CN111309036A - Space information measurement system based on autopilot - Google Patents
Space information measurement system based on autopilot Download PDFInfo
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- CN111309036A CN111309036A CN202010404969.0A CN202010404969A CN111309036A CN 111309036 A CN111309036 A CN 111309036A CN 202010404969 A CN202010404969 A CN 202010404969A CN 111309036 A CN111309036 A CN 111309036A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a space information measuring system based on an autopilot, which comprises a central control module, a navigation positioning module, a ship motion control module, a cloud server, a path simulation module and a map construction module, wherein the central control module is used for controlling the navigation positioning module; the central control module is in signal connection with the navigation positioning module, the ship motion control module, the path simulation module and the cloud server, the navigation positioning module transmits the position information of the ship to the central control module in real time, the central control module sends a control command to the ship motion control module according to the received ship position information, and relevant data received by the central control module are uploaded to the cloud server; the map building module forms map data, and the path simulation module carries out simulation environment simulation, virtual path editing and ship operation motion simulation according to the map data transmitted by the map building module and a control instruction sent by the central control module.
Description
Technical Field
The invention belongs to the technical field of spatial information measurement, and particularly relates to a spatial information measurement system based on an autopilot.
Background
Due to the lack of route planning when the autopilot ship runs in lake water, a plurality of ships easily collide or deviate from the original destination to run on the water surface, so that great potential safety hazards are caused, the personal safety of passengers on the ships cannot be guaranteed, and the development prospect of the autopilot ship is limited.
When the automatic pilot ship runs on a large lake surface, the shore workers are difficult to observe the actual position of the automatic pilot ship, and are not clear whether the automatic pilot ship deviates from the running track or not, so that the automatic pilot ship cannot interact with passengers on the automatic pilot ship according to actual conditions, and potential safety hazards are further increased.
The existing scheme for positioning the running position of the autopilot only positions a single ship body on a plane, the positioning information data is thin, the utilization degree of the positioning information is low, the positioning information is not fully served to improve the safety performance of the ship, the utilization rate of the autopilot is low, the use popularization rate of the autopilot in occasions with higher safety requirements, such as shipping logistics areas, lakes with higher ship density and higher route freedom degree, is limited, the development of shipping logistics and matching facilities is further limited indirectly, and the upstream and downstream industries of the autopilot are also correspondingly limited.
Disclosure of Invention
The invention aims to: the space information measuring system based on the automatic pilot ship can realize fine measurement on the space information of the surrounding environment of the automatic pilot ship and can perform data processing on space positioning information to realize map simulation and complete reasonable path planning, and a driver and passengers can control the orientation of the ship according to the intention of a project designer so that the ship can drive to a corresponding functional destination according to the requirements of the driver and the passengers; the driver and the passengers can also realize the automatic dispatching of the ships and the autonomous selection of the driving routes according to the intention of a project designer, and the operation routes of the ships can be different.
In order to achieve the purpose, the technical scheme of the invention is as follows: the automatic pilot ship comprises a central control module, a navigation positioning module, a ship motion control module, a cloud server, a path simulation module and a map construction module;
the central control module: the navigation positioning module is in signal connection with the navigation positioning module, the ship motion control module, the path simulation module and the cloud server, the navigation positioning module transmits the position information of the ship to the central control module in real time, the central control module sends a control instruction to the ship motion control module according to the received ship position information, and the related data received by the central control module are uploaded to the cloud server;
the relevant data received by the central control module comprises: ship position information, ship running direction information, sensor induction information installed on a ship, and working condition information of a power unit of the ship;
the navigation positioning module: scanning the surrounding environment of the ship in real time by using a laser radar, feeding back point cloud data and transmitting the fed back point cloud data to a map building module;
the map construction module: constructing a two-dimensional map of a ship motion scene according to the received point cloud data, establishing a coordinate system to form map data, and outputting the map data to the navigation positioning module and the path simulation module;
the path simulation module: carrying out simulation environment simulation, virtual path editing and ship operation motion simulation according to the map data transmitted by the map building module and the control instruction sent by the central control module;
the ship motion control module is used for controlling starting and stopping of a ship, the running speed of the ship in the running process and the running direction of the ship.
Preferably, the man-machine interaction module is in signal connection with the central control module, the man-machine interaction module provides a man-machine interaction interface and an operation table button, and a user realizes remote control of the autopilot through the operation table button and the man-machine interaction interface.
Preferably, the navigation positioning module comprises a positioning base station, a positioning receiver, a laser radar and a gyroscope, the positioning receiver, the laser radar and the gyroscope are installed on each ship, the laser radar is used for scanning the surrounding environment of the ship in real time, the gyroscope is used for detecting and collecting the angular motion data of the ship, and the positioning receiver is used for receiving the wireless signals transmitted by the positioning base station.
Preferably, the system further comprises a sensor which is in signal connection with the central control module and is used for ship anti-collision detection and distance detection of a ship from an external object; the sensor is any one or combination of a plurality of photoelectric sensors, acoustic radar, edge-touching switches, liquid level sensors and laser radars.
Preferably, the cloud server is used for remote data acquisition, monitoring, real-time communication with ship equipment through the Internet of things, monitoring of the running state of the ship and remote maintenance.
Preferably, the ship motion control module receives and executes a control instruction sent by the central control module through a propeller installed on a ship to realize the functions of controlling the starting and stopping of the ship, the running speed of the ship in the running process and the running direction of the ship.
Preferably, the thrusters are provided with four underwater thrusters on each ship, respectively two lateral thrusters, which advance, retreat and differentially control the ship, and two lateral thrusters which provide lateral movement and differential control of the ship.
Preferably, the control instruction is control on starting, stopping, steering and rotating speed of each propeller.
Preferably, the program operation of the control instruction is realized by a PLC.
The invention has the beneficial effects that:
1. by arranging the map building module and the path simulation module, the virtual running environment building and the running motion simulation of the ship are realized, and a designer can conveniently and visually observe the running environment of the ship remotely.
2. The two underwater propellers provide forward, backward and differential control for one group of power units of the ship, the two lateral propellers provide transverse movement and differential control for the other group of power units of the ship, the navigation positioning module carries out high-precision real-time positioning on the ship, the central control module receives positioning information and carries out real-time correction on course according to a preset virtual track, torque output distribution is carried out on each power unit in real time through a full-drive control algorithm, the rotating speed of each propeller is adjusted, the ship is finally driven to run according to a preset track through closed-loop control, and real-time acquisition of acquired ship position information and real-time scheduling control are achieved.
3. Relevant data generated in the running process of the ship is stored in a cloud server through the Internet, the data can be provided to relevant departments of operation management in real time through big data analysis, and a user can remotely monitor the whole running state of the site in real time through software client (PC and smart phone).
Drawings
Fig. 1 is a structural framework diagram of a spatial information measuring system based on an autopilot ship according to the present invention.
Fig. 2 is a schematic view of the structure of the autopilot of the present invention.
FIG. 3 is a schematic diagram of the different line experiences of the autopilot of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and drawings of the specification, but the embodiments of the present invention are not limited thereto.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Referring to fig. 1, a spatial information measurement system based on an autopilot ship is provided, which includes a central control module 100, a navigation positioning module 105, a ship motion control module 101, a cloud server 102, a path simulation module 104, and a map construction module 106;
the central control module 100: the navigation positioning module 105 transmits the position information of the ship to the central control module 100 in real time, the central control module 100 sends a control instruction to the ship motion control module 101 according to the received ship position information, and the related data received by the central control module 100 are uploaded to the cloud server 102;
the relevant data received by the central control module 100 includes: ship position information, ship running direction information, sensor induction information installed on a ship, and working condition information of a power unit of the ship;
the navigation positioning module 105: scanning the surrounding environment of the ship in real time by using a laser radar, feeding back point cloud data and transmitting the fed back point cloud data to the map building module 106;
the map building module 106: constructing a two-dimensional map of a ship motion scene according to the received point cloud data, establishing a coordinate system to form map data, and outputting the map data to the navigation positioning module 105 and the path simulation module 104; when a map is constructed, the map construction module 106 generates a scene outline from the received laser radar point cloud data, and continuously performs iterative correction through an automatic optimization algorithm. As the ship moves along the whole scene, the laser radar continuously scans the surrounding environment and sends the point cloud data to the path simulation module 104, and finally a map of the whole scene is established, and the constructed map is used by the navigation positioning module 105 to analyze the position coordinate data of the ship;
the path simulation module 104: performing simulation environment simulation, virtual path editing and ship operation motion simulation according to the map data transmitted by the map building module 106 and the control instruction sent by the central control module 100;
the ship motion control module 101 is used for controlling the starting and stopping of the ship, the running speed of the ship in the running process and the running direction of the ship.
The man-machine interaction module 103 is in signal connection with the central control module 100, the man-machine interaction module 103 provides a man-machine interaction interface and an operation table button, and a user realizes remote control of the autopilot through the operation table button and the man-machine interaction interface.
The navigation positioning module 105 includes a positioning base station, a positioning receiver, a laser radar, and a gyroscope, where the positioning receiver, the laser radar, and the gyroscope are installed on each ship, the laser radar is used to scan the surrounding environment of the ship in real time, the gyroscope is used to detect the angular motion data of the collected ship, and the positioning receiver is used to receive the wireless signal transmitted by the positioning base station. The positioning base stations are four, three of the positioning base stations are located in the same horizontal plane and used for determining coordinate information of the positioning receiver on the horizontal plane, and the other positioning base station is not located in the plane determined by the other three positioning base stations and used for determining the coordinate information of the positioning receiver on the space.
The system also comprises sensors which are in signal connection with the central control module 100 and are used for ship anti-collision detection and distance detection between a ship and an external object; the sensor is any one or a combination of a plurality of photoelectric sensors, acoustic radar, edge-touching switches, liquid level sensors and laser radars, and the photoelectric sensors are used for anti-collision detection within 0.1-0.5m from the ship; the acoustic radar is used for anti-collision detection within 0.3-10m of a ship; the edge-touching switch is used for triggering the emergency equipment stop function after the ship collides; the liquid level sensor is used for detecting the draught depth of the ship body and reflecting whether the tourists riding on the ship are overweight or not; the laser radar is used for building a coordinate graph by the SLAM, so that positioning, collision avoidance and automatic obstacle avoidance are realized.
The cloud server 102 is used for remote data acquisition, monitoring, real-time communication with ship equipment through the internet of things, monitoring the running state of the ship and remote maintenance.
The ship motion control module 101 receives and executes a control instruction sent by the central control module 100 through a propeller installed on a ship to realize the functions of controlling the start and stop of the ship, the running speed of the ship in the running process and the running direction of the ship.
Referring to fig. 2, four underwater thrusters 2 and two lateral thrusters 3 are arranged on each ship, the underwater thrusters 2 control the forward movement, the backward movement and the differential speed of the ship, and the lateral thrusters 3 control the transverse movement and the differential speed of the ship.
The control instruction is used for controlling the starting, stopping, steering and rotating speed of each propeller.
And the program operation of the control instruction is realized by a PLC.
Referring to fig. 3, the autopilot has different driving routes for selection, as the ship is provided with a lateral thruster 3 and an underwater thruster 2, the ship motion control module 101 controls the start and stop of the ship, the running speed of the ship in the driving process and the driving direction of the ship by receiving and executing a control command sent by the central control module 100 through the thrusters installed on the ship, the dispatching is convenient, S1, S2 and S3 respectively represent a first channel, a second channel and a third channel of the ship, R1 and R2 respectively represent a first route and a second route of the ship in the driving process, reference numeral 4 represents a screen, since the angle of the bow can be adjusted by controlling the lateral thruster 3, the autopilot corresponding to places such as parks, amusement places and the like where viewing and entertainment can be set can meet the adjustability and controllability of the viewing direction, the film viewing effect is excellent, and the installation and application of related audio and video equipment are indirectly promoted; the experience routes are enriched due to the arrangement of the paths, experience feeling of each turn is different, the heavy driving rate can be increased, and the utilization rate of the automatic driving ship is improved; the operation cost is reduced without the need of personnel driving; the device is not influenced by the ambient brightness, is accurate in positioning and high in safety.
The power source 1 of the autopilot ship can be powered by a battery or can be generated by an oil-fired machine. The ship can be made of metal structural parts and materials such as glass fiber reinforced plastics or polyurethane, epoxy resin, carbon fiber and the like.
The two underwater propellers 2 provide forward, backward and differential control for one group of power units of the ship, the two lateral propellers 3 provide transverse movement and differential control for the other group of power units of the ship, the navigation positioning module 105 carries out high-precision real-time positioning on the ship, the central control module 100 receives positioning information and carries out real-time correction on course according to a preset virtual track, torque output distribution is carried out on each power unit in real time through a full-drive control algorithm, the rotating speed of each propeller is adjusted, the ship is finally driven to run according to a preset track through closed-loop control, and real-time acquisition and real-time scheduling control of the acquired ship position information are achieved. The full-drive control algorithm is to calculate the optimal solution through the algorithm according to the track, direction, speed and acceleration of the ship to be operated at the next moment, send the data calculated by the central control module 100 to the propeller to receive and operate according to the calculated data. The closed-loop control means that the central control module 100 plans the running real-time track of the ship, the current coordinate position of the ship is fed back to the central control module 100 through the navigation positioning module 105, and the central control module 100 performs deviation rectification control according to the position deviation of the ship to finally realize closed-loop control.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A space information measuring system based on an autopilot ship is characterized by comprising a central control module, a navigation positioning module, a ship motion control module, a cloud server, a path simulation module and a map construction module;
the central control module: the navigation positioning module is in signal connection with the navigation positioning module, the ship motion control module, the path simulation module and the cloud server, the navigation positioning module transmits the position information of the ship to the central control module in real time, the central control module sends a control instruction to the ship motion control module according to the received ship position information, and the related data received by the central control module are uploaded to the cloud server;
the relevant data received by the central control module comprises: ship position information, ship running direction information, sensor induction information installed on a ship, and working condition information of a power unit of the ship;
the navigation positioning module: scanning the surrounding environment of the ship in real time by using a laser radar, feeding back point cloud data and transmitting the fed back point cloud data to a map building module;
the map construction module: constructing a two-dimensional map of a ship motion scene according to the received point cloud data, establishing a coordinate system to form map data, and outputting the map data to the navigation positioning module and the path simulation module;
the path simulation module: carrying out simulation environment simulation, virtual path editing and ship operation motion simulation according to the map data transmitted by the map building module and the control instruction sent by the central control module;
the ship motion control module is used for controlling the starting and stopping of a ship, the running speed in the running process of the ship and the running direction of the ship;
the ship motion control module receives and executes a control instruction sent by the central control module through a propeller arranged on a ship to realize the functions of controlling the starting and stopping of the ship, the running speed of the ship in the running process and the running direction of the ship.
2. The autopilot-based spatial information measurement system of claim 1 further comprising a human-computer interaction module in signal connection with the central control module, the human-computer interaction module providing a human-computer interaction interface, console buttons, and a user remotely controlling the autopilot through the console buttons and the human-computer interaction interface.
3. The autopilot-based spatial information measurement system of claim 1 wherein the navigational positioning module includes a positioning base, a positioning receiver, a lidar and a gyroscope, the positioning receiver, the lidar and the gyroscope being mounted on each vessel, the lidar being configured to scan the vessel surroundings in real time, the gyroscope being configured to detect collected vessel angular motion data, the positioning receiver being configured to receive wireless signals transmitted by the positioning base.
4. The autopilot-based spatial information measurement system of claim 1 further comprising sensors in signal communication with the central control module, the sensors for detection of collision avoidance of the vessel and detection of distance of the vessel from external objects; the sensor is any one of a photoelectric sensor, a sound wave radar, a touch edge switch, a liquid level sensor and a laser radar.
5. The spatial information measuring system based on the autopilot ship according to claim 1, wherein the cloud server is used for remote data acquisition, monitoring, real-time communication with ship equipment through the internet of things, monitoring of the running state of the ship and remote maintenance.
6. The autopilot-based dimensional information measurement system of claim 1 wherein four thrusters are provided on each ship, two underwater thrusters providing forward, reverse and differential control of the ship, two side thrusters providing lateral movement and differential control of the ship.
7. The autopilot-based dimensional information measurement system of claim 1 wherein the control commands are start stop, steering and speed control for each propeller.
8. The autopilot-based spatial information measurement system of claim 7 wherein the programming of the control commands is implemented by a PLC.
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Cited By (1)
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| CN114694417A (en) * | 2022-03-25 | 2022-07-01 | 智海联(海南)科技有限公司 | Shipborne ocean remote sensing positioning system based on global satellite positioning system |
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Application publication date: 20200619 |
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