CN109421900A - A kind of control method and system for solving the problems, such as to topple in unmanned boat navigation - Google Patents
A kind of control method and system for solving the problems, such as to topple in unmanned boat navigation Download PDFInfo
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- CN109421900A CN109421900A CN201710761644.6A CN201710761644A CN109421900A CN 109421900 A CN109421900 A CN 109421900A CN 201710761644 A CN201710761644 A CN 201710761644A CN 109421900 A CN109421900 A CN 109421900A
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- air bag
- unmanned boat
- toppling
- hull
- topple
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/12—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using inboard air containers or inboard floating members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/12—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using inboard air containers or inboard floating members
- B63B2043/126—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using inboard air containers or inboard floating members pneumatic, e.g. inflatable on demand
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of control method for solving the problems, such as to topple in unmanned boat navigation, sends control instruction to corresponding attitude updating unit according to direction of toppling；Attitude updating unit includes the air bag that unmanned boat is symmetrical set, and the air bag of two sides includes A air bag in the outer part and B group air bag in the inner part；Attitude updating unit opens corresponding air bag after receiving control instruction in the following order: opening and the A air bag for contrary side of toppling, hull start to rotate；It is opened after separated in time t1 and the B group air bag for contrary side of toppling；The B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；The A air bag with direction phase the same side of toppling is opened after separated in time t2；Recycling air bag is chosen whether according to damage situations.The present invention improves the survival ability under harsh conditions by special air bag position and special air bag opening sequence to enhance self ability of righting after unmanned boat topples.
Description
Technical field
The present invention relates to unmanned boat control technology field more particularly to a kind of controls for solving the problems, such as to topple in unmanned boat navigation
Method and system processed.
Background technique
Unmanned boat scientific name " water surface robot ", be one kind do not need it is manned operate, by remote control, or even be not required to
Manipulate can autonomous navigation execute task robot waterborne.Compare and is suitably executed dangerous or uninteresting, the duplicate military, people
With 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 the development of society, people gradually crave for the unmanned to reach reduction operating risk of ship in shipbuilding industry,
Operating efficiency is improved, the purpose of operation cost of enterprises is reduced.Unmanned boat has gradually moved towards medium-sizedization from original miniature self-service ship
Even enlargement, and the function that unmanned boat is included is also more and more abundant, such as environment detection, water quality monitoring etc..Unmanned deck
The running environment faced is also more and more severe, and during completion task, unmanned boat can inevitably be led because of shock, the reasons such as billow
Cause topples or sinks.How can make its auto-strengthening when unmanned boat topples or sinking is avoided just to continue at one
It solves the problems, such as, if let go unchecked, will result in fund and waste, water pollution and so on.It is now most of nobody
Ship lacks topple after self or the function saved oneself of sinking, cause to be easy to appear when facing some adverse circumstances it is some not
Repairable loss, can not work on after toppling such as unmanned boat or when function is badly damaged can not data collection, Zhi Nengren
It sinks, and the salvaging cost after sinking is salvaged much higher than the water surface.
Summary of the invention
The technical problem to be solved by the present invention is provide it is a kind of solve the problems, such as in unmanned boat navigation the control method toppled and
System improves its survival ability in the extreme circumstances to enhance self ability of righting after unmanned boat topples.
The technical solution taken by the invention to solve the above technical problem are as follows: topple and ask in a kind of navigation of solution unmanned boat
The control method of topic, it is characterised in that: it the following steps are included:
S1, judge whether unmanned boat topples；
S2, when judging that unmanned boat toppled, then corresponding attitude updating signal is issued according to direction of toppling；
S3, according to direction of toppling, send control instruction to corresponding attitude updating unit；
The attitude updating unit includes the air bag that unmanned boat is symmetrical set, and the air bag of two sides includes A in the outer part
Air bag and B group air bag in the inner part, B group air bag includes several air bags being arranged from front to back；
S4, attitude updating unit open corresponding air bag after receiving control instruction in the following order:
The correction first stage: it opens and the A air bag for contrary side of toppling, hull starts to rotate；After separated in time t1
It opens and the B group air bag for contrary side of toppling, hull continues rotation until stablizing；
Correction second stage: the B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；Separated in time t2
The A air bag with direction phase the same side of toppling is opened afterwards, and hull continues rotation until stablizing；
S5, judge whether hull and various functions are damaged, choose whether recycling air bag according to damage situations.
According to the above method, the S1 acquires Angle of Heel by the gyroscope that hull carries, and the normal model of Angle of Heel is arranged
Enclose, when acquisition Angle of Heel be more than the normal range (NR), then judge that unmanned boat topples.
According to the above method, the S2 judges left-leaning or Right deviation with specific reference to collected Angle of Heel, then if "Left"-deviationist
High level is sent, then sends low level if Right deviation.
According to the above method, the S5 specifically: if hull inflow is more than threshold value, or have great functional fault, then send out
Distress signal out；Otherwise air bag is recycled, sends and topples and correct report；The great functional fault includes: that 1. unmanned boats are dynamic
(rudder blade is damaged, hydraulic rotation for the damage of 2. steering systems for Force system damage (propeller blade is damaged, and motor is burnt out, drive shafts fracture)
Steering engine structure leakage pressure oil) (antenna is hit the damage of 3. positioning systems damage (positioning chip is burnt out because of damage and water inflow) 4. communication module
It breaks up and splits).
According to the above method, t1=t2=10s in the S4.
A kind of control system for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: it includes:
Attitude monitoring unit, for judging whether unmanned boat topples, when judging that unmanned boat toppled, then according to direction sending of toppling
Corresponding attitude updating signal；
Attitude updating unit, including the air bag that unmanned boat is symmetrical set, the air bag of two sides include A air bag in the outer part and
B group air bag in the inner part, B group air bag include several air bags being arranged from front to back；
Central processing unit, for receiving and sending control according to direction of toppling according to the attitude updating signal of attitude monitoring unit
It instructs to corresponding attitude updating unit, so that the air bag in attitude updating unit is opened in the following order:
The correction first stage: it opens and the A air bag for contrary side of toppling, hull starts to rotate；After separated in time t1
It opens and the B group air bag for contrary side of toppling, hull continues rotation until stablizing；
Correction second stage: the B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；Separated in time t2
The A air bag with direction phase the same side of toppling is opened afterwards, and hull continues rotation until stablizing；
Central processing unit is also used to judge after calibration whether hull and various functions are damaged, and is chosen whether back according to damage situations
Getter capsule；
Air bag recovery unit, for the control underwater recovery air bag in central processing unit.
By above system, the attitude updating unit further includes the gas cylinder being connect by pipeline with air bag, sets on pipeline
The charging valve set.
By above system, the air bag recovery unit includes the bleeder valve being arranged on pipeline, and for rolling gas
The cable picking and laying machine of capsule.
By above system, it further includes information feedback unit, for being controlled by central processing unit, is more than in hull inflow
Threshold value, or while having great functional fault, send an SOS；Otherwise it sends and topples and correct report.
The invention has the benefit that can be made by special air bag position and special air bag opening sequence
The unmanned boat stabilization toppled and quick auto-strengthening, while also there is good secondary ability of righting (air bag recycling),
So that unmanned boat reduces the navigation risk of adverse circumstances, the success rate that unmanned boat works in severe waters is improved, is guaranteed
The safety of unmanned boat and the collected data of unmanned boat when great function is damaged also can guarantee that unmanned boat is not sent out
Raw sinking keeps salvaging recycling more convenient.
Detailed description of the invention
Fig. 1 is the method flow diagram of one embodiment of the invention.
Fig. 2 is the flow chart of step S1 in the method for one embodiment of the invention.
Fig. 3 is the flow chart for correcting the first stage.
Fig. 4 is the flow chart for correcting second stage.
Fig. 5 is the flow chart of step S5 in the method for one embodiment of the invention.
Fig. 6 is the system block diagram of one embodiment of the invention.
Fig. 7 is the schematic view of the mounting position of air bag in the system of one embodiment of the invention.
Fig. 8 is hull each stage hull form schematic diagram in auto-strengthening process in one embodiment of the invention.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention will be further described.
The present invention provides a kind of control method for solving the problems, such as to topple in unmanned boat navigation, as shown in Figure 1, it includes following
Step:
S1, judge whether unmanned boat topples, as shown in Fig. 2, the gyroscope that can specifically carry by hull acquires Angle of Heel, setting
The normal range (NR) α ∈ (a, b) of Angle of Heel, when acquisition Angle of Heel be more than the normal range (NR), then judge that unmanned boat topples.
S2, when judging that unmanned boat toppled, then corresponding attitude updating signal is issued according to direction of toppling, specifically can basis
Collected Angle of Heel judgement "Left"-deviationist or Right deviation, then send high level if "Left"-deviationist, then send low level if Right deviation.
S3, according to direction of toppling, send control instruction to corresponding attitude updating unit；The attitude updating unit packet
The air bag that unmanned boat is symmetrical set is included, as shown in fig. 7, the air bag of two sides includes A air bag in the outer part and B in the inner part
Group air bag, B group air bag includes several air bags being arranged from front to back, and B group air bag has B1, B2, B3 tri- in the present embodiment.
S4, attitude updating unit open corresponding air bag after receiving control instruction in the following order, so that hull is automatic
Change form as shown in Figure 8 in righting process:
It corrects the first stage, as shown in Figure 3: opening and the A air bag for contrary side of toppling, hull start to rotate, do so
Purpose be prevent the disturbance of stormy waves stream make hull righting direction with plan it is contrary；It opens and inclines after separated in time t1
The B group air bag of contrary side is covered, hull continues rotation until stablizing；
Second stage is corrected, as shown in Figure 4: opening the B group air bag with direction phase the same side of toppling, hull starts to rotate；Interval
The A air bag with direction phase the same side of toppling is opened after certain time t2, hull continues rotation until stablizing.
T1=t2=10s in the present embodiment, charge valve is automatically closed when inside air bag has certain pressure.
S5, judge whether hull and various functions are damaged, choose whether recycling air bag according to damage situations, it is specific such as Fig. 5
It is shown: if hull inflow is more than threshold value, or to have great functional fault, then emergency letter is sent to control centre by satellite communication
Number, allow tissue that special messenger is sent to recycle unmanned boat；Otherwise recycling air bag is used for next time, and transmission topples and corrects report, at the same by this
Secondary correction data save, so as to later analysis；The great functional fault includes: 1. unmanned boat dynamical systems damage (spiral
Paddle blade is damaged, and motor is burnt out, drive shafts fracture) 2. steering systems damage (rudder blade is damaged, hydraulic rotation steering engine structure leakage pressure oil)
3. positioning system damage (positioning chip is burnt out because of damage and water inflow) 4. communication module damage (antenna be impacted rupture).
A kind of control system for solving the problems, such as to topple in unmanned boat navigation, as shown in fig. 6, it includes: attitude monitoring unit,
For judging whether unmanned boat topples, when judging that unmanned boat toppled, then corresponding attitude updating letter is issued according to direction of toppling
Number；Attitude updating unit, including the air bag that unmanned boat is symmetrical set, the air bag of two sides include A air bag in the outer part and
B group air bag in the inner part, B group air bag include several air bags being arranged from front to back；Central processing unit, for receiving simultaneously basis
The attitude updating signal of attitude monitoring unit sends control instruction to corresponding attitude updating unit according to direction of toppling, so that
Air bag in attitude updating unit is opened in the following order: the correction first stage: opening and the A gas for contrary side of toppling
Capsule, hull start to rotate；It is opened after separated in time t1 and the B group air bag for contrary side of toppling, hull continues to rotate
Until stablizing；Correction second stage: the B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；One timing of interval
Between A air bag with direction phase the same side of toppling is opened after t2, hull continues rotation until stablizing；Central processing unit is also used in school
Just judging whether hull and various functions are damaged afterwards, is choosing whether recycling air bag according to damage situations；Air bag recovery unit, is used for
In the control underwater recovery air bag of central processing unit.
The charge valve that the attitude updating unit further includes the gas cylinder being connect by pipeline with air bag, is arranged on pipeline
Door.After attitude updating unit receives instruction, air bag locking can be first released, then successively open charging valve.
The air bag recovery unit includes the bleeder valve being arranged on pipeline, and the cable picking and laying machine for rolling air bag.
This system further includes information feedback unit, is more than threshold value in hull inflow for being controlled by central processing unit, or
It sends an SOS when having great functional fault；Otherwise it sends and topples and correct report.
From the foregoing it can be that the present invention passes through special air bag position and special air bag opening sequence, it can
Keep the unmanned boat to have toppled stable and quick auto-strengthening, while also there is good secondary ability of righting (air bag time
Receive) so that unmanned boat reduces the navigation risk of adverse circumstances, the success rate that unmanned boat works in severe waters is improved,
The safety that ensure that unmanned boat and the collected data of unmanned boat also can guarantee unmanned boat when great function is damaged
It does not sink, keeps salvaging recycling more convenient.
After electronic gyroscope determines hull righting, control air bags valve is opened, and gas is released, deflated balloon, air bag
Recovering mechanism is started to work.After air bag recycles, hull righting program is completed after entire unmanned boat topples, and unmanned boat continues just
Often work.By the opening and recycling of internal airbag, the correction of the posture after unmanned boat topples, and the repeatable benefit of air bag are fast implemented
With can also repeatedly open, improve the safety of unmanned boat to the full extent and continue working ability.Unmanned boat is avoided to incline
It covers rear screw shaft and leaves the phenomenon that water surface causes unmanned boat to run out of steam, strong real-time is quick on the draw, and can be widely applied to nobody
In the product of ship.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (9)
1. a kind of solve the problems, such as the control method toppled in unmanned boat navigation, it is characterised in that: it the following steps are included:
S1, judge whether unmanned boat topples；
S2, when judging that unmanned boat toppled, then corresponding attitude updating signal is issued according to direction of toppling；
S3, according to direction of toppling, send control instruction to corresponding attitude updating unit；
The attitude updating unit includes the air bag that unmanned boat is symmetrical set, and the air bag of two sides includes A in the outer part
Air bag and B group air bag in the inner part, B group air bag includes several air bags being arranged from front to back；
S4, attitude updating unit open corresponding air bag after receiving control instruction in the following order:
The correction first stage: it opens and the A air bag for contrary side of toppling, hull starts to rotate；After separated in time t1
It opens and the B group air bag for contrary side of toppling, hull continues rotation until stablizing；
Correction second stage: the B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；Separated in time t2
The A air bag with direction phase the same side of toppling is opened afterwards, and hull continues rotation until stablizing；
S5, judge whether hull and various functions are damaged, choose whether recycling air bag according to damage situations.
2. the control method according to claim 1 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
S1 acquires Angle of Heel by the gyroscope that hull carries, and the normal range (NR) of Angle of Heel is arranged, when the Angle of Heel of acquisition is more than described
Normal range (NR), then judge that unmanned boat topples.
3. the control method according to claim 1 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
S2 judges left-leaning or Right deviation with specific reference to collected Angle of Heel, then sends high level if "Left"-deviationist, then sends if Right deviation
Low level.
4. the control method according to claim 1 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
S5 specifically: if hull inflow is more than threshold value, or have great functional fault, then send an SOS；Otherwise air bag is recycled, is sent out
It send and topples and correct report；The great functional fault includes: the damage of unmanned boat dynamical system, steering system damage, positioning
System failure and communication module damage.
5. the control method according to claim 1 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
T1=t2=10s in S4.
6. a kind of control system for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: it includes:
Attitude monitoring unit, for judging whether unmanned boat topples, when judging that unmanned boat toppled, then according to direction sending of toppling
Corresponding attitude updating signal；
Attitude updating unit, including the air bag that unmanned boat is symmetrical set, the air bag of two sides include A air bag in the outer part and
B group air bag in the inner part, B group air bag include several air bags being arranged from front to back；
Central processing unit, for receiving and sending control according to direction of toppling according to the attitude updating signal of attitude monitoring unit
It instructs to corresponding attitude updating unit, so that the air bag in attitude updating unit is opened in the following order:
The correction first stage: it opens and the A air bag for contrary side of toppling, hull starts to rotate；After separated in time t1
It opens and the B group air bag for contrary side of toppling, hull continues rotation until stablizing；
Correction second stage: the B group air bag with direction phase the same side of toppling is opened, hull starts to rotate；Separated in time t2
The A air bag with direction phase the same side of toppling is opened afterwards, and hull continues rotation until stablizing；
Central processing unit is also used to judge after calibration whether hull and various functions are damaged, and is chosen whether back according to damage situations
Getter capsule；
Air bag recovery unit, for the control underwater recovery air bag in central processing unit.
7. the control system according to claim 6 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
The charging valve that attitude updating unit further includes the gas cylinder being connect by pipeline with air bag, is arranged on pipeline.
8. the control system according to claim 7 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: described
Air bag recovery unit includes the bleeder valve being arranged on pipeline, and the cable picking and laying machine for rolling air bag.
9. the control system according to claim 6 for solving the problems, such as to topple in unmanned boat navigation, it is characterised in that: it is also wrapped
Hair when including information feedback unit, be more than threshold value in hull inflow for being controlled by central processing unit, or having great functional fault
Distress signal out；Otherwise it sends and topples and correct report.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761644.6A CN109421900B (en) | 2017-08-30 | 2017-08-30 | Control method and system for solving problem of overturning of unmanned ship during navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710761644.6A CN109421900B (en) | 2017-08-30 | 2017-08-30 | Control method and system for solving problem of overturning of unmanned ship during navigation |
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| CN109421900A true CN109421900A (en) | 2019-03-05 |
| CN109421900B CN109421900B (en) | 2020-11-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111745649A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot leveling method and device |
| CN114735181A (en) * | 2022-04-28 | 2022-07-12 | 广西玉柴动力股份有限公司 | Control method and system for preventing side turning of boat |
| CN115230885A (en) * | 2022-07-11 | 2022-10-25 | 滁州圆信苏滁测绘地理信息有限公司 | Unmanned survey ship with anticollision function |
| CN117416877A (en) * | 2023-12-19 | 2024-01-19 | 山东大学 | Wind power installation ship, intelligent safe operation control system and method |
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