the unmanned ship to carry out reverse tracking return flight according to the processed flight path, and returning to the initial position.
Preferably, in the step B, a specific method of judging and/or processing the sailing trajectory of the unmanned ship according to the current waypoint is: and recording the waypoints in the navigation track at regular time intervals in the navigation process of the unmanned ship, and recording the waypoints into a GPS map for storage.
Preferably, in the step B, the storage format of the current waypoint is (X, Y, N), where X and Y are coordinates of the current waypoint, and N is a recorded serial number of the current waypoint and is a natural number.
Preferably, in the step C, the determining whether the one-touch return navigation is required to be executed includes:
judging whether a one-key return flight request from the control terminal is received or not, and if the one-key return flight request from the control terminal is received, executing the one-key return flight; or
Judging whether the power supply electric quantity of the unmanned ship is detected to be lower than a certain threshold value or not, and executing one-key return when the power supply electric quantity of the unmanned ship is detected to be lower than the certain threshold value; or
And judging whether the unmanned ship has finished executing the task and is disconnected from the control terminal, and if the unmanned ship is disconnected from the control terminal, executing one-key return flight.
Preferably, in the step C, the step of executing one-key return voyage and controlling the unmanned ship to perform reverse tracking return voyage according to the processed voyage trajectory includes:
c1, setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius;
c2, judging whether the previously recorded waypoints exist in the circular area, if not, increasing the numerical value of R, enlarging the circular area, and judging whether the previously recorded waypoints exist in the circular area again; if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or more: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area;
c3, judging whether the tracking return voyage of all the recorded waypoints is finished or not, if so, ending the one-key return voyage; if not, the process returns to step C1 until all previously recorded waypoints have been retraced.
Preferably, R is greater than or equal to the maximum distance between waypoints of two adjacent sequence numbers, and the maximum distance between waypoints of two adjacent sequence numbers is the product of the maximum speed of the unmanned ship and the time interval.
The invention also provides a one-key return control system of the unmanned ship, which is characterized in that: the system comprises:
an acquisition module: the unmanned ship is used for measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship and sending the current waypoint to the main control module;
the main control module: the unmanned ship navigation system is used for acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint; and judging whether one-key return navigation needs to be executed or not, if so, controlling the unmanned ship to carry out reverse tracking return navigation along the processed navigation track, and returning to the initial position.
Preferably, the acquisition module comprises:
the GPS navigation module: the unmanned ship is used for measuring the current position of the unmanned ship according to a preset time interval or a preset distance interval;
electronic compass: and the system is used for measuring the current course of the unmanned ship according to a preset time interval or a preset distance interval.
Preferably, the main control module includes:
a storage unit: the system is used for storing the acquired current waypoint information and storing and recording the current waypoint information according to the serial number;
a judgment processing unit: the unmanned ship navigation system is used for acquiring a current navigation point and judging and/or processing a navigation track of the unmanned ship according to the current navigation point;
a return control unit: and the control unit is used for judging whether a one-key return request from the control terminal is received or not, or whether the situation that the power supply electric quantity of the unmanned ship is lower than a certain threshold value is detected or not, or whether the unmanned ship has executed the task and is disconnected with the control terminal or not, and if any situation occurs, controlling the unmanned ship to carry out reverse tracking return according to the navigation track processed by the judgment processing unit and returning to the initial position.
Preferably, the process of executing one-key return voyage and controlling the unmanned ship to perform reverse tracking return voyage according to the processed voyage track includes:
setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius; judging whether the previously recorded waypoints exist in the circular area, if not, increasing the numerical value of R, enlarging the circular area, and judging whether the previously recorded waypoints exist in the circular area again; if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or more: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area;
judging whether the tracking return of all the previously recorded waypoints is finished, if so, ending the one-key return; if not, returning to the steps until all the previously recorded waypoints are tracked and navigated back.
The invention adopts the technical proposal to bring beneficial technical effects that: according to the technical scheme, the unmanned ship one-key return control method is realized, meanwhile, the accuracy of a system for storing a waypoint is obviously improved, the unmanned ship can be effectively prevented from colliding with an obstacle when returning, the memory of a storage unit for storing the waypoint is saved, the electric quantity used when the unmanned ship returns is greatly saved, and the unmanned ship returns at low power.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed for the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic flow chart of a one-touch return control method for an unmanned ship according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a return method for performing a one-touch return flight according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the unmanned ship's current waypoints measured according to a preset distance interval and numbered in sequence for record keeping according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a previously recorded waypoint within a circle as determined by one embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a determination that multiple previously recorded waypoints exist within a circle according to one embodiment of the present invention;
FIG. 6 is a schematic view of a voyage trajectory processed by reverse tracking during a one-touch return voyage according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a one-touch return control system for an unmanned ship according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and embodiments, which are described herein by way of illustration and are not to be construed as limiting the present invention, i.e., the described embodiments are some, but not all, embodiments of the present invention, and features of the embodiments and examples in the present application may be combined with each other without conflict.
Example 1
As shown in fig. 1, the one-key return control method for the unmanned ship provided by the invention comprises the following steps:
A. measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship;
B. acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint;
C. judging whether one-key return voyage needs to be executed or not, and if not, repeatedly executing the step A; and if so, executing one-key return flight, controlling the unmanned ship to carry out reverse tracking return flight according to the processed flight path, and returning to the initial position.
In a preferred embodiment, as shown in fig. 2, in step B, a specific method for determining and/or processing a sailing trajectory of the unmanned ship according to a current waypoint includes: and recording the waypoints in the navigation track at regular time intervals in the navigation process of the unmanned ship, and recording the waypoints into a GPS map for storage.
In a preferred embodiment, in the step B, the storage format of the current waypoint is (X, Y, N), where X and Y are the coordinates of the current waypoint; and N is the recorded current waypoint serial number and is a natural number.
In a preferred embodiment, the step C, determining whether the one-touch return journey needs to be executed includes: judging whether a one-key return flight request from the control terminal is received or not, and if the one-key return flight request from the control terminal is received, executing the one-key return flight; or judging whether the power supply electric quantity of the unmanned ship is detected to be lower than a certain threshold value or not, and executing one-key return voyage when the power supply electric quantity of the unmanned ship is detected to be lower than the certain threshold value; or judging whether the unmanned ship has executed the task and is disconnected from the control terminal, and if the task is executed, executing one-key return flight.
In a preferred embodiment, in step C, the step of performing one-key return voyage and controlling the unmanned ship to perform reverse tracking return voyage according to the processed voyage trajectory includes:
c1, setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius;
c2, judging whether the previously recorded waypoints exist in the circular area, if not, increasing the numerical value of R, enlarging the circular area, and judging whether the previously recorded waypoints exist in the circular area again; if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or more: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area;
c3, judging whether the tracking return voyage of all the recorded waypoints is finished or not, if so, ending the one-key return voyage; if not, the process returns to step C1 until all previously recorded waypoints have been retraced.
In a preferred embodiment, R is equal to or greater than the maximum distance between two consecutive numbered waypoints, the maximum distance between the two consecutive numbered waypoints being the product of the maximum speed of the unmanned ship and the time interval.
For an exemplary, more clear description of the specific method for controlling one-touch return of unmanned ship in the present invention, it is detailed as shown in fig. 3-6, and detailed steps are as follows:
step A, the unmanned ship runs along the direction shown by an arrow in figure 3, and measures the current position of the unmanned ship through a GPS navigation module and the current course of the unmanned ship through an electronic compass as a current waypoint at a certain distance D;
step B, obtaining the current waypoint information which is respectively at T1、T2、T3、T4… storing and recording waypoints into the GPS map by taking 1,2,3 and 4 … as sequence numbers at the moment;
C. judging whether one-key return voyage needs to be executed or not, and if not, repeatedly executing the step A; if the unmanned ship needs to be returned, executing one-key return voyage, controlling the unmanned ship to carry out reverse tracking return voyage according to the processed voyage track (as shown in fig. 6, carrying out the track tracking according to the sequence of the waypoint serial numbers from big to small), and returning to the initial position. Specifically, the return journey process for executing the one-key return journey comprises the steps of C1, setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius; c2, judging whether the previously recorded waypoints exist in the circular area, if not, increasing the numerical value of R, enlarging the circular area, and judging whether the previously recorded waypoints exist in the circular area again; if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or more: if the number of the navigation points is one, the navigation point of the unmanned ship is pointed to the navigation point (as shown in FIG. 4, if the navigation point N4 is recorded before the existence of the circle area is judged at the time of T5, the serial number of the navigation point at the time of T5 is equal to N4 and is stored, and the navigation point recorded at the time of T4 is deleted); if the number of the waypoints is multiple, selecting the waypoint serial number in the circular area as the minimum waypoint recorded before as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area (as shown in fig. 5, if a plurality of waypoints N7 and N8 recorded before exist in the circular area, the waypoint serial number at the current position is equal to N7 and is stored, and the waypoints N7 and N8 recorded before and the waypoints with serial numbers larger than N7 are deleted); c3, judging whether the tracking return voyage of all the recorded waypoints is finished or not, if so, ending the one-key return voyage; if not, the process returns to step C1 until all previously recorded waypoints have been retraced.
Example 2
The invention provides a one-key return control system of an unmanned ship, which comprises:
an acquisition module: the unmanned ship is used for measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship and sending the current waypoint to the main control module;
the main control module: the unmanned ship navigation system is used for acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint; and judging whether one-key return navigation needs to be executed or not, if so, controlling the unmanned ship to carry out reverse tracking return navigation along the processed navigation track, and returning to the initial position.
Further, in this embodiment, the system further includes a wireless communication module for wirelessly communicating with the control terminal, and the main control module receives a return flight instruction from the control terminal via the wireless communication module or triggers a mode such as automatic return flight.
In a preferred embodiment, the acquisition module comprises:
the GPS navigation module: the unmanned ship is used for measuring the current position of the unmanned ship according to a preset time interval or a preset distance interval;
electronic compass: and the system is used for measuring the current course of the unmanned ship according to a preset time interval or a preset distance interval.
In this embodiment, the GPS navigation module and the electronic compass are respectively connected to the main control module.
In a preferred embodiment, the main control module includes:
a storage unit: the system is used for storing the acquired current waypoint information and storing and recording the current waypoint information according to the serial number;
a judgment processing unit: the unmanned ship navigation system is used for acquiring a current navigation point and judging and/or processing a navigation track of the unmanned ship according to the current navigation point;
a return control unit: and the control unit is used for judging whether a one-key return request from the control terminal is received or not, or whether the situation that the power supply electric quantity of the unmanned ship is lower than a certain threshold value is detected or not, or whether the unmanned ship has executed the task and is disconnected with the control terminal or not, and if any situation occurs, controlling the unmanned ship to carry out reverse tracking return according to the navigation track processed by the judgment processing unit and returning to the initial position.
In this embodiment, still including being used for receiving control terminal (like the remote controller) radio frequency transceiver module and the radio frequency processing module of instruction, radio frequency processing module is used for detecting the remote controller instruction that radio frequency transceiver module received, and generate corresponding remote control signal and send to the control unit that returns a journey, or when unmanned ship carried out the task and control terminal (like the remote controller) appear disconnected so that radio frequency processing module can not detect when the remote controller instruction, radio frequency processing module feedback information gives the control unit that returns a journey, the control unit that returns a journey carries out the unmanned aerial vehicle and returns a journey according to judging the navigation orbit after the processing unit handles and carries out reverse tracking, returns initial position.
In this embodiment, whether the unmanned ship has the lower power supply electric quantity (lower than a certain threshold value) is detected, the power supply electric quantity can be detected by setting the voltage detection element, when the voltage detection element detects that the power supply electric quantity is lower, low-power-quantity information is generated, the unmanned ship sends out a low-power alarm, and under the control of the return control unit, the unmanned ship carries out reverse tracking return according to the navigation track processed by the judgment processing unit, and returns to the initial position.
In the present embodiment, the determination processing unit may be a general processor, a digital signal processor, an application specific integrated circuit ASIC, a field programmable gate array FPGA, an analog circuit, a digital circuit, a combination thereof, or the like. The control terminal can be a flight controller (such as a mobile phone, a pad or other mobile terminals, operated by a boat hand and used for remotely controlling operations such as unmanned boat return and the like) for providing geographic position coordinates, the storage unit is a volatile memory or a nonvolatile memory, and the storage format of the current waypoint stored in the storage unit is (X, Y and N), wherein X and Y are the current waypoint coordinates, N is the recorded current waypoint serial number and is a natural number.
In a preferred embodiment, the specific method for judging and/or processing the sailing track of the unmanned ship according to the current waypoint is as follows: and recording the waypoints in the navigation track at regular time intervals in the navigation process of the unmanned ship, and recording the waypoints into a GPS map for storage.
In a preferred embodiment, the process of performing one-touch return voyage and controlling the unmanned ship to perform reverse tracking return voyage according to the processed voyage trajectory includes:
setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius; judging whether the previously recorded waypoints exist in the circular area, if not, increasing the numerical value of R, enlarging the circular area, and judging whether the previously recorded waypoints exist in the circular area again; if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or more: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area;
judging whether the tracking return of all the previously recorded waypoints is finished, if so, ending the one-key return; if not, returning to the steps until all the previously recorded waypoints are tracked and navigated back.
In a preferred embodiment, R is equal to or greater than the maximum distance between two consecutive numbered waypoints, the maximum distance between the two consecutive numbered waypoints being the product of the maximum speed of the unmanned ship and the time interval.
By adopting the system and the method, the accuracy of the system for storing the waypoints can be obviously improved, the unmanned ship can be effectively prevented from being damaged due to collision with obstacles during return voyage, meanwhile, the memory of the storage unit for storing the waypoints can be greatly saved, the power consumption of the unmanned ship during return voyage can be greatly saved, and the low-power return voyage of the unmanned ship is realized.
As used in the foregoing description of the embodiments, the terms "module," "system," and the like in the present application are intended to include a computer-related entity, such as but not limited to hardware, firmware, a combination of hardware and software, or software in execution, i.e., it is obvious to those skilled in the art that some embodiments may be implemented by software plus a necessary general hardware platform, and certainly may be implemented by hardware. With this in mind, the above-described technical solutions substantially or otherwise contributing to the prior art are embodied in the form of hardware plus a computer software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments. Finally, it should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes and modifications can be made, and equivalents can be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (10)
1. A one-key return control method for an unmanned ship is characterized by comprising the following steps:
A. measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship;
B. acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint;
C. judging whether one-key return voyage needs to be executed or not, and if not, repeatedly executing the step A; if so, executing one-key return flight, and setting a circular area by taking the current waypoint as the center of a circle and taking a preset R as the radius; judging whether the previously recorded waypoints exist in the circular area, and if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or a plurality of waypoints: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area; and judging whether the tracking return of all the previously recorded waypoints is finished, and if so, finishing the one-key return.
2. The one-touch return control method for the unmanned ship according to claim 1,
in the step B, a specific method of judging and/or processing the sailing trajectory of the unmanned ship according to the current waypoint is as follows: and recording the waypoints in the navigation track at regular time intervals in the navigation process of the unmanned ship, and recording the waypoints into a GPS map for storage.
3. The one-touch return control method for the unmanned ship according to claim 2,
in the step B, the storage format of the current waypoint is (X, Y, N), wherein X and Y are coordinates of the current waypoint; and N is the recorded current waypoint serial number and is a natural number.
4. The one-touch return control method for the unmanned ship according to claim 1,
in the step C, determining whether the one-touch return navigation needs to be executed includes:
judging whether a one-key return flight request from the control terminal is received or not, and if the one-key return flight request from the control terminal is received, executing the one-key return flight; or
Judging whether the power supply electric quantity of the unmanned ship is detected to be lower than a certain threshold value or not, and executing one-key return when the power supply electric quantity of the unmanned ship is detected to be lower than the certain threshold value; or
And judging whether the unmanned ship has finished executing the task and is disconnected from the control terminal, and if the unmanned ship is disconnected from the control terminal, executing one-key return flight.
5. The one-touch return control method for the unmanned ship according to claim 2,
in the step C, determining whether a previously recorded waypoint exists in the circular area further includes:
and if the previously recorded waypoint does not exist, increasing the numerical value of the R, expanding the circular area, and judging whether the previously recorded waypoint exists in the circular area again.
6. The one-touch return control method for the unmanned ship according to claim 5,
and R is greater than or equal to the maximum distance between the waypoints of two adjacent serial numbers, and the maximum distance between the waypoints of two adjacent serial numbers is the product of the maximum speed of the unmanned ship and the time interval.
7. The utility model provides an unmanned ship key control system that navigates back which characterized in that: the system comprises:
an acquisition module: the unmanned ship is used for measuring the current position and the current course of the unmanned ship as a current waypoint according to a preset time interval or a preset distance interval in the running process of the unmanned ship and sending the current waypoint to the main control module;
the main control module: the unmanned ship navigation system is used for acquiring current waypoint information, numbering the waypoint information in sequence, storing and recording the waypoint information, and judging and/or processing the navigation track of the unmanned ship according to the current waypoint; judging whether one-key return voyage needs to be executed or not, and if the one-key return voyage needs to be executed, setting a circular area by taking the current waypoint as the circle center and taking a preset R as the radius; judging whether the previously recorded waypoints exist in the circular area, and if the previously recorded waypoints exist, judging whether the previously recorded waypoints are one or a plurality of waypoints: if the number of the unmanned ship is one, the course of the unmanned ship is pointed to the waypoint; if the number of the waypoints is multiple, selecting the waypoint with the smallest recorded waypoint sequence number in the circular area as the heading direction of the unmanned ship, and simultaneously rejecting other waypoints in the circular area; and judging whether the tracking return of all the previously recorded waypoints is finished, and if so, finishing the one-key return.
8. The unmanned ship one-touch return control system of claim 7, wherein the acquisition module comprises:
the GPS navigation module: the unmanned ship is used for measuring the current position of the unmanned ship according to a preset time interval or a preset distance interval;
electronic compass: and the system is used for measuring the current course of the unmanned ship according to a preset time interval or a preset distance interval.
9. The unmanned ship one-key return control system according to claim 7, wherein the main control module comprises:
a storage unit: the system is used for storing the acquired current waypoint information and storing and recording the current waypoint information according to the serial number;
a judgment processing unit: the unmanned ship navigation system is used for acquiring a current navigation point and judging and/or processing a navigation track of the unmanned ship according to the current navigation point;
a return control unit: the system is used for judging whether a one-key return request from the control terminal is received or not, or whether the situation that the power supply electric quantity of the unmanned ship is lower than a certain threshold value is detected or not, or whether the unmanned ship has already executed the task and is disconnected with the control terminal, and if any situation occurs, the unmanned ship is controlled to execute one-key return and return to the initial position.
10. The unmanned ship one-touch return control system according to claim 9,
the process of performing a one-touch return voyage further comprises:
and if the previously recorded waypoint does not exist, increasing the numerical value of the R, expanding the circular area, and judging whether the previously recorded waypoint exists in the circular area again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810378257.9A CN109002036B (en) | 2018-04-25 | 2018-04-25 | Unmanned ship one-key return control system and method |
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| CN109521775A (en) * | 2018-12-28 | 2019-03-26 | 珠海市汉图达科技有限公司 | A kind of unmanned boat makes a return voyage control system and method automatically |
| CN110968108A (en) * | 2019-12-20 | 2020-04-07 | 国家海洋局南海调查技术中心 | Unmanned ship autonomous navigation method and control system |
| CN111142527B (en) * | 2019-12-31 | 2023-08-11 | 陕西欧卡电子智能科技有限公司 | Tracking control method for arbitrary path of unmanned ship |
| CN111664849A (en) * | 2020-06-08 | 2020-09-15 | 寰易(广东)应急安全科技集团有限公司 | Automatic returning method and device for unmanned ship |
| EP3957558A1 (en) | 2020-08-20 | 2022-02-23 | Volvo Penta Corporation | Situation avoidance systems for marine vessels |
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