CN109426253A - A kind of control method and system for determining region sail unmanned boat at a distance - Google Patents
A kind of control method and system for determining region sail unmanned boat at a distance Download PDFInfo
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- CN109426253A CN109426253A CN201710761643.1A CN201710761643A CN109426253A CN 109426253 A CN109426253 A CN 109426253A CN 201710761643 A CN201710761643 A CN 201710761643A CN 109426253 A CN109426253 A CN 109426253A
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- sail
- unmanned boat
- setting
- acquisition
- windward
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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 present invention provides a kind of control method for determining region sail unmanned boat at a distance, carries out routeing by electronic chart and routeing unit；According to the air route planned, current desired course and the speed of a ship or plane are determined, calculate the setting of sail at this time angle windward in conjunction with the wind direction of acquisition, required setting developed area is calculated further according to wind-force；Controlling jibe mechanism, angle rotates sail windward according to setting, and controls elevating mechanism and sail is unfolded or is closed up according to setting developed area；Reality of acquisition sail angle and practical developed area windward in real time, is compared, the real-time compensation if having deviation with setting angle windward and setting developed area；During cruise, the acquisition of startup environment data under control instruction, and the data of acquisition are led into satellite by day and are sent to ground control station.The present invention improves unmanned boat in ocean and continues working ability and complex data transmittability by leading to satellite communication platform using wind energy and day.
Description
Technical field
The present invention relates to unmanned boat control technology fields, and in particular to a kind of control for determining region sail unmanned boat at a distance
Method and system.
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.
Currently, human development has gone out a large amount of unmanned product with the raising of world technology level, its peace is made full use of
Entirely, advantage low in cost, easy to maintain improves social production efficiency instead of many hand labors.In shipbuilding industry,
The appearance of unmanned boat makes worker request severe working environment, there is more sufficient safety guarantee.But in some special necks
Domain, such as monitoring unmanned boat field, traditional unmanned boat, as energy source, cannot carry out in ocean again by diesel oil or battery
Long-term work.Meanwhile traditional communication mode, such as ASI are unable to satisfy growing detection requirement.It is not autonomous in China
When telecommunication satellite, unmanned boat can not achieve sound, and the transmitted in both directions of data is not able to satisfy the requirement of high seas working.Off-lying sea is lacked
The result of weary effective monitoring is exactly that China's off-lying sea equity is unable to get guarantee, causes resources loss, economic loss.
Summary of the invention
A kind of determine the control method of region sail unmanned boat at a distance the technical problem to be solved by the present invention is providing and be
System, to enhance unmanned boat in work long hours ability and the complex data transmittability of off-lying sea.
The technical solution taken by the invention to solve the above technical problem are as follows: a kind of to determine region sail unmanned boat at a distance
Control method, it is characterised in that: it the following steps are included:
S1, routeing is carried out by electronic chart and routeing unit；
S2, current wind-force and wind direction are acquired in real time；
The air route that S3, basis have been planned, determines current desired course and the speed of a ship or plane, calculates at this time in conjunction with the wind direction of acquisition
The setting of sail angle windward, required setting developed area is calculated further according to wind-force；
Angle rotates sail windward according to setting for S4, control jibe mechanism, and controls elevating mechanism according to setting developed area to wind
Sail is unfolded or is closed up；
Reality angle and the practical developed area windward of S5, in real time acquisition sail, and S3 is calculated sets angle windward and set exhibition
It opens area to be compared, the real-time compensation if having deviation；
During S6, cruise, the acquisition of startup environment data under control instruction, and the data of acquisition are led into satellite hair by day
Toward ground control station.
According to the above method, this method further include: S7, acquired in the speed over ground and actual heading, with S1 of unmanned boat in real time
Routeing compare, corrected in real time if having deviation.
According to the above method, the S1 obtains navigation point of the unmanned boat on electronic chart especially by Beidou navigation, then
Routeing is carried out by binary tree Route Planning Algorithm and the air route A-star optimization algorithm.
According to the above method, the S3 determines setting course and the setting speed of a ship or plane with specific reference to predetermined air route, according to setting boat
The angle α windward of setting at this time is calculated to the relationship of current wind direction；The setting developed area S of sail is calculated according to the following formula:
P×S×cosα-f=ma；
In formula, P is the wind pressure of acquisition, and f is the drag overall that unmanned boat navigation is subject in the process, and m is the gross mass of unmanned boat, and a is
Unmanned boat instantaneous acceleration, wherein f, m and a are known.
A kind of control system for determining region sail unmanned boat at a distance, it is characterised in that: it includes:
Admittance integrated unit leads to satellite communication chip and Beidou satellite navigation chip comprising day, day lead to satellite chip be used for
Data connection is established between its logical satellite, carries out data transmit-receive work, and big-dipper satellite chip is used for the positioning of unmanned boat；
Signal acquisition unit, for environmental parameter needed for acquisition system and unmanned boat inherent parameters；
Master controller, was used for electronic chart and routeing unit carries out routeing, according to the air route planned, really
Fixed current desired course and the speed of a ship or plane calculate the setting of sail at this time angle windward in conjunction with the wind direction of acquisition, further according to windage scale
Setting developed area needed for calculating, the acquisition of startup environment data under control instruction, and the data of acquisition are sent to logical
Lead integrated unit；
Sail control unit, including jibe mechanism and sail elevating mechanism are rotated and are gone up and down under the control of the controller respectively；
PID regulator angle and sets developed area windward with setting for by the reality of sail angle and practical developed area windward
It is compared, real-time perfoming PID/feedback is adjusted if having deviation.
By above system, this system further includes unmanned boat state feedback unit, for by the speed over ground and reality of unmanned boat
It is corrected in real time if having deviation compared with routeing in border course.
By above system, the signal acquisition unit includes camera, camera, water monitoring device, sound reception dress
It sets, wind direction wind-force sension unit, coursespeed sensor, sail angle transducer and sail adjustable height detection unit windward.
The invention has the benefit that improving unmanned boat in ocean by leading to satellite communication platform using wind energy and day
Ability and data transmission capabilities are continued working, makes the monitoring information of unmanned boat more abundant and intuitive, has widened unmanned boat
Maximum offshore distance and monitoring range.Since data can be reduced hardware recovered frequency, be improved to emergency with real-time Transmission
The processing capacity of event can accomplish to check in time even if discovery.
Detailed description of the invention
Fig. 1 is the method flow diagram of one embodiment of the invention.
Fig. 2 is the system block diagram of 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 determining region sail unmanned boat at a distance, as shown in Figure 1, it includes following step
It is rapid:
S1, routeing is carried out by electronic chart and routeing unit.Unmanned boat is obtained in electricity especially by Beidou navigation
Navigation point on sub- sea chart, then routeing is carried out by binary tree Route Planning Algorithm and the air route A-star optimization algorithm.
S2, current wind-force and wind direction are acquired in real time, specifically detect current wind direction, wind-force perception using wind direction sension unit
Unit monitors the wind pressure P on current wind direction.
The air route that S3, basis have been planned, determines current desired course and the speed of a ship or plane, calculates in conjunction with the wind direction of acquisition
The angle windward of the setting of sail at this time, required setting developed area is calculated further according to wind-force.It is determined with specific reference to predetermined air route
Course and the setting speed of a ship or plane are set, calculates the angle α windward of setting at this time according to the relationship of setting course and current wind direction；According to following
The setting developed area S of formula calculating sail:
P×S×cosα-f=ma；
In formula, P is the wind pressure of acquisition, and f is the drag overall that unmanned boat navigation is subject in the process, and m is the gross mass of unmanned boat, and a is
Unmanned boat instantaneous acceleration, wherein f is calculated by the general-purpose algorithm of unmanned boat, can be regarded as known quantity in the present case, and m is
Known quantity, a are obtained by acceleration transducer, are also known quantity.
When carrying out routeing, it is also necessary to which instantaneous velocity v=∫ adt, t for calculating unmanned boat are the time.
Angle rotates sail windward according to setting for S4, control jibe mechanism, and controls elevating mechanism according to setting developed area
Sail is unfolded or is closed up.
Reality angle and the practical developed area windward of S5, in real time acquisition sail, and S3 is calculated sets angle windward and set
Determine developed area to be compared, the real-time compensation if having deviation can specifically be controlled by PID/feedback.
During S6, cruise, the acquisition of startup environment data under control instruction, and the data of acquisition are defended by the way that it is logical
Star is sent to ground control station.The environmental monitoring units such as camera, camera, water flow velometer, matter monitoring device carry out corresponding
Data acquisition, and be stored in built-in hard disk.Unmanned boat is established by the logical satellite chip in day first and day leads to intersatellite number
According to chain, data transmit-receive work is carried out with satellite；Its logical satellite and ground base station establish data-link, the number that unmanned boat is sent
According to passing to ground base station；Each data are sent to different control centres by ground base station.
Optionally, this method further include: S7, the in real time boat in the speed over ground and actual heading, with S1 of acquisition unmanned boat
Circuit planning compares, and corrects in real time if having deviation.
A kind of control system for determining region sail unmanned boat at a distance, as shown in Fig. 2, it includes:
Admittance integrated unit leads to satellite communication chip and Beidou satellite navigation chip comprising day, day lead to satellite chip be used for
Data connection is established between its logical satellite, carries out data transmit-receive work, and it is air route that big-dipper satellite chip, which is used for the positioning of unmanned boat,
The basis of planning and monitoring.
Signal acquisition unit, for environmental parameter needed for acquisition system (stormy waves stream or audiovideo etc.) and unmanned boat
Inherent parameters.The signal acquisition unit includes camera, camera, water monitoring device, sound reception device, wind direction wind-force
Sension unit, coursespeed sensor, sail angle transducer and sail adjustable height detection unit windward.Wind-force, wind direction perception
Unit provides basic data to detect wind-force and wind direction, for computing unit.
Master controller, was used for electronic chart and routeing unit carries out routeing, according to the boat planned
Road determines current desired course and the speed of a ship or plane, the setting of sail at this time angle windward is calculated in conjunction with the wind direction of acquisition, further according to wind
Power calculates required setting developed area, the acquisition of startup environment data under control instruction, and the data of acquisition are sent
Give admittance integrated unit；
Sail control unit, including jibe mechanism and sail elevating mechanism are rotated and are gone up and down under the control of the controller respectively, change
Become its wind area, achievees the purpose that the practical control speed of a ship or plane and course.
PID regulator angle and sets expansion windward with setting for by the reality of sail angle and practical developed area windward
Area is compared, and real-time perfoming PID/feedback is adjusted if having deviation.
Preferably, this system further includes unmanned boat state feedback unit, for the speed over ground of unmanned boat and reality to navigate
To being corrected in real time if having deviation compared with routeing.
From the foregoing it can be that a kind of control method for determining region sail unmanned boat at a distance and system are by utilizing wind energy
Lead to satellite communication platform with day and improve unmanned boat and continue working ability and data transmission capabilities in ocean, allows unmanned boat
Monitoring information is more abundant and intuitive, has widened the maximum offshore distance and monitoring range of unmanned boat.Since data can be real
When transmit, reduce hardware recovered frequency, improve the processing capacity to emergency event.
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 (7)
1. a kind of determine the control method of region sail unmanned boat at a distance, it is characterised in that: it the following steps are included:
S1, routeing is carried out by electronic chart and routeing unit；
S2, current wind-force and wind direction are acquired in real time；
The air route that S3, basis have been planned, determines current desired course and the speed of a ship or plane, calculates at this time in conjunction with the wind direction of acquisition
The setting of sail angle windward, required setting developed area is calculated further according to wind-force；
Angle rotates sail windward according to setting for S4, control jibe mechanism, and controls elevating mechanism according to setting developed area to wind
Sail is unfolded or is closed up；
Reality angle and the practical developed area windward of S5, in real time acquisition sail, and S3 is calculated sets angle windward and set exhibition
It opens area to be compared, the real-time compensation if having deviation；
During S6, cruise, the acquisition of startup environment data under control instruction, and the data of acquisition are led into satellite hair by day
Toward ground control station.
2. the control method according to claim 1 for determining region sail unmanned boat at a distance, it is characterised in that: this method is also
It include: S7, the speed over ground and actual heading for acquiring unmanned boat in real time, compared with the routeing in S1, if having deviation
Correction in real time.
3. the control method according to claim 1 for determining region sail unmanned boat at a distance, it is characterised in that: the S1
Navigation point of the unmanned boat on electronic chart is obtained especially by Beidou navigation, then passes through binary tree Route Planning Algorithm and A-
The air route star optimization algorithm carries out routeing.
4. the control method according to claim 1 for determining region sail unmanned boat at a distance, it is characterised in that: the S3
Setting course and the setting speed of a ship or plane are determined with specific reference to predetermined air route, are calculated at this time according to the relationship of setting course and current wind direction
Set angle α windward；The setting developed area S of sail is calculated according to the following formula:
P×S×cosα-f=ma；
In formula, P is the wind pressure of acquisition, and f is the drag overall that unmanned boat navigation is subject in the process, and m is the gross mass of unmanned boat, and a is
Unmanned boat instantaneous acceleration, wherein f, m and a are known.
5. a kind of control system for determining region sail unmanned boat at a distance, it is characterised in that: it includes:
Admittance integrated unit leads to satellite communication chip and Beidou satellite navigation chip comprising day, day lead to satellite chip be used for
Data connection is established between its logical satellite, carries out data transmit-receive work, and big-dipper satellite chip is used for the positioning of unmanned boat；
Signal acquisition unit, for environmental parameter needed for acquisition system and unmanned boat inherent parameters；
Master controller, was used for electronic chart and routeing unit carries out routeing, according to the air route planned, really
Fixed current desired course and the speed of a ship or plane calculate the setting of sail at this time angle windward in conjunction with the wind direction of acquisition, further according to windage scale
Setting developed area needed for calculating, the acquisition of startup environment data under control instruction, and the data of acquisition are sent to logical
Lead integrated unit；
Sail control unit, including jibe mechanism and sail elevating mechanism are rotated and are gone up and down under the control of the controller respectively；
PID regulator angle and sets developed area windward with setting for by the reality of sail angle and practical developed area windward
It is compared, real-time perfoming PID/feedback is adjusted if having deviation.
6. the control system according to claim 5 for determining region sail unmanned boat at a distance, it is characterised in that: this system is also
Including unmanned boat state feedback unit, for by the speed over ground and actual heading of unmanned boat, compared with routeing, if having
Deviation is then corrected in real time.
7. the control system according to claim 5 for determining region sail unmanned boat at a distance, it is characterised in that: the letter
Number acquisition unit includes camera, camera, water monitoring device, sound reception device, wind direction wind-force sension unit, coursespeed
Sensor, sail angle transducer and sail adjustable height detection unit windward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710761643.1A CN109426253A (en) | 2017-08-30 | 2017-08-30 | A kind of control method and system for determining region sail unmanned boat at a distance |
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| CN201710761643.1A CN109426253A (en) | 2017-08-30 | 2017-08-30 | A kind of control method and system for determining region sail unmanned boat at a distance |
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| CN109541657A (en) * | 2018-12-13 | 2019-03-29 | 集美大学 | A kind of the intelligence communication navigation system and method for unmanned ships and light boats |
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