CN110109461A - A kind of unmanned boat fleet system - Google Patents
A kind of unmanned boat fleet system Download PDFInfo
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- CN110109461A CN110109461A CN201910441445.6A CN201910441445A CN110109461A CN 110109461 A CN110109461 A CN 110109461A CN 201910441445 A CN201910441445 A CN 201910441445A CN 110109461 A CN110109461 A CN 110109461A
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- Prior art keywords
- unmanned boat
- control system
- radio station
- organization network
- ship
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention discloses a kind of unmanned boat fleet systems, including onboard control system and bank base control system；Onboard control system includes ship end control host, sail information acquisition equipment, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism；Control host in ship end is electrically connected with sail information acquisition equipment, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism respectively；Pass through the interaction of anti-interference self-organization network station information between unmanned boat；The bank base control system includes base bank satellite communication terminal and host computer, and host computer is electrically connected with bank base satellite communication terminal；The onboard control system and bank base control system carries out satellite communication.The present invention can keep certain unmanned boat flight pattern and carry related sensor progress operation, the operation functions such as hauling type search and the detection without dead angle can be carried out to target water, ship detection more single than tradition improves operating efficiency, reduces the activity duration, ensure that homework precision.
Description
Technical field
The present invention relates to unmanned boat control fields, more particularly, to a kind of unmanned boat fleet system.
Background technique
In recent years, autonomous unmanned boat is a hot spot of navigation unit by water research, and technical foundation is autokinetic movement control
Technology.There are many application case of unmanned boat at present, but in terms of unmanned boat forms into columns research, seldom see open source information Jie at present
It continues.A kind of unmanned boat fleet system is disclosed in Chinese invention patent CN 107037816A.Bank base monitoring system includes upper
Machine and bank base ZigBee communication module, host computer are connect with bank base ZigBee communication module, and onboard control system includes microcontroller
Device and boat-carrying ZigBee communication module, GPS sensor, attitude transducer and the executing agency being connect respectively with microcontroller.It will
Bank base ZigBee communication module is set as host node, and boat-carrying ZigBee communication module is set as from node, bank base monitoring system pair
Unmanned boat uses broadcast communication mode, and unmanned ship to shore base monitoring system uses point-to-point communication mode.
In this unmanned boat fleet system, bank base ZigBee communication module passes through ZigBee communication network and all
ZigBee communication module is communicated.But ZigBee is the low-power consumption LAN protocol based on IEEE802.15.4 standard.Root
It is provided according to international standard, ZigBee technology is the wireless communication technique of a kind of short distance, low-power consumption.Work in general frequency range
2.4GHz peak transfer rate is 250kbps, and communication distance forwards its communication distance in 10-100m, even by other nodes
It only several kilometers, can only be used in coastal waters or inland river apart from bank base immediate area.
Summary of the invention
For at present unmanned boat form into columns research in, since ZigBee communication distance is short, can not truly from
The problem of main navigation, the present invention propose a kind of unmanned boat fleet system, the technical solution adopted by the present invention is that:
A kind of unmanned boat fleet system, including onboard control system and bank base control system；
The onboard control system is arranged on the hull of unmanned boat, onboard control system include ship end control host,
Sail information acquires equipment, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism；Ship end control master
Machine respectively with sail information acquisition equipment, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism into
Row electrical connection；Information exchange is carried out by anti-interference self-organization network radio station between unmanned boat；
The bank base control system includes base bank satellite communication terminal and host computer, and host computer and bank base satellite communication are whole
End is electrically connected；
The onboard control system and bank base control system carries out satellite communication.
Unmanned boat control system provided by the invention realizes that unmanned boat is believed between forming into columns using anti-interference self-organization network radio station
Breath interaction, definition wherein an anti-interference self-organization network radio station as network sink nodes.Anti-interference self-organization network radio station network is by nothing
People's ship form into columns the operational configuration information of each unmanned boat, control information, operation process information be sent in a manner of multi-hop it is anti-interference
Self-organization network radio station network sink nodes；Anti-interference self-organization network radio station network sink nodes pass through shipborne satellite communications terminal and bank base
Satellite communication terminal carries out satellite communication.Anti-interference self-organization network radio station network sink nodes transmit data to boat-carrying satellite communication
Terminal, shipborne satellite communications terminal send data to telecommunication satellite, and telecommunication satellite forwards the data to bank base monitoring system
Bank base satellite communication terminal.
In a preferred embodiment, sail information acquisition equipment includes GPS gyro compass, AIS ship oceangoing ship automatic identification
System, forward probe instrument, radar and photoelectric tracing system, GPS gyro compass, AIS ship oceangoing ship automatic recognition system, forward probe instrument,
Radar is successively electrically connected with boat-carrying control host with photoelectric tracing system.Sail information acquires the more of equipment acquisition unmanned boat
Kind sail information is simultaneously transferred to ship end control host, and ship end control host sends out data by shipborne satellite communications terminal
Send, bank base satellite communication terminal receives data and is simultaneously shown on host computer, staff to the operational configuration of unmanned boat into
Row analysis executes position of the structural adjustment unmanned boat in formation by control action.
In a preferred embodiment, the unmanned boat includes water quality hydrologic parameter information collecting sensor group, water quality water
Literary parameter information collecting sensor group is electrically connected with boat-carrying control host.
In a preferred embodiment, the anti-interference self-organization network radio station is the anti-interference self-organization network radio station of wideband, wide
Frequently anti-interference self-organization network radio station, which has, does not rely on quick static infrastructure, networking, distribution non-stop layer, autonomous, resists
The characteristics of ruining property.
In a preferred embodiment, the anti-interference self-organization network radio station data of the wideband support 8 to jump, and support unicast, group
Broadcast and broadcast, the end-to-end propagation delay time of single-hop be not more than 25ms, 128kbps rate single-hop maximum communication distance >=2km,
2048kbps rate single-hop maximum communication distance >=1km, multi-stage cascade communication distance >=10km, meet not less than 180 kilometers/it is small
When relative moving speed, meet data transmission multi-hop relay, complete region communication overlay and operation collaboration.
In a preferred embodiment, the host computer is connected with bank base satellite communication terminal by serial communication protocol
It connects.
In a preferred embodiment, the GPS gyro compass is connect with AIS ship oceangoing ship automatic recognition system by RS232 interface
Enter ship end control host.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
The unmanned boat fleet system that the present invention is supplied to can keep certain formation and carry related sensor progress operation, energy
The operation functions such as hauling type search and the detection without dead angle are carried out to target water, improve operation effect than traditional single ship detection
Rate reduces the activity duration, ensure that homework precision.
Detailed description of the invention
Fig. 1 is a kind of work structuring schematic diagram of unmanned boat fleet system provided by the invention；
Fig. 2 is a kind of unmanned boat formation ad hoc network radio station network topology knot of unmanned boat fleet system provided by the invention
Structure；
Fig. 3 is a kind of unmanned formation ad hoc network radio station network topology of unmanned boat fleet system provided by the invention
Tree.
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, only for illustration, Bu Nengli
Solution is the limitation to this patent.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
As shown in Figure 1, a kind of unmanned boat fleet system, including onboard control system 1 and bank base control system 2；
The onboard control system is arranged on the hull of unmanned boat, onboard control system include ship end control host 3,
Sail information acquires equipment 4, action actuating mechanism 5, shipborne satellite communications terminal 6 and anti-interference self-organization network radio station 7；The control of ship end
Host 3 processed acquires equipment 4, action actuating mechanism 5, shipborne satellite communications terminal 6 and anti-interference self-organizing with sail information respectively
Net radio station 7 is electrically connected；Information exchange is carried out by anti-interference self-organization network radio station 7 between unmanned boat；
It includes host computer 8 and base bank satellite communication terminal 9 that the bank base, which controls 2 systems, and host computer 8 and bank base satellite are logical
Letter terminal 9 is electrically connected；
The onboard control system 1 and bank base control system 2 carries out satellite communication.
Unmanned boat control system provided by the invention is realized between unmanned boat formation using anti-interference self-organization network radio station 7
Information exchange, definition wherein an anti-interference self-organization network radio station as network sink nodes.Anti-interference self-organization network radio station 7 by nobody
The form into columns operational configuration information of each unmanned boat, control information, operation process information of ship is sent to self-organization network in a manner of multi-hop
Radio station network sink nodes；Anti-interference self-organization network radio station network sink nodes are logical by shipborne satellite communications terminal 6 and bank base satellite
Believe that terminal 9 carries out satellite communication.Anti-interference self-organization network radio station network sink nodes transmit data to shipborne satellite communications terminal
6, shipborne satellite communications terminal 6 sends data to telecommunication satellite, and telecommunication satellite forwards the data to the bank of bank base monitoring system 2
Base satellite communication terminal 9.
In a preferred embodiment, sail information acquisition equipment 4 includes GPS gyro compass, AIS ship oceangoing ship automatic identification
System, forward probe instrument, radar and photoelectric tracing system, GPS gyro compass, AIS ship oceangoing ship automatic recognition system, forward probe instrument,
Radar is successively electrically connected with boat-carrying control host 3 with photoelectric tracing system.Sail information acquires equipment 4 and acquires unmanned boat
A variety of sail informations simultaneously be transferred to ship end control host 3, ship end control host 3 by data by shipborne satellite communications terminal 6 into
Row is sent, and bank base satellite communication terminal 6 receives data and shown on host computer 8, navigation of the staff to unmanned boat
State is analyzed, and position of the unmanned boat in formation is adjusted.
In a preferred embodiment, the onboard control system 1 includes water quality hydrologic parameter information collecting sensor group,
Water quality hydrologic parameter information collecting sensor group is electrically connected with boat-carrying control host 3.
In a preferred embodiment, the anti-interference self-organization network radio station 7 is the anti-interference self-organization network radio station of wideband, wide
Frequently anti-interference self-organization network radio station, which has, does not rely on quick static infrastructure, networking, distribution non-stop layer, autonomous, resists
The characteristics of ruining property.
In a preferred embodiment, the anti-interference self-organization network radio station data of the wideband support 8 to jump, and support unicast, group
Broadcast and broadcast, the end-to-end propagation delay time of single-hop be not more than 25ms, 128kbps rate single-hop maximum communication distance >=2km,
2048kbps rate single-hop maximum communication distance >=1km, multi-stage cascade communication distance >=10km, meet not less than 180 kilometers/it is small
When relative moving speed, meet data transmission multi-hop relay, complete region communication overlay and operation collaboration.
In a preferred embodiment, the host computer 8 is connected with bank base satellite communication terminal 9 by serial communication protocol
It connects.
In a preferred embodiment, the GPS gyro compass is connect with AIS ship oceangoing ship automatic recognition system by RS232 interface
Enter ship end control host 3.
In a preferred embodiment, control host 3 in the ship end includes communications interface unit, data acquisition process list
Member, intelligent control unit,
The communications interface unit be multimodal communications interface module, multimodal communications interface module and radio station into
Row electrical connection；
The data acquisition process unit is collected for receiving sail information acquisition equipment and water quality hydrologic parameter information
The data of sensor group carry out data processing to Multiple Source Sensor use processing module；
The intelligent control unit includes action control-Task-decomposing module, ship control action controller and movement
Executor module, action control-Task-decomposing module, ship control action controller and actuator module and power drive
Dynamic device is electrically connected.
Embodiment 2
The present embodiment provides a kind of unmanned boat fleet systems, and in use, onboard control system 3 can realize intelligence
Autonomous tracking and interjob function, host computer 8, which broadcasts task parameters via satellite communication network, in bank base monitoring system 2 accuses
Know each ship task, it is real by anti-interference self-organization network radio station 7 that each unmanned boat ship end controls 1 intelligent control algorithm intelligent control of host
When interactively communicate and realize autonomous tracking and interjob function, 8 real-time display unmanned boat of host computer is formed into columns in bank base monitoring system 2
Each boat state is manpower intervention to control at any time in necessity.Onboard control system functional framework figure is as shown in Fig. 2.
Embodiment 3
The present embodiment provides a kind of unmanned boat fleet systems, as shown in Fig. 2, contained anti-interference self-organization network electricity on unmanned boat
The group network topological structure of platform is as schemed, and self-organization network radio station is sink nodes on S node unmanned boat, which is equipped with satellite communication terminal
6.Host computer 8 defends task parameters via the boat-carrying that marine satellite is sent to S node in bank base monitoring system 2 in example 2
Star communication terminal 6, shipborne satellite communications terminal 6 forward the data to anti-interference 7 sink nodes of self-organization network radio station, sink nodes judgement
Data type will carry out the whole network broadcast transmission.Source node sends data and can not go directly destination node E, F, G, H, source node with should be from
Any destination node maximum supports 8 to jump in group knitmesh.If S node will be sent data to apart from farthest node G, opened up according to network
It flutters and four paths as shown in Fig. 3 can be obtained up to node G.Calculating is mixed with dynamic routing using static routing in the present invention
The data that the Routing Algorithm of judgement realizes that final one paths of optimum selecting realize source node S to destination node G are transmitted.With such
It pushes away, it can be achieved that source node is to the whole network node data broadcast transmission.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (7)
1. a kind of unmanned boat fleet system, which is characterized in that including onboard control system and bank base control system；
The onboard control system is arranged on the hull of unmanned boat, and onboard control system includes ship end control host, navigation
Information collecting device, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism；Ship end controls host point
Electricity is not carried out with sail information acquisition equipment, anti-interference self-organization network radio station, shipborne satellite communications terminal and action actuating mechanism
Connection；Information exchange is carried out by anti-interference self-organization network radio station between unmanned boat；
The bank base control system includes base bank satellite communication terminal and host computer, host computer and bank base satellite communication terminal into
Row electrical connection；
The onboard control system and bank base control system carries out satellite communication.
2. unmanned boat fleet system according to claim 1, which is characterized in that the sail information acquires equipment and includes
GPS gyro compass, AIS ship oceangoing ship automatic recognition system, forward probe instrument, radar, photoelectric tracing system, GPS gyro compass, AIS ship oceangoing ship
Automatic recognition system, forward probe instrument, radar, photoelectric tracing system and boat-carrying control host are electrically connected.
3. unmanned boat fleet system according to claim 1, which is characterized in that the onboard control system further includes water
Matter hydrologic parameter information collecting sensor group, water quality hydrologic parameter information collecting sensor group are electrically connected with boat-carrying control host
It connects.
4. unmanned boat fleet system according to claim 1, which is characterized in that the anti-interference self-organization network radio station is
The anti-interference self-organization network radio station of wideband.
5. unmanned boat fleet system according to claim 4, which is characterized in that the anti-interference self-organization network electricity of the wideband
Number of units is jumped according to support 8, supports unicast, multicast and broadcast, and the end-to-end propagation delay time of single-hop is not more than 25ms, 128kbps rate list
Jump maximum communication distance >=2km, 2048kbps rate single-hop maximum communication distance >=1km, multi-stage cascade communication distance >=10km,
Meet the relative moving speed not less than 180 kilometers/hour.
6. unmanned boat fleet system according to claim 1, which is characterized in that the host computer and bank base satellite communication are whole
End is attached by serial communication protocol.
7. unmanned boat fleet system according to claim 2, which is characterized in that the GPS gyro compass and AIS ship oceangoing ship is certainly
Dynamic identifying system accesses ship end by RS232 interface and controls host.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441445.6A CN110109461A (en) | 2019-05-24 | 2019-05-24 | A kind of unmanned boat fleet system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441445.6A CN110109461A (en) | 2019-05-24 | 2019-05-24 | A kind of unmanned boat fleet system |
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| Publication Number | Publication Date |
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| CN110109461A true CN110109461A (en) | 2019-08-09 |
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| CN201910441445.6A Withdrawn CN110109461A (en) | 2019-05-24 | 2019-05-24 | A kind of unmanned boat fleet system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111181657A (en) * | 2020-01-08 | 2020-05-19 | 中国电子科技集团公司电子科学研究院 | Ocean distributed self-organizing network system |
| CN112327845A (en) * | 2020-07-24 | 2021-02-05 | 珠海云洲智能科技有限公司 | Unmanned ship formation control method, unmanned ship and computer-readable storage medium |
-
2019
- 2019-05-24 CN CN201910441445.6A patent/CN110109461A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111181657A (en) * | 2020-01-08 | 2020-05-19 | 中国电子科技集团公司电子科学研究院 | Ocean distributed self-organizing network system |
| CN112327845A (en) * | 2020-07-24 | 2021-02-05 | 珠海云洲智能科技有限公司 | Unmanned ship formation control method, unmanned ship and computer-readable storage medium |
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Application publication date: 20190809 |
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