CN109421900B - Control method and system for solving problem of overturning of unmanned ship during navigation - Google Patents

Control method and system for solving problem of overturning of unmanned ship during navigation Download PDF

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CN109421900B
CN109421900B CN201710761644.6A CN201710761644A CN109421900B CN 109421900 B CN109421900 B CN 109421900B CN 201710761644 A CN201710761644 A CN 201710761644A CN 109421900 B CN109421900 B CN 109421900B
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overturning
air bag
unmanned ship
ship
air bags
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CN109421900A (en
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陈辉
陈中祥
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/12Improving 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00Arrangements or adaptations of signalling or lighting devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/12Improving 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
    • B63B2043/126Improving 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 invention provides a control method for solving the problem of capsizing in the navigation of an unmanned ship, which is characterized in that a control instruction is sent to a corresponding attitude correction unit according to the capsizing direction; the posture correction unit comprises air bags symmetrically arranged on the left and right sides of the unmanned ship, and the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side; after receiving the control command, the posture correction unit opens the corresponding air bags according to the following sequence: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; opening the B group of air bags on the opposite side of the overturning direction after a certain time t 1; b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t 2; and selecting whether to recover the air bag according to the damaged condition. According to the invention, the self-righting capacity of the unmanned ship after overturning is enhanced through the special arrangement position of the air bags and the special opening sequence of the air bags, and the survival capacity under severe conditions is improved.

Description

Control method and system for solving problem of overturning of unmanned ship during navigation
Technical Field
The invention relates to the technical field of unmanned ship control, in particular to a control method and a control system for solving the problem of overturning of an unmanned ship during navigation.
Background
The unmanned ship is named as a water surface robot, and is a water robot which can autonomously navigate and execute tasks without carrying people to operate and even without control through remote control. The system is suitable for carrying out dangerous or boring and repeated military and civil tasks, and is applied to the fields of military striking, security patrol, landform mapping, environment monitoring, emergency rescue and the like.
With the development of society, people gradually desire the unmanned ship in the ship industry to achieve the purposes of reducing operation risks, improving operation efficiency and reducing enterprise operation cost. The unmanned ship gradually goes to medium-sized or even large-sized from the original small-sized unmanned ship, and the unmanned ship has more and more abundant functions, such as environment detection, water quality monitoring and the like. The unmanned ship is also in increasingly severe operating environment, and during the task completion process, the unmanned ship is inevitably overturned or sunk due to the reasons of impact, heavy waves and the like. How to lead the unmanned ship to be automatically righted or avoid sinking when the unmanned ship overturns becomes a problem to be continuously solved, and if the unmanned ship is left alone, the situations of fund waste, water body pollution and the like can be caused. At present, most unmanned ships lack self-correction or self-rescue function after overturning, so that irreparable loss is easy to occur in severe environment, for example, the unmanned ships cannot continue to work after overturning or cannot recover data when the functions are seriously damaged, and can only sink, and the fishing cost after sinking is far higher than that of water surface fishing.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the control method and the control system solve the problem of overturning of the unmanned ship during navigation, so that the self-righting capacity of the unmanned ship after overturning is enhanced, and the survival capacity of the unmanned ship under severe conditions is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a control method for solving the problem of overturning in the navigation of an unmanned ship is characterized by comprising the following steps: it comprises the following steps:
s1, judging whether the unmanned ship overturns;
s2, when judging that the unmanned ship overturns, sending out a corresponding attitude correction signal according to the overturning direction;
s3, sending a control command to a corresponding attitude correction unit according to the overturning direction;
the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side, and the group B air bag comprises a plurality of air bags arranged from front to back;
s4, after receiving the control command, the posture correction unit opens the corresponding air bags according to the following sequence:
a first stage of correction: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable;
and a second correction stage: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t2, and continuing to rotate the ship body until the ship body is stable;
and S5, judging whether the ship body and various functions are damaged, and selecting whether to recover the air bags according to the damaged condition.
According to the method, the S1 acquires the transverse inclination angle through the gyroscope carried by the ship body, the normal range of the transverse inclination angle is set, and when the acquired transverse inclination angle exceeds the normal range, the unmanned ship is judged to overturn.
In the above method, the step S2 is to determine whether the vehicle is leaning left or right according to the collected roll angle, and send a high level if the vehicle is leaning left or send a low level if the vehicle is leaning right.
According to the method, the S5 specifically comprises the following steps: if the water inflow of the ship body exceeds a threshold value or major functional faults occur, sending out a distress signal; otherwise, recovering the air bag and sending a overturning and correcting report; the major functional failure comprises: 1. the method comprises the following steps of (1) damage of an unmanned ship power system (propeller blade damage, motor burnout and transmission shaft fracture) 2. damage of a steering system (rudder blade damage and hydraulic oil leakage of a hydraulic steering mechanism) 3. damage of a positioning system (a positioning chip is burnt out due to water inlet caused by damage) 4. damage of a communication module (antenna is broken due to impact).
In the method, t1= t2=10S in S4.
The utility model provides a solve control system of unmanned ship problem of toppling in navigation which characterized in that: it includes:
the attitude monitoring unit is used for judging whether the unmanned ship overturns or not, and sending out a corresponding attitude correction signal according to the overturning direction when judging that the unmanned ship overturns;
the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side, and the group B air bag comprises a plurality of air bags arranged from front to back;
the central processing unit is used for receiving and sending a control instruction to the corresponding posture correction unit according to the posture correction signal of the posture monitoring unit and the overturning direction, so that the air bag in the posture correction unit is opened according to the following sequence:
a first stage of correction: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable;
and a second correction stage: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t2, and continuing to rotate the ship body until the ship body is stable;
the central processing unit is also used for judging whether the ship body and various functions are damaged after correction, and selecting whether to recover the air bag according to the damaged condition;
and the air bag recovery unit is used for recovering the air bag under the control of the central processing unit.
According to the system, the posture correction unit further comprises an air bottle connected with the air bag through a pipeline and an inflation valve arranged on the pipeline.
According to the system, the air bag recovery unit comprises a relief valve arranged on the pipeline and a cable winder used for winding the air bag.
According to the system, the system also comprises an information feedback unit which is controlled by the central processing unit and sends out a distress signal when the water inflow of the ship body exceeds a threshold value or has major functional failure; otherwise, an overturn and correction report is sent.
The invention has the beneficial effects that: through special gasbag arrangement position and special gasbag opening order, can make the unmanned ship that has toppled stable and quick self-righting, also have good secondary righting ability (gasbag is retrieved) simultaneously, make unmanned ship reduce to adverse circumstances's navigation risk, the success rate of unmanned ship at the work of abominable waters has been improved, the security of data has been gathered to unmanned ship and unmanned ship has been guaranteed, when great function takes place to damage, also can guarantee that unmanned ship does not take place to sink, it is more convenient to make to salvage to retrieve.
Drawings
FIG. 1 is a flowchart of a method according to an embodiment of the present invention.
Fig. 2 is a flowchart of step S1 in the method according to an embodiment of the invention.
Fig. 3 is a flow chart of the first stage of correction.
Fig. 4 is a flow chart of the second stage of correction.
Fig. 5 is a flowchart of step S5 in the method according to an embodiment of the invention.
FIG. 6 is a system block diagram of an embodiment of the invention.
FIG. 7 is a schematic view of the installation position of the airbag in the system according to an embodiment of the present invention.
Fig. 8 is a schematic view of the hull form at each stage in the auto-righting process of the hull according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a control method for solving the problem of overturning in the navigation of an unmanned ship, which comprises the following steps as shown in figure 1:
and S1, judging whether the unmanned ship overturns, specifically acquiring a transverse inclination angle through a gyroscope carried by the ship body as shown in figure 2, setting a normal range alpha e (a, b) of the transverse inclination angle, and judging that the unmanned ship overturns when the acquired transverse inclination angle exceeds the normal range.
And S2, when the unmanned ship is judged to be overturned, sending a corresponding attitude correction signal according to the overturning direction, specifically judging whether the unmanned ship is leftwards inclined or rightwards inclined according to the collected roll angle, and sending a high level if the unmanned ship is leftwards inclined or sending a low level if the unmanned ship is rightwards inclined.
S3, sending a control command to a corresponding attitude correction unit according to the overturning direction; the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, as shown in fig. 7, the air bags on the two sides respectively comprise an air bag A close to the outer side and an air bag B close to the inner side, the air bag B comprises a plurality of air bags arranged from front to back, and the air bags B in the group in the embodiment comprise three air bags B1, B2 and B3.
S4, after receiving the control command, the attitude correction unit opens the corresponding air bags according to the following sequence, so that the ship body changes the shape in the automatic righting process as shown in FIG. 8:
the first stage of correction, as shown in fig. 3: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start rotating, so that the purpose of preventing disturbance of wind wave flow from enabling the ship body to be righted in the direction opposite to the planning direction is achieved; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable;
correct the second stage, as shown in fig. 4: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; after a certain time t2, the airbag A on the same side with the overturning direction is opened, and the ship body continues to rotate until the ship body is stable.
In the embodiment, t1= t2=10s, and the inflation valve is automatically closed when a certain pressure exists in the air bag.
S5, judging whether the ship body and various functions are damaged, and selecting whether to recover the air bags according to the damaged condition, as shown in fig. 5: if the water inflow of the ship body exceeds a threshold value or major functional faults exist, sending a distress signal to a control center through satellite communication, and enabling an organization to assign a specially-assigned person to recover the unmanned ship; otherwise, recovering the air bag for the next use, sending a overturning and correcting report, and storing the correcting data for later analysis; the major functional failure comprises: 1. the method comprises the following steps of (1) damage of an unmanned ship power system (propeller blade damage, motor burnout and transmission shaft fracture) 2. damage of a steering system (rudder blade damage and hydraulic oil leakage of a hydraulic steering mechanism) 3. damage of a positioning system (a positioning chip is burnt out due to water inlet caused by damage) 4. damage of a communication module (antenna is broken due to impact).
A control system for solving the problem of capsizing during the navigation of an unmanned ship, as shown in fig. 6, comprising: the attitude monitoring unit is used for judging whether the unmanned ship overturns or not, and sending out a corresponding attitude correction signal according to the overturning direction when judging that the unmanned ship overturns; the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side, and the group B air bag comprises a plurality of air bags arranged from front to back; the central processing unit is used for receiving and sending a control instruction to the corresponding posture correction unit according to the posture correction signal of the posture monitoring unit and the overturning direction, so that the air bag in the posture correction unit is opened according to the following sequence: a first stage of correction: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable; and a second correction stage: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t2, and continuing to rotate the ship body until the ship body is stable; the central processing unit is also used for judging whether the ship body and various functions are damaged after correction, and selecting whether to recover the air bag according to the damaged condition; and the air bag recovery unit is used for recovering the air bag under the control of the central processing unit.
The posture correction unit further comprises an air bottle connected with the air bag through a pipeline and an inflation valve arranged on the pipeline. After the posture correction unit receives the instruction, the locking of the air bag is firstly released, and then the inflation valves are sequentially opened.
The air bag recovery unit comprises a relief valve arranged on the pipeline and a cable winder used for winding the air bag.
The system also comprises an information feedback unit which is controlled by the central processing unit and is used for sending out a distress signal when the water inflow of the ship body exceeds a threshold value or a major functional fault occurs; otherwise, an overturn and correction report is sent.
From the above, the unmanned ship can be stably and rapidly and automatically righting the overturned unmanned ship through the special airbag arrangement position and the special airbag opening sequence, and meanwhile, the unmanned ship has good secondary righting capability (airbag recovery), so that the navigation risk of the unmanned ship to the severe environment is reduced, the success rate of the unmanned ship working in the severe water area is improved, the safety of data collected by the unmanned ship and the unmanned ship is ensured, and the unmanned ship can be ensured not to sink when major functions are damaged, so that the salvage and recovery are more convenient.
After the electronic gyroscope judges that the ship body is righted, the exhaust valve of the air bag is controlled to be opened, air is released, the air bag is shrunk, and the air bag recovery mechanism starts to work. After the air bags are recovered, the whole ship body righting procedure is completed after the unmanned ship overturns, and the unmanned ship continues to work normally. The posture correction after the unmanned ship overturns is quickly realized by opening and recovering the built-in air bag, the air bag can be repeatedly utilized and also can be opened for multiple times, and the safety and the continuous working capacity of the unmanned ship are improved to the maximum extent. The phenomenon that the propeller leaves the water surface to cause the unmanned ship to lose power after the unmanned ship overturns is avoided, the real-time performance is strong, the response is sensitive, and the unmanned ship can be widely applied to products of the unmanned ship.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (9)

1. A control method for solving the problem of overturning in the navigation of an unmanned ship is characterized by comprising the following steps: it comprises the following steps:
s1, judging whether the unmanned ship overturns;
s2, when judging that the unmanned ship overturns, sending out a corresponding attitude correction signal according to the overturning direction;
s3, sending a control command to a corresponding attitude correction unit according to the overturning direction;
the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side, and the group B air bag comprises a plurality of air bags arranged from front to back;
s4, after receiving the control command, the posture correction unit opens the corresponding air bags according to the following sequence:
a first stage of correction: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable;
and a second correction stage: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t2, and continuing to rotate the ship body until the ship body is stable;
and S5, judging whether the ship body and various functions are damaged, and selecting whether to recover the air bags according to the damaged condition.
2. The control method for solving the problem of overturning during the navigation of the unmanned ship according to claim 1, wherein: and S1, acquiring a transverse inclination angle through a gyroscope carried by the ship body, setting a normal range of the transverse inclination angle, and judging that the unmanned ship overturns when the acquired transverse inclination angle exceeds the normal range.
3. The control method for solving the problem of overturning during the navigation of the unmanned ship according to claim 1, wherein: in S2, it is determined whether the vehicle is leaning left or right based on the collected roll angle, and if the vehicle is leaning left, a high level is transmitted, and if the vehicle is leaning right, a low level is transmitted.
4. The control method for solving the problem of overturning during the navigation of the unmanned ship according to claim 1, wherein: the S5 specifically includes: if the water inflow of the ship body exceeds a threshold value or major functional faults occur, sending out a distress signal; otherwise, recovering the air bag and sending a overturning and correcting report; the major functional failure comprises: the unmanned ship has damaged a power system, a steering system, a positioning system and a communication module.
5. The control method for solving the problem of overturning during the navigation of the unmanned ship according to claim 1, wherein: t1= t2=10S in S4.
6. The utility model provides a solve control system of unmanned ship problem of toppling in navigation which characterized in that: it includes:
the attitude monitoring unit is used for judging whether the unmanned ship overturns or not, and sending out a corresponding attitude correction signal according to the overturning direction when judging that the unmanned ship overturns;
the posture correction unit comprises air bags symmetrically arranged on the left and right of the unmanned ship, the air bags on the two sides respectively comprise an air bag A close to the outer side and a group B air bag close to the inner side, and the group B air bag comprises a plurality of air bags arranged from front to back;
the central processing unit is used for receiving and sending a control instruction to the corresponding posture correction unit according to the posture correction signal of the posture monitoring unit and the overturning direction, so that the air bag in the posture correction unit is opened according to the following sequence:
a first stage of correction: opening the air bag A on the side opposite to the overturning direction, and enabling the ship body to start to rotate; b group of air bags on the side opposite to the overturning direction are opened after a certain time t1, and the ship body continues to rotate until the ship body is stable;
and a second correction stage: b group of air bags on the same side with the overturning direction are opened, and the ship body starts to rotate; opening the airbag A on the same side with the overturning direction after a certain time t2, and continuing to rotate the ship body until the ship body is stable;
the central processing unit is also used for judging whether the ship body and various functions are damaged after correction, and selecting whether to recover the air bag according to the damaged condition;
and the air bag recovery unit is used for recovering the air bag under the control of the central processing unit.
7. The control system for solving the problem of overturning during the voyage of an unmanned ship according to claim 6, wherein: the posture correction unit further comprises an air bottle connected with the air bag through a pipeline and an inflation valve arranged on the pipeline.
8. The control system for solving the problem of overturning during the voyage of an unmanned ship according to claim 7, wherein: the air bag recovery unit comprises a relief valve arranged on the pipeline and a cable winder used for winding the air bag.
9. The control system for solving the problem of overturning during the voyage of an unmanned ship according to claim 6, wherein: the ship also comprises an information feedback unit which is controlled by the central processing unit and is used for sending out a distress signal when the water inflow of the ship body exceeds a threshold value or a major functional fault occurs; otherwise, an overturn and correction report is sent.
CN201710761644.6A 2017-08-30 2017-08-30 Control method and system for solving problem of overturning of unmanned ship during navigation Active CN109421900B (en)

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