CN110884619A - Platform of simple and easy autonomic power location and navigation ability on water - Google Patents
Platform of simple and easy autonomic power location and navigation ability on water Download PDFInfo
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- CN110884619A CN110884619A CN201911174103.9A CN201911174103A CN110884619A CN 110884619 A CN110884619 A CN 110884619A CN 201911174103 A CN201911174103 A CN 201911174103A CN 110884619 A CN110884619 A CN 110884619A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- B63B3/00—Hulls characterised by their structure or component parts
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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
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a simple platform with autonomous dynamic positioning and water navigation capability, which comprises a columnar main hull shell; the bottom of the main hull shell is connected with a main propeller and a rotary propeller through a pod supporting seat, an autonomous positioning control subsystem and a steering engine are arranged in the main hull shell, and the steering engine is connected with a rudder blade extending to the outside of the main hull shell; when the distance between the real-time position of the platform and the target position exceeds a first preset threshold value, calculating a target azimuth angle of the target position relative to the real-time position of the platform, adjusting a heading angle of the platform to the target azimuth angle, and pushing the platform to navigate to the target position; and stopping the main propeller, the rotary propeller and the steering engine until the distance between the real-time position and the target position of the platform is smaller than a second preset threshold value. The invention realizes the propulsion and the rotation by adopting the cylindrical main hull structure and adopting the mode of combining the pod type main propeller and the rotary propeller, and has the characteristics of good maneuverability, easy in-situ rotation and simple control logic.
Description
Technical Field
The invention belongs to the technical field of navigation marks, and particularly relates to a simple platform with autonomous dynamic positioning and water navigation capability.
Background
With the development of shipping industry, the number of inland rivers and coastal ships is gradually increased, the tonnage is gradually increased, and the requirement on navigation conditions of inland rivers and coastal channels is higher and higher. The navigation mark is used as an infrastructure for indicating a navigable area of a navigation channel, and is of great importance to navigation safety of the navigation channel. However, the navigation mark is damaged by collision of passing ships and is sunk when accidents occur; and with the change of the water depth of the inland river, part of navigable areas can not pass in certain time periods, and the situations can bring navigation risks to the shipping industry. In addition, in some strategic areas in the ocean, sonar equipment is needed to record voiceprint information of ships, warships and submarines, and the areas are often too deep to be positioned in a mooring mode.
For damaged navigation mark facilities, the working state of the navigation mark needs to be recovered as soon as possible, and the conventional navigation mark adopts anchor type positioning, so that a special ship is needed for operation, the process is complex, the consumed time is long, and the navigation safety is not good. Therefore, the simple autonomous dynamic positioning function is realized on the navigation mark platform, the navigation mark platform serves as an emergency means during damage and maintenance of the conventional navigation mark, the navigation area indicating function is provided, and the navigation mark platform has important significance in improving navigation safety of a navigation channel. The unmanned autonomous power positioning platform at sea can carry a sonar device, can stay in a specific area for a long time, has the characteristics of small size and good concealment, can continuously acquire voiceprint signals of peripheral ships, submarines and environments, and has important significance for strengthening sea area ship management, protecting national ocean safety and maintaining ocean rights and benefits.
Although the traditional dynamic positioning system has high positioning precision and mature and reliable technology, the system has complex composition, high cost, more propellers and huge volume, and is not suitable for the autonomous positioning of micro and small unmanned water platforms. In addition, most micro and small-sized water platforms have low positioning precision requirements, and only need to be maintained in a certain range near a positioning target point, so that the expensive conventional dynamic positioning system is not suitable for rapid popularization and application of low-cost unmanned platforms. Therefore, the autonomous positioning technology with simple structure and low cost has good application prospect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides a platform with simple and independent dynamic positioning and water navigation capability.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a platform of simple and easy autonomic power location and navigation ability on water which characterized in that: the platform comprises a columnar main hull shell; the top of the main hull shell is provided with a sealed hatch cover; the bottom of the main hull shell is connected with a main propeller and a rotary propeller through a nacelle supporting seat, the main propeller is connected with a main propeller and a main propeller guide pipe, and the rotary propeller is connected with a rotary propeller; an autonomous positioning control subsystem and a steering engine are arranged in the main hull shell, and the steering engine is connected with a rudder blade extending to the outside of the main hull shell;
the autonomous positioning control subsystem comprises a positioning module, a compass, a power supply, a controller and a remote communication module; the controller performs control according to the following steps:
s1, obtaining a shore-based control instruction through the remote communication module to obtain a target position; taking the thrust direction of the main propeller as a heading, and sensing the real-time position and the heading angle of the platform through the positioning module and the compass;
s2, when the distance between the real-time position of the platform and the target position exceeds a first preset threshold value, calculating a target azimuth angle of the target position relative to the real-time position of the platform, controlling a rotary propeller and a steering engine, adjusting the heading angle of the platform to the target azimuth angle, controlling a main propeller, and pushing the platform to sail to the target position;
s3, continuously monitoring and adjusting the current heading angle and the target azimuth angle of the platform in the process of navigating to the target position, so that the angle difference between the current heading angle and the target azimuth angle of the platform is in a certain range; stopping the main propeller, the rotary propeller and the steering engine until the distance between the real-time position and the target position of the platform is smaller than a second preset threshold value; the first preset threshold is greater than the second preset threshold.
According to the scheme, the main hull shell is a cylinder, and the rotary propeller is connected to the central shaft of the cylinder.
According to the scheme, the positioning module is a Beidou/GPS multi-mode terminal and is arranged at the top of the shell of the main ship body.
According to the scheme, the power supply comprises a lithium battery pack, a solar cell panel and a power management module, the solar cell panel is fixed at the top of the shell of the main ship body, electric energy obtained by the solar cell panel is stored in the lithium battery pack and is managed by the power management module and supplies power to the positioning module, the compass, the controller, the remote communication module, the main propeller, the rotary propeller and the steering engine.
According to the scheme, the remote communication module is a 4G or 5G router.
The invention has the beneficial effects that: by adopting the cylindrical main hull structure, the ship has the advantages of good maneuverability and easy in-situ rotation, and has the characteristics of simple and firm structure, simple and easy installation, low maintenance cost and the like; the nacelle type main propeller and the rotary propeller are combined to realize propulsion and rotation, and compared with a traditional dynamic positioning system, the nacelle type main propeller and the rotary propeller have the advantages of simple control logic, low cost, easiness in maintenance and replacement and easiness in control.
Drawings
FIG. 1 is a schematic diagram of a system installation according to an embodiment of the present invention.
Fig. 2 is a schematic system structure according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of the positioning process of the autonomous positioning control subsystem according to the present invention.
FIG. 4 is a schematic diagram of the heading tracking algorithm of the autonomous positioning control subsystem of the present invention.
In the figure: 1-main hull shell, 2-autonomous positioning control subsystem, 3-sealed cabin cover, 4-pod supporting seat, 5-main propeller, 6-rotary propeller, 7-main propeller, 8-main propeller guide pipe, 9-rotary propeller, 10-steering engine, 11-rudder blade, 12-positioning module, 13-solar panel and 14-lithium battery pack.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a simple platform with autonomous power positioning and water navigation capability, which comprises a columnar main hull shell 1 as shown in figures 1 and 2. The top of the main hull shell 1 is provided with a sealed hatch cover 3; the bottom of the main hull shell 1 is connected with a main propeller 5 and a rotary propeller 6 through a nacelle supporting seat 4, the main propeller 5 is connected with a main propeller 7 and a main propeller guide pipe 8, and the rotary propeller 6 is connected with a rotary propeller 9; an autonomous positioning control subsystem 2 and a steering engine 10 are arranged in the main hull shell 1, and the steering engine 10 is connected with a rudder blade 11 extending to the outside of the main hull shell 1.
The autonomous positioning control subsystem 2 comprises a positioning module 12, a compass, a power supply, a controller and a remote communication module. In this embodiment, the positioning module 12 is a big dipper/GPS multimode terminal, and is disposed on the top of the main hull casing 1. The power supply comprises a lithium battery pack 14, a solar cell panel 13 and a power supply management module, the solar cell panel 13 is fixed at the top of the main hull shell 1, electric energy obtained by the solar cell panel 13 is stored in the lithium battery pack 14, and is managed by the power supply management module and supplies power to the positioning module 12, the compass, the controller, the remote communication module, the main propeller 5, the rotary propeller 6 and the steering engine 10. The remote communication module is a 4G or 5G router.
Three thresholds are defined: the first preset threshold value represents a target distance deviation threshold value of dynamic positioning control, namely, when the distance error is greater than the threshold value, a process of approaching a target point is started; the second preset threshold value represents a target distance deviation target value of the dynamic positioning control, namely the main thruster is stopped when the distance deviation is smaller than the threshold value every time; the included angle threshold value represents a heading angle error threshold value, namely, in the process of approaching a target point, when the heading angle of the platform is larger than the threshold value, steering operation is needed.
As shown in fig. 3, the controller performs control according to the following steps:
s1, obtaining a shore-based control instruction through the remote communication module to obtain a target position; and the thrust direction of the main propeller is taken as the heading, and the real-time position and the heading angle of the platform are sensed through the positioning module and the compass.
As shown in fig. 4, in this embodiment, the 4G/5G router receives a control instruction message from the shore base, which includes the longitude and latitude of the target point, transmits the control instruction message to the controller of the autonomous positioning control subsystem 2 through the serial port, and obtains the target position through the onboard analysis program.
The real-time position and the heading angle (taking the thrust direction of the main propeller as the heading) of the Beidou/GPS multimode terminal and the compass sensing platform are transmitted to the controller of the autonomous positioning control subsystem 2 through the serial port, and the current position and the heading angle are obtained through an onboard analysis program.
And S2, when the distance between the real-time position of the platform and the target position exceeds a first preset threshold value, calculating a target azimuth angle of the target position relative to the real-time position of the platform, controlling the rotary propeller and the steering engine, adjusting the heading angle of the platform to the target azimuth angle, controlling the main propeller, and pushing the platform to sail to the target position.
As shown in the initial stage of fig. 4, the onboard control program of the controller is used to analyze the distance S between the real-time position (longitude and latitude) and the target position (longitude and latitude)1：
In the formula, LonDesAs the target location longitude, LatDesFor the target location latitude, LonNowAs the current position longitude, LatNowThe current location latitude. Judging whether the first preset threshold value is exceeded or notIf not, the operation is not performed; if the target azimuth angle of the target position relative to the real-time position of the platform and the current heading angle of the platform exceed a first preset threshold value, calculating a heading deviation angle delta theta, and if the deviation angle delta theta is smaller than an included angle threshold value, sending an instruction to a steering engine 10 to adjust the rudder angle to a zero rudder angle, sending an instruction to a motor driver to control a main propeller 5 and a rotary propeller 6 to rotate, and pushing the platform to approach the target position in a sailing mode. If the heading deviation angle delta theta is larger than the included angle threshold value, an instruction is sent to a motor driver:
and controlling the rotary propeller 6 to rotate, sending an instruction to the steering engine 10, driving the rudder blade 11 to rotate to a state of following the rudder, and adjusting the heading angle of the platform to a target azimuth angle.
S3, continuously monitoring and adjusting the current heading angle and the target azimuth angle of the platform in the process of navigating to the target position, so that the angle difference between the current heading angle and the target azimuth angle of the platform is in a certain range; and if the angle is larger than the included angle threshold value, sending an instruction to the steering engine to adjust the course. Stopping the main propeller, the rotary propeller and the steering engine until the distance between the real-time position and the target position of the platform is smaller than a second preset threshold value; the first preset threshold is greater than the second preset threshold.
The invention designs an overwater autonomous dynamic positioning platform based on a simple dynamic positioning technology and a satellite positioning technology, and aims to realize autonomous positioning and autonomous navigation of the overwater platform. The simple dynamic positioning technology provided by the invention is used as a water platform position control technology, realizes the rapid and reliable dynamic positioning function and good rotation performance of the unmanned water platform, and has the advantages of simple structure, low cost, high reliability, simple autonomous positioning process and simple and rapid retraction and release. And sensing the longitude and latitude of the unmanned water platform by combining a satellite positioning technology, comparing the target longitude and latitude with the current platform longitude and latitude by utilizing a carried microcontroller, and further calculating to obtain a control instruction. And then the control instruction is decomposed into a propeller and a rotary propeller to complete the rotation and navigation actions of the overwater platform, and finally the autonomous dynamic positioning is realized. The method meets the requirements of a channel management department on rapid emergency deployment of the navigation mark, and meets the requirements of marine ship management and military on long-term acquisition of sound print signals of marine ships, warships and submarines.
The main hull of the invention adopts a cylindrical hull structure, has the advantages of good maneuverability and easy in-situ rotation, and has the characteristics of simple and firm structure, easy installation, low maintenance cost and the like. The nacelle type main propeller and the rotary propeller are combined to realize propulsion and rotation, and compared with a traditional dynamic positioning system, the nacelle type main propeller and the rotary propeller have the advantages of simple control logic, low cost, easiness in maintenance and replacement, easiness in control and the like. The autonomous positioning control subsystem adopts the satellite positioning technology and has the characteristics of high precision and good real-time performance.
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 (5)
1. The utility model provides a platform of simple and easy autonomic power location and navigation ability on water which characterized in that: the platform comprises a columnar main hull shell; the top of the main hull shell is provided with a sealed hatch cover; the bottom of the main hull shell is connected with a main propeller and a rotary propeller through a nacelle supporting seat, the main propeller is connected with a main propeller and a main propeller guide pipe, and the rotary propeller is connected with a rotary propeller; an autonomous positioning control subsystem and a steering engine are arranged in the main hull shell, and the steering engine is connected with a rudder blade extending to the outside of the main hull shell;
the autonomous positioning control subsystem comprises a positioning module, a compass, a power supply, a controller and a remote communication module; the controller performs control according to the following steps:
s1, obtaining a shore-based control instruction through the remote communication module to obtain a target position; taking the thrust direction of the main propeller as a heading, and sensing the real-time position and the heading angle of the platform through the positioning module and the compass;
s2, when the distance between the real-time position of the platform and the target position exceeds a first preset threshold value, calculating a target azimuth angle of the target position relative to the real-time position of the platform, controlling a rotary propeller and a steering engine, adjusting the heading angle of the platform to the target azimuth angle, controlling a main propeller, and pushing the platform to sail to the target position;
s3, continuously monitoring and adjusting the current heading angle and the target azimuth angle of the platform in the process of navigating to the target position, so that the angle difference between the current heading angle and the target azimuth angle of the platform is in a certain range; stopping the main propeller, the rotary propeller and the steering engine until the distance between the real-time position and the target position of the platform is smaller than a second preset threshold value; the first preset threshold is greater than the second preset threshold.
2. The platform of claim 1, wherein: the main hull shell is a cylinder, and the rotary propeller is connected to the central shaft of the cylinder.
3. The platform of claim 1, wherein: the positioning module is a Beidou/GPS multi-mode terminal and is arranged at the top of the main hull shell.
4. The platform of claim 1, wherein: the power supply comprises a lithium battery pack, a solar cell panel and a power management module, the solar cell panel is fixed at the top of the shell of the main ship body, electric energy obtained by the solar cell panel is stored in the lithium battery pack and is managed by the power management module and supplies power to the positioning module, the compass, the controller, the remote communication module, the main propeller, the rotary propeller and the steering engine.
5. The platform of claim 1, wherein: the remote communication module is a 4G or 5G router.
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| CN201911174103.9A CN110884619A (en) | 2019-11-26 | 2019-11-26 | Platform of simple and easy autonomic power location and navigation ability on water |
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| CN201911174103.9A CN110884619A (en) | 2019-11-26 | 2019-11-26 | Platform of simple and easy autonomic power location and navigation ability on water |
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Application publication date: 20200317 |