CN109213135A - A kind of unmanned boat control method and device solving the problems, such as that complicated water channel is current - Google Patents
A kind of unmanned boat control method and device solving the problems, such as that complicated water channel is current Download PDFInfo
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- CN109213135A CN109213135A CN201710541370.XA CN201710541370A CN109213135A CN 109213135 A CN109213135 A CN 109213135A CN 201710541370 A CN201710541370 A CN 201710541370A CN 109213135 A CN109213135 A CN 109213135A
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- G—PHYSICS
- 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 kind of unmanned boat control method and device for solving the problems, such as that complicated water channel is current, unmanned boat is obtained from the position on electronic chart using big-dipper satellite, the tide table that satellite obtains located sites is led to by day simultaneously, real-time depth of water update is carried out to electronic chart using volume of data such as tidal heights in processor module, the new electronic chart with the practical depth of water is obtained, a passable navigation route is planned by processor unit.The present invention regenerates the electronic chart of complicated narrow waters by tide table, fully consider that the reality of complicated narrow waters can navigate by water the depth of water, it avoids and absorbs water the stranded phenomenon that deeper large-scale unmanned boat may occur when with the electronic chart of depth of water inaccuracy, strong real-time, passage performance and safety that large-scale unmanned boat is directed to complicated narrow water are substantially increased, the composite can be widely applied in unmanned boat product.
Description
Technical field
The invention belongs to unmanned boat control technology field more particularly to a kind of unmanned boats for solving the problems, such as that complicated water channel is current
Control method and device.
Background technique
Unmanned boat scientific name " water surface robot ", be one kind do not need it is manned operate, pass through remote control, in this embodiment it is not even necessary to
Manipulation can autonomous navigation execute task robot waterborne.Compare be suitably executed it is dangerous or uninteresting, duplicate military, civilian
Task, such as it is used in the fields such as military attack, security protection patrol, landforms mapping, environmental monitoring, emergency management and rescue.
With social development, in Shipping industry, people gradually crave for the unmanned to reach reduction personal management of ship
Cost improves Transport Safety and efficiency, increases the purpose of corporate profit margin.Therefore, the enlargement of unmanned boat is unmanned boat
One of development trend, then, how to improve the nevigation safety of large-scale unmanned boat is a urgent problem.It is large-scale nobody
The characteristics of ship first is that drinking water is deeper, therefore, it is difficult to pass through the shallower water channel of the depth of water.In some special waters, such as by tide
The complicated water channel of influence, the practical depth of water can be because more apparent variation occur for flux and reflux, it is possible to which appearance at high tides may be used
Become impassable phenomenon because the depth of water is excessively shallow in ebb tide with current water channel.If at this time further according to unalterable electricity
Sub- sea chart plans course line, it is possible to the phenomenon that beaching occurs, to cause economic loss.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of unmanned boat controlling parties for solving the problems, such as that complicated water channel is current
Method and device, to enhance unmanned boat for the traffic capacity of the complicated water channel by tidal effect.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of complicated water channel passage of solution first and asks
The unmanned boat control method of topic, includes the following steps, step 1, and the electronic chart for navigating by water waters is downloaded to unmanned boat in advance
In memory；Step 2 obtains the navigation point of unmanned boat；Step 3 obtains the local real-time tide table of navigation point, and is stored in
In memory；Step 4 marks the real-time tidal height of the depth of water and tide table in conjunction with electronic chart, is sailed by computing unit calculating
The practical depth of water in row region, and electronic chart is updated, generate the new electronic chart for being able to reflect the true depth of water；Step
Five, for newly-generated electronic chart, the water channel that can pass through is calculated according to Route Planning Algorithm, forms determining navigation route, and
Send it to unmanned boat；Step 6, unmanned boat are navigated by water according to the navigation route planned；Step 7, real-time detection without
Whether people's ship yaws, if yaw, sending instruction makes unmanned boat return to navigation route, conversely, then keeping current flight state not
Become.
According to the above technical scheme, unmanned boat receives chip by Beidou satellite navigation to obtain the position of unmanned boat；Every
Set time t=30min, unmanned boat lead to satellite by day to access maritime service network, reacquire navigation point locality
Real-time tide table, is updated tide table.
According to the above technical scheme, the step 2 includes that when beginning through narrow waters, unmanned boat passes through built-in Beidou
Satellite navigation receives chip and obtains the specific navigation point on electronic chart, which is recorded in as starting navigation point and is deposited
Air route in reservoir in case of after calculates, and later with the navigation of unmanned boat, just obtains new boat again every time T=60s
Row point, and be stored into memory.After navigating by water activity end, connection navigation point is the practical boat of unmanned boat in order
Mark.
According to the above technical scheme, the step 4 specifically includes, and extracts to the bathymetric data in electronic chart, by pair
The address that should be put is arranged, and data acquisition system an A=[a1, a2, a3, a4, a5, a6, a7 ... are formed], from real-time tide table
It is middle to obtain real-time tidal height data, it is denoted as H (having sign), is all added the data in data acquisition system A by computing unit
Tidal height H obtains new data acquisition system a B=[b1, b2, b3, b4, b5, b6, b7 ...], the data in data acquisition system B are pressed
Raw address is restored in electronic chart, is updated to the bathymetric data in electronic chart, and forming one has practical depth of water number
According to electronic chart.
According to the above technical scheme, the step 5 specifically includes, and first according to starting point, destination, electronic chart, utilizes
The course line automatic generation method generation of air route binary tree (using starting point as current point, searches for the nearest barrier of current point, root
According to the air route bisectability feature of detour barrier, positions left and right child node and establish the sub- binary tree in air route；Change current point seat
Node repeats the above steps to obtain the sub- binary tree in each air route, so that feasibility air route tree is established, if M kind may.It will arrive later
Extracted up to the air route in target sea area, if amounting to N air route) one with N item may navigation route set L1；If nobody
The minimum of ship can be d by the depth of water, by every navigation route is related in set L1 bathymetric data with d compared with, then will wrap
The navigation route for having contained the bathymetric data less than d is removed from set L1, obtains a new air route set L2, this collection is combined into reality
The available navigation route set in border；Navigation route in set L2 found most based on the optimal screening of A-Star algorithm
Short path, and then obtain a predetermined navigation route calculates the navigation direction of each coordinate points on predetermined navigation route and each
The turn direction and steering angle of turning point, by the navigation direction of each coordinate points on predetermined navigation route, navigation route and
The turn direction and steering angle of each turning point are sent to navigation control unit.
The present invention also provides a kind of unmanned boat control device for solving the problems, such as that complicated water channel is current, including it is storage unit, logical
Unit, arithmetic element, course line formulation unit, navigation control unit, yaw monitoring unit are interrogated, wherein storage unit, for storing
Electronic chart, the navigation point of continuous renewal and tide table data；Communication unit, for big-dipper satellite and day lead to satellite into
Row communication is to obtain navigation point and tide table；Arithmetic element is handled for the specific data to electronic chart and tide table,
Actual bathymetric data is finally obtained, is also responsible for for practical bathymetric data to be compared by the depth of water with unmanned boat minimum, reach
To the purpose for filtering out available navigation route；Unit is formulated in course line, for being generated according to starting point, destination, electronic chart
Navigation route, and the auxiliary for receiving arithmetic element selects predetermined navigation route from route available set, by predetermined navigation route
It is sent to navigation control unit；Control unit is navigated by water, navigation direction, route speed, turning are set according to predetermined navigation route
The steering of point and steering angle, directly control the fltting speed of unmanned boat, rudder angle；Monitoring unit is yawed, real-time monitoring is used for
Whether unmanned boat occurs to yaw situation, if so, sending a command to navigation control unit carries out hull adjustment, conversely, then keeping
Current flight state is constant.
According to the above technical scheme, yaw monitoring unit includes attitude of ship feedback unit and yaw judging unit, ship appearance
State feedback unit is used for the actual course of unmanned boat Real-time Feedback and the speed of a ship or plane, yaws judging unit, for according to communication unit institute
The navigation point of acquisition is compared with predetermined navigation route, if the tolerance value beyond setting, calculates the predetermined navigation of return
The steering of route and steering angle send it to navigation control unit, and ship is made to implement go to action, conversely, then keeping working as
It is the preceding speed of a ship or plane, steady.
The beneficial effect comprise that: by obtaining the tidal height data in tide table come in ordinary electronic sea chart
Bathymetric data is updated, and is obtained a kind of electronic chart that can reflect the practical depth of water, is then carried out the excellent of air route on this basis
Change selection.So that unmanned boat greatly improves the traffic capacity of the complicated water channel by tidal effect, avoid because marking the depth of water
Calculation of Ship Grounding's problem, strong real-time caused by differing larger with the practical depth of water, reduce current risk, improve unmanned boat
Nevigation safety.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the step flow chart that the embodiment of the present invention solves the problems, such as the current unmanned boat control method of complicated water channel；
Fig. 2 is the step flow chart of unmanned boat control method step 2 in the embodiment of the present invention；
Fig. 3 is the step flow chart of unmanned boat control method step 3 in the embodiment of the present invention；
Fig. 4 is the step flow chart of unmanned boat control method step 4 in the embodiment of the present invention；
Fig. 5 is the step flow chart of unmanned boat control method step 5 in the embodiment of the present invention；
Fig. 6 is the block diagram of unmanned boat control device of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
In the embodiment of the present invention, as shown in figs 1 to 6, a kind of unmanned boat for solving the problems, such as that complicated water channel is current is provided first
Control method includes the following steps that step 1 in advance downloads to the electronic chart for navigating by water waters in the memory of unmanned boat；
Step 2 obtains the navigation point of unmanned boat；Step 3 obtains the local real-time tide table of navigation point, and is stored in memory；
Step 4 marks the real-time tidal height of the depth of water and tide table in conjunction with electronic chart, calculates navigation area by computing unit
The practical depth of water, and electronic chart is updated, generate the new electronic chart for being able to reflect the true depth of water；Step 5, for new
The electronic chart of generation calculates the water channel that can pass through according to Route Planning Algorithm, forms determining navigation route, and send it to
Unmanned boat；Step 6, unmanned boat are navigated by water according to the navigation route planned；Whether step 7, real-time detection unmanned boat are inclined
Boat, if yaw, sending instruction makes unmanned boat return to navigation route, conversely, then keeping current flight state constant.
Further, unmanned boat receives chip by Beidou satellite navigation to obtain the position of unmanned boat；When fixed
Between t=30min, unmanned boat by day leads to satellite to access maritime service network, reacquires the local real-time tide of navigation point
Nighttide table, is updated tide table.
Further, the step 2 includes that when beginning through narrow waters, unmanned boat is led by built-in big-dipper satellite
Boat receives chip and obtains the specific navigation point on electronic chart, is recorded in the navigation point as starting navigation point in memory
Air route after in case calculates, and later with the navigation of unmanned boat, just obtains new navigation point again every time T=60s, and
It is stored into memory.After navigating by water activity end, connection navigation point is the actual flight path of unmanned boat in order.
Further, the step 4 specifically includes, and extracts to the bathymetric data in electronic chart, by corresponding points
Address is arranged, and data acquisition system an A=[a1, a2, a3, a4, a5, a6, a7 ... are formed], it is obtained from real-time tide table
Real-time tidal height data, are denoted as H (having sign), the data in data acquisition system A are all added tidal height H by computing unit,
Obtain new data acquisition system a B=[b1, b2, b3, b4, b5, b6, b7 ...], the data in data acquisition system B are pressed into raw address
It is restored in electronic chart, the bathymetric data in electronic chart is updated, form the electricity with practical bathymetric data
Sub- sea chart.
Further, the step 5 specifically includes, and first according to starting point, destination, electronic chart, utilizes air route two
The course line automatic generation method generation of fork tree (using starting point as current point, searches for the nearest barrier of current point, according to detour
The air route bisectability feature of barrier positions left and right child node and establishes the sub- binary tree in air route；Change current point seat node,
It repeats the above steps to obtain the sub- binary tree in each air route, so that feasibility air route tree is established, if M kind may.Mesh will be reached later
The air route in mark sea area extracts, if amounting to N air route) one with N item may navigation route set L1；If unmanned boat
Minimum can be then d will be contained by every navigation route is related in set L1 bathymetric data compared with d by the depth of water
The navigation route of bathymetric data less than d is removed from set L1, obtains a new air route set L2, this collection, which is combined into, actually may be used
Navigation route set；Navigation route in set L2 is carried out to find shortest path based on the optimal screening of A-Star algorithm
Diameter, and then a predetermined navigation route is obtained, the navigation direction for calculating each coordinate points on predetermined navigation route and respectively turning
The turn direction and steering angle of point, by the navigation direction of each coordinate points on predetermined navigation route, navigation route and each turn
The turn direction and steering angle of curved point are sent to navigation control unit.
The present invention also provides a kind of unmanned boat control device for solving the problems, such as that complicated water channel is current, including it is storage unit, logical
Unit, arithmetic element, course line formulation unit, navigation control unit, yaw monitoring unit are interrogated, wherein storage unit, for storing
Electronic chart, the navigation point of continuous renewal and tide table data；Communication unit, for big-dipper satellite and day lead to satellite into
Row communication is to obtain navigation point and tide table；Arithmetic element is handled for the specific data to electronic chart and tide table,
Actual bathymetric data is finally obtained, is also responsible for for practical bathymetric data to be compared by the depth of water with unmanned boat minimum, reach
To the purpose for filtering out available navigation route；Unit is formulated in course line, for being generated according to starting point, destination, electronic chart
Navigation route, and the auxiliary for receiving arithmetic element selects predetermined navigation route from route available set, by predetermined navigation route
It is sent to navigation control unit；Control unit is navigated by water, navigation direction, route speed, turning are set according to predetermined navigation route
The steering of point and steering angle, directly control the fltting speed of unmanned boat, rudder angle；Monitoring unit is yawed, real-time monitoring is used for
Whether unmanned boat occurs to yaw situation, if so, sending a command to navigation control unit carries out hull adjustment, conversely, then keeping
Current flight state is constant.
Further, yaw monitoring unit includes attitude of ship feedback unit and yaw judging unit, attitude of ship feedback
Unit is used for the actual course of unmanned boat Real-time Feedback and the speed of a ship or plane, yaws judging unit, for obtained according to communication unit
Navigation point is compared with predetermined navigation route, if the tolerance value beyond setting, is calculated and is returned to predetermined navigation route
Steering and steering angle, send it to navigation control unit, so that ship is implemented go to action, conversely, then keeping current boat
It is fast, steady.
A unmanned boat control method preferred embodiment of the invention, steps are as follows:
S1, before setting out, the electronic chart of target water has been downloaded in unmanned boat memory.
S2, in upper computer end, be autonomous navigation mode by the control mode switch of unmanned boat.
S3, unmanned boat receive chip by built-in Beidou satellite navigation and obtain oneself positioning on electronic chart, make
For starting point.
S4, unmanned boat lead to satellite access maritime service network by day and obtain the tide table in the waters, and are stored in and deposit
In reservoir.
Computing unit in S5, unmanned boat is real-time to being reflected in the bathymetric data and tide table in electronic chart simultaneously
Tidal height is handled, and the original bathymetric data in electronic chart is updated to the practical depth of water.
The set that unit formulates a course line according to updated electronic chart is formulated in course line in S6, unmanned boat, therefrom
Screening out out can pass through the course line of the depth of water comprising being less than unmanned boat minimum, then one determining boat of optimization from remaining course line
Line (for example the course line time is most short), is finally transferred to flight course control unit for this determining course line.
After S7, flight course control unit obtain course data, navigation direction, navigation speed are set according to this navigation route
Degree, the steering of turning point and steering angle, directly control the fltting speed of unmanned boat, rudder angle etc..
If S8, unmanned boat offset by prebriefed pattern during navigation, monitoring unit can be yawed and perceived, yaw prison
Flight course control unit can be sent to for the steering for returning to prebriefed pattern and corner by surveying unit, it is allowed to correct the operational configuration of ship,
It is eventually returned on correct course line.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of unmanned boat control method for solving the problems, such as that complicated water channel is current, which is characterized in that include the following steps, step
One, the electronic chart for navigating by water waters is downloaded in the memory of unmanned boat in advance；Step 2 obtains the navigation point of unmanned boat；
Step 3 obtains the local real-time tide table of navigation point, and is stored in memory；Step 4 marks water in conjunction with electronic chart
The real-time tidal height of depth and tide table is calculated the practical depth of water of navigation area by computing unit, and carried out to electronic chart
It updates, generates the new electronic chart for being able to reflect the true depth of water；Step 5 is advised for newly-generated electronic chart according to air route
Cost-effective method calculates the water channel that can pass through, and forms determining navigation route, and send it to unmanned boat；Step 6, unmanned boat according to
The navigation route planned is navigated by water；Whether step 7, real-time detection unmanned boat yaw, if yaw, sending instruction makes nothing
People's ship returns to navigation route, conversely, then keeping current flight state constant.
2. the unmanned boat control method according to claim 1 for solving the problems, such as that complicated water channel is current, which is characterized in that nobody
Ship receives chip by Beidou satellite navigation to obtain the position of unmanned boat；Every set time t=30min, unmanned boat is again
The local real-time tide table of navigation point is obtained, tide table is updated.
3. the unmanned boat control method according to claim 1 or 2 for solving the problems, such as that complicated water channel is current, which is characterized in that
The step 2 includes, and when beginning through narrow waters, unmanned boat receives chip by built-in Beidou satellite navigation and obtains
The navigation point is recorded in the air route in memory in case of after as starting navigation point and counted by the specific navigation point on electronic chart
It calculates, later with the navigation of unmanned boat, just obtains new navigation point again every time T=60s, and be stored into memory
In.
4. the unmanned boat control method according to claim 1 or 2 for solving the problems, such as that complicated water channel is current, which is characterized in that
The step 4 specifically includes, and extracts to the bathymetric data in electronic chart, is arranged by the address of corresponding points, is formed
One data acquisition system A=[a1, a2, a3, a4, a5, a6, a7 ...], real-time tidal height data are obtained from real-time tide table, are remembered
For H, the data in data acquisition system A are all added by tidal height H by computing unit, obtain a new data acquisition system B=[b1,
B2, b3, b4, b5, b6, b7 ...], the data in data acquisition system B are restored in electronic chart by raw address, to electronic chart
In bathymetric data be updated, form the electronic chart with practical bathymetric data.
5. the unmanned boat control method according to claim 1 or 2 for solving the problems, such as that complicated water channel is current, which is characterized in that
The step 5 specifically includes, and first according to starting point, destination, electronic chart, is given birth to automatically using the course line of air route binary tree
The set L1 with the possible navigation route of N item is generated at method；If the minimum of unmanned boat can be d by the depth of water, will gather
Then the bathymetric data that every navigation route is related in L1 will contain the navigation route for being less than the bathymetric data of d compared with d
It is removed from set L1, obtains a new air route set L2, this collection is combined into actually available navigation route set；To set L2
In navigation route carry out the optimal screening based on A-Star algorithm, find shortest path, and then obtain a predetermined navigation road
Line calculates the navigation direction of each coordinate points and the turn direction and steering angle of each turning point on predetermined navigation route, will
The navigation direction of each coordinate points on predetermined navigation route, navigation route and turn direction and the steering angle hair of each turning point
It send to navigation control unit.
6. a kind of unmanned boat control device for solving the problems, such as that complicated water channel is current, which is characterized in that single including storage unit, communication
Unit, navigation control unit, yaw monitoring unit are formulated in member, arithmetic element, course line, wherein storage unit, for storing electronics
Sea chart, the navigation point of continuous renewal and tide table data；Communication unit is led to for leading to satellite with big-dipper satellite and day
News are to obtain navigation point and tide table；Arithmetic element is handled, finally for the specific data to electronic chart and tide table
Actual bathymetric data is obtained, is also responsible for for practical bathymetric data to be compared by the depth of water with unmanned boat minimum, reaches sieve
Select the purpose of available navigation route；Unit is formulated in course line, for generating navigation according to starting point, destination, electronic chart
Route, and the auxiliary for receiving arithmetic element selects predetermined navigation route from route available set, and predetermined navigation route is sent
To navigation control unit；Control unit is navigated by water, navigation direction, route speed, turning point are set according to predetermined navigation route
Steering and steering angle, directly control the fltting speed of unmanned boat, rudder angle；Yaw monitoring unit, for real-time monitoring nobody
Whether ship occurs to yaw situation, if so, sending a command to navigation control unit carries out hull adjustment, conversely, then keeping current
Operational configuration is constant.
7. the unmanned boat control device according to claim 6 for solving the problems, such as that complicated water channel is current, which is characterized in that yaw
Monitoring unit includes attitude of ship feedback unit and yaw judging unit, and attitude of ship feedback unit is used for unmanned boat Real-time Feedback
Actual course and the speed of a ship or plane yaw judging unit, for according to communication unit navigation point obtained and predetermined navigation route into
Row compares, if the tolerance value beyond setting, calculates the steering for returning to predetermined navigation route and steering angle, be sent to
To navigation control unit, ship is made to implement go to action, conversely, then keeping the current speed of a ship or plane, steady.
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| CN110849370A (en) * | 2019-11-14 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | Dynamic route planning method based on unmanned surface vehicle |
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| 王涛，张立华，彭认灿，曹鸿博1，姜林君: "顾及航道宽度的最短距离航线自动生成方法", 《海洋测绘》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814139A (en) * | 2019-01-24 | 2019-05-28 | 上海孚实船舶科技有限公司 | A kind of fixed route unmanned boat operational method |
| CN110849370A (en) * | 2019-11-14 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | Dynamic route planning method based on unmanned surface vehicle |
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