CN112068546A - Unmanned autonomous navigation control system and method for ship - Google Patents
Unmanned autonomous navigation control system and method for ship Download PDFInfo
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- CN112068546A CN112068546A CN202010756086.6A CN202010756086A CN112068546A CN 112068546 A CN112068546 A CN 112068546A CN 202010756086 A CN202010756086 A CN 202010756086A CN 112068546 A CN112068546 A CN 112068546A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 230000002093 peripheral effect Effects 0.000 claims abstract description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000006854 communication Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 239000003643 water by type Substances 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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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 an unmanned autonomous navigation control system and method for a ship, wherein the system comprises a course speed monitoring module, an environment position monitoring module, a navigation execution module, a plurality of navigation sites, a cloud server and an onboard controller. The system adopts a brand-new communication mode, and peripheral information on a sailing water area is obtained in advance through a sailing site, so that an optimal sailing route can be selected conveniently, route adjustment is made in advance in the sailing process, and influence caused by information lag is avoided; in the whole navigation process, the course navigation speed information, the environment position information and the like of the ship can be comprehensively obtained in real time, the navigation safety is increased, and unmanned autonomous navigation of the ship is really realized.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an unmanned autonomous navigation control system and method for a ship.
Background
The unmanned ship is used as an unmanned water platform, can expand the existing operational capacity in the military aspect, has a checking and fighting function, can be configured according to tasks, can quickly make up the defects of our army in an asymmetric operational system at a low cost, and has great significance for improving the maritime operational capacity of our army; in the civil aspect, the unmanned ship has important application values in the aspects of patrol, monitoring, disaster early warning, disaster relief and the like under complex dangerous sea conditions such as oceans, large lakes and the like.
Due to the complex environments of the ocean and the lake, the control of autonomous navigation of the unmanned ship is very important. The current navigation control is difficult to realize the tracking control of the actual track, manual intervention is needed, and the information interaction has hysteresis during navigation, so that the difference from the real autonomous navigation control of the ship is more.
Disclosure of Invention
In order to solve the technical problem, the invention provides a ship unmanned autonomous navigation control system and method.
The invention realizes the purpose through the following technical scheme:
an unmanned autonomous navigation control system for ship comprises
The course speed monitoring module is used for monitoring the direction and speed information of the ship during navigation;
the environment position monitoring module is used for monitoring environment parameters and specific position information of the ship during navigation;
the navigation execution module is used for propelling the ship to navigate and adjusting the navigation direction of the ship;
the navigation sites are used for monitoring peripheral information of the navigation sites;
the cloud server is used for storing the peripheral information of each navigation site in different navigation waters;
and the ship-mounted controller is used for acquiring the direction and speed information sent by the course navigation speed monitoring module, the environmental parameters and the specific position information sent by the environmental position monitoring module and the peripheral information of the ship to be navigated by the navigation station, which is stored in the cloud server, and controlling the navigation execution module to work according to the acquired information.
In a further improvement, the course speed monitoring module includes
The direction sensor is used for monitoring ship navigation direction information;
and the speed sensor is used for monitoring the navigation speed information of the ship.
In a further refinement, the environmental location monitoring module comprises
The water flow sensor is used for monitoring the flow speed and the flow direction information of the water flow in the sailing water area;
the wind flow sensor is used for monitoring wind speed and wind direction information of the position of the ship;
the barrier sensor is used for monitoring barrier information at the sailing front end of the ship;
and the position sensor is used for monitoring the positioning information of the ship.
The improvement is that the sailing execution module comprises a propeller and a rudder of the ship.
The further improvement is that the navigation sites are fixedly arranged in the navigation water area every 50-100km, and each navigation site is provided with detection equipment and simultaneously establishes communication with each local detection department so as to realize monitoring of peripheral information in a matching manner.
The further improvement is that the peripheral information comprises meteorological information, ship management system information, ship supporting service information and port handling information.
The system is further improved in that the shipborne controller is in bidirectional communication with the cloud server, and the cloud server feeds back the peripheral information of the sailing site of the water area corresponding to the destination to the shipborne controller according to the destination request sent by the shipborne controller.
An unmanned autonomous navigation control method for a ship, which utilizes the system, comprises the following steps:
step one, presetting a navigation destination of a ship in an onboard controller, and sending a navigation destination request to a cloud server;
secondly, the cloud server sends the peripheral information of the navigation site on the navigation water area corresponding to the destination to the ship-borne controller, and the ship-borne controller selects the optimal navigation line in the navigation water area according to the peripheral information and controls the navigation execution module to work according to the optimal navigation line to start navigation;
and step three, the onboard controller acquires the direction and speed information of the ship during navigation, the environmental parameters of the ship during navigation and specific position information in real time, and controls the navigation execution module to propel the ship to navigate and adjust the navigation direction of the ship according to the acquired information.
The further improvement is that the shipborne controller periodically acquires the peripheral information of the navigation site on the navigation water area corresponding to the destination in the navigation process, and pre-adjusts the optimal navigation route according to the peripheral information, and the shipborne controller controls the navigation execution module to work according to the adjusted optimal navigation route.
The further improvement is that the period of the ship-mounted controller for acquiring the information around the navigation station on the navigation water area corresponding to the destination is 30-60 min.
The invention has the beneficial effects that: the system adopts a brand-new communication mode, and peripheral information on a sailing water area is obtained in advance through a sailing site, so that an optimal sailing route can be selected conveniently, route adjustment is made in advance in the sailing process, and influence caused by information lag is avoided; in the whole navigation process, the course navigation speed information, the environment position information and the like of the ship can be comprehensively obtained in real time, the navigation safety is increased, and unmanned autonomous navigation of the ship is really realized.
Drawings
FIG. 1 is a schematic diagram of an unmanned autonomous navigation control system for a ship;
fig. 2 is a schematic diagram of a ship unmanned autonomous navigation control method.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
As shown in fig. 1, the present invention provides an unmanned autonomous navigation control system for a ship, comprising:
the course speed monitoring module is used for monitoring the direction and speed information of the ship during navigation;
the environment position monitoring module is used for monitoring environment parameters and specific position information of the ship during navigation;
the navigation execution module is used for propelling the ship to navigate and adjusting the navigation direction of the ship;
the navigation sites are used for monitoring peripheral information of the navigation sites;
the cloud server is used for storing the peripheral information of each navigation site in different navigation waters;
and the ship-mounted controller is used for acquiring the direction and speed information sent by the course navigation speed monitoring module, the environmental parameters and the specific position information sent by the environmental position monitoring module and the peripheral information of the ship to be navigated by the navigation station, which is stored in the cloud server, and controlling the navigation execution module to work according to the acquired information.
The navigation system comprises a course speed monitoring module, an environment position monitoring module, a navigation execution module, a cloud server and a navigation execution module, wherein the signal output ends of the course speed monitoring module and the environment position monitoring module are connected with the signal input end of the ship-mounted controller, the signal input end of the navigation execution module is connected with the signal output end of the ship-mounted controller, the signal output end of each navigation site is connected with the signal input end of the cloud server, and the ship-mounted controller is in two.
In the present invention, the course speed monitoring module comprises: the direction sensor is used for monitoring ship navigation direction information; and the speed sensor is used for monitoring the navigation speed information of the ship.
In the present invention, the environment location monitoring module includes: the water flow sensor is used for monitoring the flow speed and the flow direction information of the water flow in the sailing water area; the wind flow sensor is used for monitoring wind speed and wind direction information of the position of the ship; the barrier sensor is used for monitoring barrier information at the sailing front end of the ship; and the position sensor is used for monitoring the positioning information of the ship.
In the invention, the navigation execution module comprises a propeller and a rudder of the ship, which are respectively used for propelling the ship to advance and adjusting the navigation direction of the ship.
In the invention, the navigation sites are fixedly arranged in the navigation water area every 50-100km, the arrangement interval can be properly increased in the sea area, and each navigation site is provided with detection equipment and simultaneously establishes communication with each local detection department so as to realize the monitoring of the peripheral information in a matching way. The peripheral information comprises weather information, ship management system information, ship matching service information and port handling information.
According to the invention, the shipborne controller is in two-way communication with the cloud server, and the cloud server feeds back the peripheral information of the navigation site of the water area corresponding to the destination to the shipborne controller according to the destination request sent by the shipborne controller.
As shown in fig. 2, the present invention also provides an unmanned autonomous navigation control method of a ship using the system of claim 7, comprising the steps of:
step one, presetting a navigation destination of a ship in an onboard controller, and sending a navigation destination request to a cloud server;
secondly, the cloud server sends the peripheral information of the navigation site on the navigation water area corresponding to the destination to the ship-borne controller, and the ship-borne controller selects the optimal navigation line in the navigation water area according to the peripheral information and controls the navigation execution module to work according to the optimal navigation line to start navigation;
and step three, the onboard controller acquires the direction and speed information of the ship during navigation, the environmental parameters of the ship during navigation and specific position information in real time, and controls the navigation execution module to propel the ship to navigate and adjust the navigation direction of the ship according to the acquired information.
The shipborne controller periodically acquires the peripheral information of the navigation site on the navigation water area corresponding to the destination in the navigation process, and adjusts the optimal navigation route in advance according to the peripheral information, and the shipborne controller controls the navigation execution module to work according to the adjusted optimal navigation route.
According to the method, the surrounding information on the navigation water area is acquired in advance through the navigation site, so that the optimal navigation route can be selected conveniently, route adjustment is made in advance in the navigation process, and the influence caused by information lag is avoided; in the whole navigation process, the course navigation speed information, the environment position information and the like of the ship can be comprehensively obtained in real time, the navigation safety is increased, and unmanned autonomous navigation of the ship is really realized.
Particularly, the period of acquiring the peripheral information of the navigation station on the navigation water area corresponding to the destination by the shipborne controller is 30-60 min.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned autonomous navigation control system of boats and ships which characterized in that: comprises that
The course speed monitoring module is used for monitoring the direction and speed information of the ship during navigation;
the environment position monitoring module is used for monitoring environment parameters and specific position information of the ship during navigation;
the navigation execution module is used for propelling the ship to navigate and adjusting the navigation direction of the ship;
the navigation sites are used for monitoring peripheral information of the navigation sites;
the cloud server is used for storing the peripheral information of each navigation site in different navigation waters;
and the ship-mounted controller is used for acquiring the direction and speed information sent by the course navigation speed monitoring module, the environmental parameters and the specific position information sent by the environmental position monitoring module and the peripheral information of the ship to be navigated by the navigation station, which is stored in the cloud server, and controlling the navigation execution module to work according to the acquired information.
2. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the course and speed monitoring module comprises
The direction sensor is used for monitoring ship navigation direction information;
and the speed sensor is used for monitoring the navigation speed information of the ship.
3. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the environment position monitoring module comprises
The water flow sensor is used for monitoring the flow speed and the flow direction information of the water flow in the sailing water area;
the wind flow sensor is used for monitoring wind speed and wind direction information of the position of the ship;
the barrier sensor is used for monitoring barrier information at the sailing front end of the ship;
and the position sensor is used for monitoring the positioning information of the ship.
4. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the navigation execution module comprises a propeller and a rudder of the ship.
5. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the navigation sites are fixedly arranged in the navigation water area every 50-100km, and each navigation site is provided with detection equipment and simultaneously establishes communication with each local detection department so as to realize monitoring of peripheral information in a matching manner.
6. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the peripheral information comprises weather information, ship management system information, ship matching service information and port handling information.
7. The unmanned autonomous navigation control system for a ship according to claim 1, wherein: the ship-mounted controller is in two-way communication with the cloud server, and the cloud server feeds back the peripheral information of the navigation site of the water area corresponding to the destination to the ship-mounted controller according to the destination request sent by the ship-mounted controller.
8. An unmanned autonomous navigation control method for a ship is characterized by comprising the following steps: which utilizes the system of claim 7, the steps comprising
Step one, presetting a navigation destination of a ship in an onboard controller, and sending a navigation destination request to a cloud server;
secondly, the cloud server sends the peripheral information of the navigation site on the navigation water area corresponding to the destination to the ship-borne controller, and the ship-borne controller selects the optimal navigation line in the navigation water area according to the peripheral information and controls the navigation execution module to work according to the optimal navigation line to start navigation;
and step three, the onboard controller acquires the direction and speed information of the ship during navigation, the environmental parameters of the ship during navigation and specific position information in real time, and controls the navigation execution module to propel the ship to navigate and adjust the navigation direction of the ship according to the acquired information.
9. The unmanned autonomous navigation control method of a ship according to claim 8, wherein: the shipborne controller periodically acquires the peripheral information of the navigation site on the navigation water area corresponding to the destination in the navigation process, and adjusts the optimal navigation route in advance according to the peripheral information, and the shipborne controller controls the navigation execution module to work according to the adjusted optimal navigation route.
10. The unmanned autonomous navigation control method of a ship according to claim 9, wherein: the period of the ship-mounted controller for acquiring the peripheral information of the navigation station on the navigation water area corresponding to the destination is 30-60 min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010756086.6A CN112068546A (en) | 2020-07-31 | 2020-07-31 | Unmanned autonomous navigation control system and method for ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117452954A (en) * | 2023-12-20 | 2024-01-26 | 北京海兰信数据科技股份有限公司 | Navigation method of ship and terminal equipment |
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Application publication date: 20201211 |