CN110032120A - A kind of floating beacon coordinate control device, method and system - Google Patents
A kind of floating beacon coordinate control device, method and system Download PDFInfo
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- CN110032120A CN110032120A CN201910357213.2A CN201910357213A CN110032120A CN 110032120 A CN110032120 A CN 110032120A CN 201910357213 A CN201910357213 A CN 201910357213A CN 110032120 A CN110032120 A CN 110032120A
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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
- B63B51/00—Marking of navigation route
- B63B51/02—Marking of navigation route with anchored lightships; by use of lighthouses
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of floating beacon coordinate control device, method and system.The control method includes: the position coordinates for obtaining the floating beacon of GPS module detection；Judge whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value, obtains judging result；If the determination result is YES, then control instruction is sent to motor drive module, control floating beacon moves to predeterminated position；If judging result is no, return step " position coordinates for obtaining the floating beacon of GPS module detection ".Floating beacon coordinate control device of the invention, method and system can the control beacon playback after beacon deviates preset range, to automatically correct lighthouse position.
Description
Technical field
The present invention relates to offshore lighthouse technical field, more particularly to a kind of floating beacon coordinate control device, method and
System.
Background technique
Beacon is to be located at seashore, harbour or river, to guide the building of vessel orientation.Traditional beacon can only be built up in
Fixed bit is set to dealing marine navigation.Existing is mostly traditional fixed beacon, according to investigations, part coastal area sediment siltation
It gets worse, coastline is very fast to deep-sea fltting speed, and navigation channel transition are more frequent, and conventional fixed-type beacon has been unable to meet ship
The use demand of normal/cruise.
Along with the increasingly developed of unmanned technology, thus a kind of novel intelligence automatic positioning floating beacon is born.Due to
Wind wave action is affected to floating beacon, is easy to make beacon out of position.
Summary of the invention
The object of the present invention is to provide a kind of floating beacon coordinate control devices, method and system, deviate in beacon default
Beacon playback is controlled after range, to automatically correct lighthouse position.
To achieve the above object, the present invention provides following schemes:
A kind of floating beacon coordinate control device, comprising: GPS positioning module, single-chip microcontroller and motor drive module；It is described
The data output end of GPS module is connect with the data input pin of the single-chip microcontroller；The control signal of the motor drive module
It is connect with the control output end of the single-chip microcontroller；
The GPS module is used to position the position coordinates of floating beacon, and the position coordinates are sent to the monolithic
Machine；The single-chip microcontroller according to the positioning coordinate when the position coordinates deviate to the motor drive module for sending out
Send control instruction；The control instruction is used to indicate the motor drive module and the floating beacon is driven to transport to predeterminated position
It is dynamic.
Optionally, which further includes display module and speed measuring module；The data output end of the speed measuring module with
The data input pin of the single-chip microcontroller connects；The data output end of the data input pin of the display module and the single-chip microcontroller connects
It connects；The speed measuring module is used to measure the motor speed of the floating beacon, and the revolving speed is sent to the single-chip microcontroller；Institute
Display module is stated for showing the revolving speed.
Optionally, the connecting line of the single-chip microcontroller and the motor drive module is CAN bus.
Invention additionally discloses a kind of floating beacon coordinate control methods, are applied to above-mentioned floating beacon coordinate control device；
The control method includes:
Obtain the position coordinates of the floating beacon of the GPS module detection；
Judge whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value, obtains judging result；
If the judging result be it is yes, to the motor drive module send control instruction, control the floating beacon
Move to the predeterminated position；
If the judging result be it is no, return step " obtains the position of the floating beacon of GPS module detection
Coordinate ".
Optionally, described to send control instruction to the motor drive module, control the floating beacon move to it is described
Predeterminated position specifically includes:
The shortest path of the predeterminated position is reached from current location using D* algorithmic rule；
Calculate the remaining shipping kilometre for reaching the predeterminated position along shortest path navigation from current location；
The thrust of thruster offer needed for the current location is provided according to the remaining shipping kilometre；
The motor drive module, which is controlled, according to the thrust drives the thruster operation.
Optionally, the shortest path for reaching the predeterminated position from current location using D* algorithmic rule, it is specific to wrap
It includes:
It obtains using the predeterminated position as the center of circle, the maximum distance of the relatively described predeterminated position of the position coordinates is radius
All known locations being formed by border circular areas, obtain multiple nodes；
It is true using Dijkstra's algorithm using predeterminated position as start node using the distance between each node as weight
Determine the shortest path of the predeterminated position to the current location；
When any node has current obstacle in the shortest path, the shortest path is planned again.
Invention additionally discloses a kind of floating beacon coordinate control systems, are applied to above-mentioned floating beacon coordinate control device；
The control system includes:
Coordinate obtaining module, the position coordinates of the floating beacon for obtaining the GPS module detection；
Judgment module, for judging whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value,
Obtain judging result；
Control module, if for the judging result be it is yes, send control instruction, control to the motor drive module
The floating beacon moves to the predeterminated position；
Return module, if for the judging result be it is no, return to the coordinate obtaining module.
Optionally, the control module includes:
Shortest path planning unit, for reaching the shortest path of the predeterminated position from current location using D* algorithmic rule
Diameter；
Remaining mileage computing unit calculates and reaches the surplus of the predeterminated position from current location along shortest path navigation
Remaining shipping kilometre；
Thrust determination unit, for determining thruster offer needed for the current location according to the remaining shipping kilometre
Thrust；
Driving unit drives the thruster to run for controlling the motor drive module according to the thrust.
Optionally, the shortest path planning unit includes:
Node obtains subelement, and for obtaining using the predeterminated position as the center of circle, the position coordinates are relatively described default
The maximum distance of position is that radius is formed by all known locations in border circular areas, obtains multiple nodes；
Shortest path planning subelement, for being starting section with predeterminated position using the distance between each node as weight
Point determines the shortest path of the predeterminated position to the current location using Dijkstra's algorithm；
Shortest path updates subelement, for being advised again when any node has current obstacle in the shortest path
Draw the shortest path.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: disclosed in this invention floating
Formula beacon coordinate control device, method and system are positioned the position coordinates of floating beacon by GPS module, are existed using single-chip microcontroller
Floating beacon is controlled according to position coordinates when position coordinates deviate to move to predeterminated position, it is pre- so as to deviate in beacon
If controlling beacon playback after range, automatically correcting for lighthouse position is realized.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the device connection figure of floating beacon coordinate control Installation practice of the present invention；
Fig. 2 is the circuit diagram of the motor drive module of floating beacon coordinate control Installation practice of the present invention；
Fig. 3 is the method flow diagram of floating beacon coordinate control embodiment of the method for the present invention；
The preset range schematic diagram that Fig. 4, which is pre-determined distance threshold value, to be formed when being 1 nautical mile；
Fig. 5 is the system construction drawing of floating beacon coordinate control system embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment 1:
Fig. 1 is the device connection figure of floating beacon coordinate control Installation practice of the present invention.
Referring to Fig. 1, the floating beacon coordinate control device, comprising: GPS positioning module 1, single-chip microcontroller 2, motor drive module
3, speed measuring module 4 and display module 5；The data output end of the data output end of the GPS module and the speed measuring module 4 with
The data input pin of the single-chip microcontroller 2 connects；The control of the control signal of the motor drive module 3 and the single-chip microcontroller 2
Output end connection；The data input pin of the display module 5 is connect with the data output end of the single-chip microcontroller 2.
The GPS module is used to position the position coordinates of floating beacon, and the position coordinates are sent to the monolithic
Machine 2；The speed measuring module 4 is used to measure the motor speed of the floating beacon, and the revolving speed is sent to the single-chip microcontroller
2；The single-chip microcontroller 2 every the position coordinates of acquisition in ten minutes, for according to the positioning coordinate to the motor driven mould
Block 3 sends control instruction；The control instruction is used to indicate the motor drive module 3 and drives the floating beacon to target position
Set movement.The display module 5 is for showing the revolving speed.
The connecting line of the single-chip microcontroller 2 and the motor drive module 3 is CAN bus.
The motor drive module 3 is for driving propeller 6.
The motor drive module 3 is H bridge motor-drive circuit.
Fig. 2 is the circuit diagram of the motor drive module of floating beacon coordinate control Installation practice of the present invention.
Referring to fig. 2, which includes 4 metal-oxide-semiconductors and 1 motor.Operate motor, it is necessary to be connected
A pair of of triode on diagonal line.According to the conduction status of different triodes pair, electric current may from left to right or from right to left
Motor is flowed through, to control the steering of motor.
Speed measuring module 4 uses contactless Hall sensor.
Display module 5 is LCD display.
Single-chip microcontroller 2 is made of STM32f427II master control borad and STM32F103 motor driving plate.
Propeller 6 includes six propellers, and six propellers are distributed in the six direction of the floating beacon bottom center.
Each propeller is 360 degree of full circle swinging propellers, and each propeller can adjust upward angle 360 degree of sides.Six spiral shells
Rotation paddle, which has, may be performed in different combinations, and realize comprehensive movement.
The power supply of the control device is redundant electrical power and solar panel.Solar panel will using solar power generation
Electric energy is stored in redundant electrical power, and redundant electrical power is used to power for control device.
Control device of the invention realizes positioning using GPS module, can be smart whenever and wherever possible without connecting network
Certainly position, positioning accuracy error is within 5 meters.
As an alternative embodiment, the single-chip microcontroller 2 is connected with WIFI module, pass through WIFI module and host computer
Communication, to realize the remote control to floating beacon by host computer and WIFI module.WIFI module includes ESP8266 core
Piece.
Embodiment 2:
The embodiment discloses a kind of floating beacon coordinate control method, the floating beacon coordinate control applied to embodiment 1
Device；
Fig. 3 is the method flow diagram of floating beacon coordinate control embodiment of the method for the present invention.
Referring to Fig. 3, which includes:
Step 101: obtaining the position coordinates of the floating beacon of the GPS module detection；Single-chip microcontroller was every 10 minutes
Obtain the position coordinates of GPS module acquisition.
Step 102: judging whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value, sentenced
Disconnected result；If the determination result is YES, 103 are thened follow the steps；If judging result is otherwise return step 101.
Specific judgment mode are as follows:
It determines using predeterminated position as the center of circle, is preset range by the border circular areas of radius of pre-determined distance threshold value, judges institute
Position coordinates are stated whether in the preset range.
The preset range schematic diagram that Fig. 4, which is pre-determined distance threshold value, to be formed when being 1 nautical mile.
Referring to fig. 4, if setting predeterminated position as origin O, pre-determined distance threshold value is 1 nautical mile, then establishes flat square with origin O
Coordinate system, with 1 nautical mile of length for 1 basic unit, then the region of preset range are as follows: x2+y2≤1.If collected position is sat
It is designated as (x ', y '), as x '2+y′2≤ 1 illustrates that the position coordinates are located in preset range, and the position of floating beacon meets at this time
Pre-provisioning request, if x '2+y′2> 1 then illustrates that the position coordinates are located at outside preset range, and floating beacon deviates preset range at this time,
It needs to be corrected.
Step 103: Xiang Suoshu motor drive module sends control instruction, controls the floating beacon and moves to described preset
Position.
The step 103 specifically includes:
The shortest path of the predeterminated position is reached from current location using D* algorithmic rule；The planing method of shortest path
Are as follows: it obtains using the predeterminated position as the center of circle, the maximum distance of the relatively described predeterminated position of the position coordinates is radius institute shape
At border circular areas in all known locations, obtain multiple nodes；Using the distance between each node as weight, to preset position
It is set to start node, the shortest path of the predeterminated position to the current location is determined using Dijkstra's algorithm；Work as institute
When stating any node presence passage obstacle in shortest path, the shortest path is planned again.
Calculate the remaining shipping kilometre for reaching the predeterminated position along shortest path navigation from current location；
The thrust of thruster offer needed for the current location is provided according to the remaining shipping kilometre；
The calculation method of thrust uses incremental timestamp algorithm.Consider the thrust of thruster as external force, in calculating
External force is constantly adjusted and changed according to the path distance between predeterminated position and current location, obtains required thrust.Moment k
Thrust be denoted as τ (k), the thrust of moment k-1 is denoted as τ (k-1), increment △ τ (k)=τ (k)-τ (k-1) of two moment thrusts, then
τ (k)=△ τ (k)+τ (k-1).
Incremental timestamp algorithm is △ τ (k)=kc { [e (k)-e (k-1)]+T/T1e(k)+TD/T[e(k)-2e(k-1)
+e(k-2)]}
In formula, kc is proportionality coefficient, T1For integration time constant, TDFor derivative time constant, T is sampling period, e (k), e
(k-1) and e (k-2) is respectively to navigate by water from current location along shortest path to the residue of predeterminated position in moment k, k-1, k-2
Shipping kilometre.
The motor drive module, which is controlled, according to the thrust drives the thruster operation.
The gross thrust generated is needed to be assigned on six propellers thruster using thrust allocation algorithm, to control spiral shell
The rotation of rotation paddle is moved to predeterminated position to control floating beacon.The distribution principle of thrust is mean allocation.In moving process not
The step of disconnected acquisition GPS information, the constantly calculating of repetition thrust and control, until reaching predeterminated position, single-chip microcontroller stops driving electric
Machine, full circle swinging propeller stop motion.
Real-time monitoring of the present invention and the position for automatically correcting beacon carry out effective global control to complex environment, work as lamp
When tower deviates preset range, using D* algorithm, contexture by self path, and thrust can be determined according to the size of the remaining mileage in path
Size, realize on-demand self-return.
Embodiment 3:
The embodiment discloses a kind of floating beacon coordinate control system, is applied to above-mentioned floating beacon coordinate control device；
Fig. 5 is the system construction drawing of floating beacon coordinate control system embodiment of the present invention.
Referring to Fig. 5, which includes:
Coordinate obtaining module 301, the position coordinates of the floating beacon for obtaining the GPS module detection；
Judgment module 302, for judging whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold
Value, obtains judging result；
Control module 303, if for the judging result be it is yes, send control instruction to the motor drive module,
It controls the floating beacon and moves to the predeterminated position；
Return module 304, if for the judging result be it is no, return to the coordinate obtaining module 301.
Optionally, the control module 303 includes:
Shortest path planning unit, for reaching the shortest path of the predeterminated position from current location using D* algorithmic rule
Diameter；
Remaining mileage computing unit calculates and reaches the surplus of the predeterminated position from current location along shortest path navigation
Remaining shipping kilometre；
Thrust determination unit, for determining thruster offer needed for the current location according to the remaining shipping kilometre
Thrust；
Driving unit drives the thruster to run for controlling the motor drive module according to the thrust.
Optionally, the shortest path planning unit includes:
Node obtains subelement, and for obtaining using the predeterminated position as the center of circle, the position coordinates are relatively described default
The maximum distance of position is that radius is formed by all known locations in border circular areas, obtains multiple nodes；
Shortest path planning subelement, for being starting section with predeterminated position using the distance between each node as weight
Point determines the shortest path of the predeterminated position to the current location using Dijkstra's algorithm；
Shortest path updates subelement, for being advised again when any node has current obstacle in the shortest path
Draw the shortest path.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: disclosed in this invention floating
Formula beacon coordinate control device, method and system are positioned the position coordinates of floating beacon by GPS module, are existed using single-chip microcontroller
Floating beacon is controlled according to position coordinates when position coordinates deviate to move to predeterminated position, it is pre- so as to deviate in beacon
If controlling beacon playback after range, automatically correcting for lighthouse position is realized.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of floating beacon coordinate control device characterized by comprising GPS positioning module, single-chip microcontroller and motor driven mould
Block；The data output end of the GPS module is connect with the data input pin of the single-chip microcontroller；The control of the motor drive module
Input terminal is connect with the control output end of the single-chip microcontroller；
The GPS module is used to position the position coordinates of floating beacon, and the position coordinates are sent to the single-chip microcontroller；Institute
Single-chip microcontroller is stated to control for being sent according to the positioning coordinate to the motor drive module when the position coordinates deviate
System instruction；The control instruction is used to indicate the motor drive module and the floating beacon is driven to move to predeterminated position.
2. floating beacon coordinate control device according to claim 1, which is characterized in that further include display module and testing the speed
Module；The data output end of the speed measuring module is connect with the data input pin of the single-chip microcontroller；The data of the display module
Input terminal is connect with the data output end of the single-chip microcontroller；The motor that the speed measuring module is used to measure the floating beacon turns
Speed, and the revolving speed is sent to the single-chip microcontroller；The display module is for showing the revolving speed.
3. floating beacon coordinate control device according to claim 1, which is characterized in that the single-chip microcontroller and the motor
The connecting line of drive module is CAN bus.
4. a kind of floating beacon coordinate control method, which is characterized in that be applied to as described in any one of claims 1 to 3
Floating beacon coordinate control device；The control method includes:
Obtain the position coordinates of the floating beacon of the GPS module detection；
Judge whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value, obtains judging result；
If the judging result be it is yes, send control instruction to the motor drive module, control floating beacon movement
To the predeterminated position；
If the judging result be it is no, return step " sit by the position for obtaining the floating beacon of GPS module detection
Mark ".
5. floating beacon coordinate control method according to claim 4, which is characterized in that described to the motor driven mould
Block sends control instruction, controls the floating beacon and moves to the predeterminated position, specifically includes:
The shortest path of the predeterminated position is reached from current location using D* algorithmic rule；
Calculate the remaining shipping kilometre for reaching the predeterminated position along shortest path navigation from current location；
The thrust of thruster offer needed for the current location is provided according to the remaining shipping kilometre；
The motor drive module, which is controlled, according to the thrust drives the thruster operation.
6. floating beacon coordinate control method according to claim 5, which is characterized in that it is described using D* algorithmic rule from
Current location reaches the shortest path of the predeterminated position, specifically includes:
It obtains using the predeterminated position as the center of circle, the maximum distance of the relatively described predeterminated position of the position coordinates is radius institute shape
At border circular areas in all known locations, obtain multiple nodes；
Using the distance between each node as weight, using predeterminated position as start node, institute is determined using Dijkstra's algorithm
State the shortest path of predeterminated position to the current location；
When any node has current obstacle in the shortest path, the shortest path is planned again.
7. a kind of floating beacon coordinate control system, which is characterized in that be applied to as described in any one of claims 1 to 3
Floating beacon coordinate control device；The control system includes:
Coordinate obtaining module, the position coordinates of the floating beacon for obtaining the GPS module detection；
Judgment module is obtained for judging whether the distance of position coordinates absolute presupposition position exceeds pre-determined distance threshold value
Judging result；
Control module, if for the judging result be it is yes, control instruction is sent to the motor drive module, described in control
Floating beacon moves to the predeterminated position；
Return module, if for the judging result be it is no, return to the coordinate obtaining module.
8. floating beacon coordinate control system according to claim 7, which is characterized in that the control module includes:
Shortest path planning unit, for reaching the shortest path of the predeterminated position from current location using D* algorithmic rule；
Remaining mileage computing unit calculates the remaining boat for reaching the predeterminated position along shortest path navigation from current location
Row mileage；
Thrust determination unit, for determining pushing away for thruster offer needed for the current location according to the remaining shipping kilometre
Power；
Driving unit drives the thruster to run for controlling the motor drive module according to the thrust.
9. floating beacon coordinate control system according to claim 8, which is characterized in that the shortest path planning unit
Include:
Node obtains subelement, for obtaining using the predeterminated position as the center of circle, the relatively described predeterminated position of the position coordinates
Maximum distance be radius be formed by all known locations in border circular areas, obtain multiple nodes；
Shortest path planning subelement is used for using the distance between each node as weight, using predeterminated position as start node, benefit
The shortest path of the predeterminated position to the current location is determined with Dijkstra's algorithm；
Shortest path updates subelement, for planning institute again when any node has current obstacle in the shortest path
State shortest path.
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