CN112193377A - Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof - Google Patents
Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof Download PDFInfo
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- CN112193377A CN112193377A CN202011099863.0A CN202011099863A CN112193377A CN 112193377 A CN112193377 A CN 112193377A CN 202011099863 A CN202011099863 A CN 202011099863A CN 112193377 A CN112193377 A CN 112193377A
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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
- B63H—MARINE PROPULSION OR STEERING
- B63H7/00—Propulsion directly actuated on air
- B63H7/02—Propulsion directly actuated on air using propellers
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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
Abstract
The invention provides a small-sized four-wheel drive intelligent unmanned ship platform on water surface, which comprises: the driving propeller is arranged above the platform main body; the platform main body is arranged in a regular polygon with the number of sides being even, each side of the platform main body is provided with a driving propeller, and the driving directions of the driving propellers arranged on each two parallel opposite sides of the platform main body are on the same straight line; the following problems in the prior art are solved: the influence of wind force is great, and the maneuverability is seriously insufficient in smaller water areas such as lake surface, river surface and the like; the course and the speed of the unmanned ship are coupled with each other, so that the control difficulty in the real ship control is increased; when a certain propeller fails, the unmanned ship cannot sail normally; the vehicle cannot run in a water area with dense obstacles due to the limitation of turning radius; the fixed attitude translation and fixed attitude mooring of the ship and the fixed object nursing and monitoring tasks on the water surface can not be completed due to the limitation of the number of drivers and the driving structure.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to a small four-wheel-drive intelligent water surface unmanned ship platform and a control method thereof.
Background
The unmanned surface vessel belongs to an unmanned platform, is a surface vehicle capable of autonomously moving under an unmanned operation condition, and can carry various task loads to execute specified tasks. The intelligent water-area automatic operation system has the advantages of small volume, light weight, intellectualization, no humanization and the like, has complex functions and a plurality of adaptive scenes, and can be widely applied to the field of water-area automatic operation. The unmanned surface vessel of prior art scheme's drive mode is common to have two kinds, one is the screw of monomer ship and adds steering wheel drive mode, and the screw provides thrust, and the steering wheel provides rudder power and changes ship moment, like prior art, publication number CN107352011A discloses a multipurpose binary unmanned ship, and this patent is at hull top installation screw, installs the support frame on hull top surface installation one side, installs the steering wheel on the support frame, and screw and motor are connected to the steering wheel. In the prior art, only one propeller is provided, and once a fault occurs, the unmanned ship cannot sail normally, so that the prior art has a defect in safety; only one tail vane is provided, so that the unmanned ship is slightly less than a multi-paddle ship in mobility on small-area water areas such as lake surfaces, river surfaces and the like, fixed-attitude translation cannot be realized, fixed-attitude mooring cannot be realized, the unmanned ship cannot run in a water area with dense obstacles, and the tasks of nursing and monitoring fixed objects on the water surface cannot be completed.
The other type is a double-propeller driving mode of the catamaran, a steering effect equivalent to the movement of a steering engine is generated by utilizing the differential speed of a left propeller and a right propeller, for example, the publication number is CN210000492U discloses a catamaran with sliding wings, which comprises a catamaran body, wherein the catamaran body comprises two parallel hulls and a connecting bridge for connecting the two hulls, the bottom of the connecting bridge is provided with a mounting keel, and the mounting keel is provided with the sliding wings. This prior art has the following disadvantages:
(1) in the prior art, the second propeller is positioned under water and is easy to be stranded in diving areas such as river sides, lake sides and the like.
(2) The second prior art is a catamaran, which needs two propellers to work together, the torque for turning the catamaran is small, the maneuverability is general, and once a certain propeller breaks down, the unmanned ship can not work normally.
(3) In the prior art, the two courses and the navigational speed are coupled with each other, so the control difficulty in the real ship control is increased.
(4) In the second prior art, only two tail propellers are arranged side by side, so that fixed-attitude translation cannot be realized, fixed-attitude ship mooring cannot be realized, the ship cannot run in a water area with dense obstacles, and the tasks of nursing and monitoring fixed objects on the water surface cannot be completed.
Therefore, the prior art has the defects that the wind force influence is great, and sometimes even the turning in the upwind direction cannot be realized; in small water areas such as lake surface, river surface and the like, the maneuverability is seriously insufficient; the course and the speed of the unmanned ship are coupled with each other, so that the control difficulty in the real ship control is increased; when a certain propeller fails, the unmanned ship cannot sail normally; the device is limited by the turning radius, cannot run in a water area with dense obstacles, cannot realize fixed attitude translation due to the limitation of the number of drivers and driving structures, cannot realize fixed-attitude ship berthing, cannot finish the nursing and monitoring tasks of fixed objects on the water surface and the like.
Disclosure of Invention
Based on this, it is necessary to provide a small four-wheel-drive intelligent unmanned surface vessel platform in order to solve the problems in the background art.
The invention has the technical scheme that a small four-wheel drive intelligent unmanned ship platform on the water surface is constructed, and the platform comprises: the device comprises a platform main body, a driving propeller arranged above the platform main body and a control assembly arranged on the platform main body and communicated with the driving propeller;
the platform main body is a regular polygon with the number of edges being even, each edge of the platform main body is provided with a driving propeller, and the driving directions of the driving propellers arranged on every two parallel opposite edges of the platform main body are on the same straight line.
In one embodiment, the platform main body is square, the number of the driving propellers is correspondingly 4, and the four driving propellers are arranged at four corners of a square ship body in a swastika shape.
In one embodiment, the sides of the platform body are each streamlined for reducing drag when navigating through water.
In one embodiment, the control assembly comprises: the platform comprises a control module playing a control role, a GPS positioning module used for providing the platform position, a motor driving and motor speed measuring module used for controlling and detecting the operation of a motor, a power supply module used for supplying power and a wireless communication module used for providing wireless communication, wherein the GPS positioning module, the motor driving and motor speed measuring module, the power supply module and the wireless communication module are all connected with the control module.
In one embodiment, a solar charging module is further disposed on the platform main body, and the solar charging module is a photovoltaic cell, and an emergency power source can be provided through the solar charging module.
In one embodiment, the platform main body is further provided with a recording module and a storage module which are connected with the control module, the recording module is a camera device and can provide picture acquisition when a field needs to be recorded; the storage module is used for storing the collected pictures.
The invention also comprises a control method of the small four-wheel drive intelligent unmanned surface vessel platform: the unmanned ship platform can control the rotating speed and the steering of each driving propeller through the control module.
In one embodiment, one pair of driving propellers of the unmanned ship platform controls the ship speed for a main traveling driver, and the rest driving propellers provide equivalent rudder force to control the movement direction.
In one embodiment, when the unmanned ship platform is provided with only one pair of driving propellers, the unmanned ship platform can also realize the advancing and steering.
In one embodiment, the control method comprises the following steps: translational motion control and stationary holding control;
when all the driving propellers work simultaneously, a pair of orthogonal driving forces can be provided, and tracking control of longitude and latitude output quantities, namely translational motion control, is finished respectively; if the direction of rotation of all the driving propellers is the same, a control torque can be provided to effect cruise attitude control, i.e. stationary hold control.
In one embodiment, the operation condition of the unmanned ship platform can be monitored through the motor driving and motor speed measuring module, and when the motor of the main driving propeller breaks down, other groups of driving propellers can be used as the main driving propeller to drive.
The invention has the following beneficial effects:
(1) according to the swastika-shaped unmanned ship, a four-propeller driving mode is adopted, the four propellers are arranged at four corners of a square ship body in a swastika shape, and the four-propeller driving structure is symmetrically arranged relative to the center of the ship body.
(2) The invention adopts the centrosymmetric four-wheel drive design, can change the bow setting of the unmanned ship platform and keep the same attitude to slide towards the newly set bow direction.
(3) The intelligent redundancy control scheme is adopted, when a certain screw fails, the control system automatically detects and resets the bow, and the double-propeller driving mode is adopted to complete the control task or the ship receiving task, so that the intelligent redundancy control system has higher reliability compared with the prior art.
(4) The unmanned ship can realize cruise control like a traditional ship and horizontal displacement control like an unmanned plane, overcomes the limitation that the unmanned ship cannot run in a water area with dense obstacles due to the limitation of turning radius, and increases the application scene of nursing or monitoring of fixed objects on the water surface.
(5) The propeller is positioned above the unmanned ship, and adopts a pneumatic driving mode instead of water driving, so that the propeller cannot be caught by underwater sundries.
Drawings
FIG. 1 is an isometric view of the overall structure of the present invention.
Fig. 2 is an exploded view of the overall structure of the present invention.
FIG. 3 is a schematic diagram of a control assembly according to the present invention.
Fig. 4 is a schematic view of the assembly of the solar charging module of the present invention.
Fig. 5 is a schematic view of a recording window setup according to the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed" on another element, it can be directly on the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1
Referring to fig. 1 to 2, a small four-wheel drive intelligent unmanned ship on water platform comprises: the device comprises a platform main body 1, a driving propeller 2 arranged above the platform main body 1, and a control assembly 3 arranged on the platform main body 1 and communicated with the driving propeller 2;
wherein, platform main part 1 is that the limit number all is equipped with drive screw 2 for the regular polygon setting (like rectangle, regular hexagon, regular octagon) of dual number, every edge of this platform main part 1, and the drive screw 2 drive direction that sets up on every two parallel opposite sides of platform main part 1 is on same straight line. The driving structure has stronger maneuvering capability, higher control precision and stronger environment adaptability so as to adapt to complex water areas with smaller areas such as lakes and rivers.
Preferably, the platform main body 1 is square (rectangular), the number of the driving propellers 2 is correspondingly 4, and the four driving propellers 2 are arranged at four corners of a square ship body in a swastika shape.
According to the structure, two groups of orthogonal redundant driving propellers 2 are arranged on the basis of the prior art, and the four driving propellers 2 are all positioned above a ship body and arranged in a swastika line.
Correspondingly, in order to match the novel driving structure, the ship type driving device is designed into a square column structure. The structure can provide larger ship turning moment, thereby enhancing the ship maneuverability; the speed and the course control are decoupled, so that the control is more convenient; a redundant control scheme is designed, when a certain propeller breaks down, the unmanned ship can still complete tasks or return, and the safety of the unmanned ship is improved; fixed-attitude translation or fixed-attitude fixed-point ship berthing control is designed, the control scheme can not be realized by the unmanned ship with the traditional driving structure, fixed-point nursing or monitoring of fixed objects on the water surface can be completed, and the application scenes of the unmanned ship are increased.
Preferably, the sides of the platform body 1 are each provided with a streamline shape for reducing the resistance to travel through water. Further preferably, the driving propeller 2 can be a proper propeller selected according to the ship speed required by the design and the required equivalent rudder force ship-turning moment, and the invention adopts an air propeller which pushes wind and does not push water. Because the requirement on the maximum navigational speed is not high and the size is small, a common MAU4 type propeller is selected, and the selected motor is a YD160M-4 series direct current motor. The motor driving circuit adopts an MX1208 two-way brush direct current driving circuit.
Preferably, the control assembly 3 is arranged in the platform body 1, such arrangement being better able to act as a waterproof than on a platform, the control assembly 3 comprising: the platform comprises a control module 31 for controlling, a GPS positioning module 32 for providing the platform position, a motor driving and motor speed measuring module 33 for controlling and detecting the operation of a motor, a power supply module 35 for supplying power and a wireless communication module 34 for providing wireless communication, wherein the GPS positioning module 32, the motor driving and motor speed measuring module 33, the power supply module 35 and the wireless communication module 34 are all connected with the control module 31.
Further preferably, the control module 31 is an STM32 embedded microprocessor.
Further preferably, the main communication modes of the wireless communication module 34 include an IIC, an SPI, and a USART serial port, where the serial port communication is a main interaction mode between the base station and the unmanned ship.
Further preferably, the GPS positioning module 32 employs a BDST-ORT617P big dipper high precision positioning and orientation board card, which can provide the position, speed, time, heading and pitch angle information of the carrier more precisely.
In one embodiment, a solar charging module 4 is further disposed on the platform main body 1, the solar charging module 4 is a photovoltaic cell, and an emergency power source can be provided through the solar charging module 4. The cruising ability of the platform can be increased by arranging the solar charging module 4, and the service time can be increased in some application scenes that the supplementary electric quantity cannot be timely recovered.
In one embodiment, the platform main body 1 is further provided with a recording module 36 and a storage module 37 which are connected with the control module 31, wherein the recording module 36 is a camera device and can provide picture acquisition when a field needs to be recorded; the storage module 37 is used for storing the collected pictures. The information can be stored firstly when the wireless signal is not good and can not be returned in time.
Preferably, a recording window 11 is further disposed on a side surface of the platform body 1 corresponding to the recording module 36, the recording window 11 is made of a transparent material (e.g., glass), and a joint of the recording window 11 and the platform body 1 is hermetically connected.
The invention also comprises a control method of the small four-wheel drive intelligent unmanned surface vessel platform: the unmanned ship platform can control the rotating speed and the steering of each driving propeller 2 through the control module 31.
Preferably, when the unmanned ship platform is provided with only one pair of driving propellers 2, the unmanned ship platform can also realize the advancing and steering.
Preferably, one pair of driving propellers 2 of the unmanned ship platform is used as a main traveling driver to control the ship speed, and the other driving propellers 2 provide equivalent rudder force to control the movement direction. Namely, the two driving propellers 2 at the opposite angles are rotated in the same direction, so that the navigation speed of the unmanned ship is controlled; the two driving propellers 2 of the auxiliary diagonal line move oppositely to provide equivalent steering force ship-turning moment, so that the course of the unmanned ship is controlled, the navigational speed and the course are not mutually coupled, the control difficulty is reduced by the structure, and the maneuvering performance of the ship is improved.
Under the participation of orthogonal redundant propellers, the unmanned ship can realize the interchange of a main pair and an auxiliary pair, the universal unmanned ship can enable any direction to be called as the bow direction, the same attitude can be kept to slide in any direction, and the maneuverability of the unmanned ship platform is greatly improved.
Further preferably, the operation condition of the unmanned ship platform can be monitored through the motor driving and motor speed measuring module 33, and when the main driving propeller 2 has a motor fault, other groups of driving propellers 2 can be used as the main driving propeller 2 to be driven, that is, when one driving propeller 2 has a fault, only one group of diagonal propellers works. When one propeller does not work, the other group of propellers can be intelligently and automatically selected to continue working by the upper computer to complete the task, so that the safety performance of the unmanned ship is enhanced. The control scheme of the ship is similar to that of a common catamaran, but the ship turning moment is increased due to the unique centrosymmetric driving structure.
Preferably, the control method includes: translational motion control and stationary holding control;
when all the driving propellers 2 work simultaneously, a pair of orthogonal driving forces can be provided, and tracking control of longitude and latitude output quantities, namely translational motion control, can be finished respectively; if the direction of rotation of all the driving propellers 2 is the same, a control torque can be provided to effect the cruise attitude control, i.e. the stationary holding control.
The above examples only show some 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. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. The utility model provides a small-size four-wheel drive intelligence unmanned ship platform on water surface which characterized in that includes: the device comprises a platform main body, a driving propeller arranged above the platform main body and a control assembly arranged on the platform main body and communicated with the driving propeller;
the platform body is a regular polygon with the number of edges being even, each edge of the platform body is provided with the driving propeller, and the driving directions of the driving propellers arranged on every two parallel opposite edges of the platform body are on the same straight line.
2. The small four-wheel-drive intelligent unmanned ship on water platform as claimed in claim 1, wherein the platform main body is arranged in a square shape, the number of the driving propellers is correspondingly 4, and the four driving propellers are arranged in swastika-shaped at four corners of a square ship body.
3. The small four-wheel-drive intelligent unmanned on water vessel platform of claim 1, wherein the side surfaces of the platform main body are streamline-shaped for reducing resistance of sailing in water.
4. The small four-wheel-drive intelligent surface unmanned ship platform of claim 1, wherein the control assembly comprises: the platform comprises a control module playing a control role, a GPS positioning module used for providing the platform position, a motor driving and motor speed measuring module used for controlling and detecting the operation of a motor, a power supply module used for supplying power and a wireless communication module used for providing wireless communication, wherein the GPS positioning module, the motor driving and motor speed measuring module, the power supply module and the wireless communication module are all connected with the control module.
5. A small-sized four-wheel drive intelligent unmanned on water surface ship platform according to claim 4, wherein a solar charging module is further arranged on the platform main body, the solar charging module is a photovoltaic cell, and an emergency power supply can be provided through the solar charging module.
6. The small four-wheel-drive intelligent unmanned on water surface ship platform as claimed in claim 4, wherein a recording module and a storage module connected with the control module are further arranged on the platform main body, the recording module is a camera device and can provide picture collection when a field needs to be recorded; the storage module is used for storing the collected pictures.
7. The control method of the small-sized four-wheel drive intelligent unmanned water surface ship platform according to any one of claims 1 to 6, characterized by comprising the following steps: the unmanned ship platform can control the rotating speed and the steering of each driving propeller through the control module.
8. The control method of the small-sized four-wheel drive intelligent unmanned water surface ship platform according to claim 7, is characterized in that: one pair of driving propellers of the unmanned ship platform is a main traveling driver for controlling the ship speed, and the other driving propellers provide equivalent rudder force for controlling the motion direction.
9. The control method of the small-sized four-wheel drive intelligent unmanned water surface ship platform according to claim 7, is characterized in that: when the unmanned ship platform is provided with only one pair of driving propellers to work, the unmanned ship platform can also advance and turn.
10. The control method of the small-sized four-wheel drive intelligent unmanned surface vehicle platform according to claim 7, is characterized by comprising the following steps: translational motion control and stationary holding control;
when all the driving propellers work simultaneously, a pair of orthogonal driving forces can be provided, and tracking control of longitude and latitude output quantities, namely translational motion control, is finished respectively; if the direction of rotation of all the driving propellers is the same, a control torque can be provided to effect cruise attitude control, i.e. stationary hold control.
11. The control method of the small-sized four-wheel drive intelligent unmanned water surface ship platform according to claim 7, is characterized in that: the operation condition of the unmanned ship platform can be monitored through the motor driving and motor speed measuring module, and when the main driving propeller has a motor fault, other groups of driving propellers can be used as the main driving propeller to drive.
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| CN202011099863.0A CN112193377A (en) | 2020-10-14 | 2020-10-14 | Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof |
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| CN202011099863.0A CN112193377A (en) | 2020-10-14 | 2020-10-14 | Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof |
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| CN113086104A (en) * | 2021-03-24 | 2021-07-09 | 深圳市人工智能与机器人研究院 | Modularized omnidirectional unmanned ship capable of being spliced independently |
| TWI829992B (en) * | 2021-01-21 | 2024-01-21 | 鎮鑫科技股份有限公司 | Unmanned ship offset reset system |
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Application publication date: 20210108 |