CN112256538A - Unmanned ship equipment information acquisition processing and control method - Google Patents
Unmanned ship equipment information acquisition processing and control method Download PDFInfo
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Abstract
The invention discloses an information acquisition, processing and control method for unmanned ship equipment, which comprises the following steps: establishing communication connection between an industrial personal computer and shipborne equipment and arranging an automatic reconnection disconnection mechanism; step (2) collecting equipment state information and carrying out fault information diagnosis; step (3) performing safety action according to the superior control instruction; and (4) visualizing and storing the data in real time, wherein the step (2) and the step (3) are respectively realized through independent threads. Compared with the prior art, the scheme can ensure the stability of the communication connection of the equipment through an automatic reconnection mechanism for disconnecting the communication connection of the equipment; equipment faults can be found in time through overtime judgment and data abnormity analysis in information processing; the stability and the reliability of the actions of the unmanned ship are ensured through a safety action strategy; the data acquisition and safety control links are realized through independent threads respectively, so that the reliability of software operation is improved. Data is visualized in real time, so that the debugging and monitoring are facilitated intuitively; data storage and automatic regular cleaning are convenient for designers to carry out data analysis and troubleshooting on the operation state of the unmanned ship, and the data storage does not occupy too much storage resources.
Description
Technical Field
The invention belongs to the technical field of unmanned ships, and particularly relates to an unmanned ship equipment information acquisition processing and control method.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task by means of accurate satellite positioning and self sensing without remote control. The unmanned ship can be widely applied to the fields of intelligent fishery, open sea exploration and the like in the future and develops towards the data-driven intelligent industry. The big data application can provide services such as ship position inquiry, historical track, oceanographic weather, intelligent early warning, port analysis and the like for the user. In recent years, unmanned ships are paid much attention in the world, and with the proposal of the 'strategy' of ocean forcing, research and development of unmanned ships in China are also in a new stage, and the application of unmanned ships is gradually trending. ROS (Robot Operating System) is a flexible framework for writing Robot software, which integrates a large number of tools and libraries. With the development of few years, ROS has found wide applications, including industrial robots, apolo unmanned vehicles developed by hundredths, mars detectors developed by NASA in the united states based on ROS, and so on.
In unmanned ship system software based on an ROS system, all nodes are interconnected and intercommunicated through communication mechanisms such as ROS messages and the like. Shore-based personnel control ground station software, and the shore-based personnel communicate with unmanned ship system software through communication equipment such as a radio station and the like to remotely control the unmanned ship and obtain state information of the unmanned ship, so that a measurement and control function is realized. Because the unmanned ship mostly works in environments such as lakes or seas and is far away from the shore base, shore base personnel cannot find and maintain the unmanned ship immediately if shipborne equipment fails.
During the operation of the unmanned ship, navigation data may be abnormal due to the failure of navigation equipment, and a great error influence is generated on the autonomous navigation calculation. Important shipborne equipment such as a generator and an engine needs to ensure the safety and reliability of actions. Usually, the communication between the industrial personal computer and the equipment fails, the ROS node needs to be restarted manually, and the stability and reliability of the operation of the equipment cannot be guaranteed.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the defects of the prior art, the invention provides an unmanned ship equipment information acquisition processing and control method, which improves the stability and reliability of an unmanned ship information acquisition and control system and carries out structured organization and mining on unmanned ship data.
The technical scheme of the invention is as follows: a method for collecting, processing and controlling unmanned ship equipment information comprises the following steps that each ROS node executes:
(1) establishing communication connection between the node and the associated shipborne equipment, if the communication connection is successful, if the associated shipborne equipment is execution type equipment, executing the step (2) and the step (3) in parallel by adopting an independent thread, and if the associated shipborne equipment is acquisition type equipment, executing the step (2); if the communication connection fails, updating the equipment connection fault mark in the equipment state information, storing the updated equipment state information and the recording time into a database, and issuing the information in an ROS message form for subscribing other nodes in the ROS system;
(2) for the associated equipment of the power-on output type, the node directly receives the data frame of the associated equipment through a communication interface of the associated shipborne equipment; for the associated equipment needing instruction inquiry, the node circularly sends an inquiry instruction code to the associated equipment according to a preset data acquisition period, if the data frame of the associated equipment is acquired and the node does not receive the data frame of the associated equipment within preset time, the equipment data receiving overtime mark is updated to the equipment state information, the equipment state information is stored into a database by adding recording time, and the equipment state information is issued in an ROS message form; if the associated equipment data frame is received within the preset time, checking and analyzing the associated equipment data frame to obtain equipment running state data, if the equipment data frame is correctly checked and all the equipment running state data are within a preset normal range, judging that the data are normal, updating an equipment data normal mark and the equipment running state data in equipment state information, storing the updated equipment state information and recording time into a database and issuing the updated equipment state information in an ROS message form for other nodes to subscribe; if the data verification of the associated equipment is wrong or any data of the associated equipment exceeds a preset normal range, judging that the data is abnormal, updating an equipment data abnormal mark in equipment state information, adding recording time to the updated equipment state information, storing the updated equipment state information into a database, and issuing the updated equipment state information in an ROS message form for subscribing other nodes;
(3) subscribing control parameter information issued by an ROS system control layer of the unmanned ship and equipment state information issued by other nodes, analyzing the control parameter information to obtain actions to be executed by equipment associated with the node, if the equipment associated with the node and the equipment state associated with the other nodes have no action restriction and the control parameters are within a preset reasonable range, compiling control instruction codes according to the data protocol of the equipment and the control parameter information according to the control parameter information, sending the control instruction codes to the associated equipment through a communication interface, and executing the corresponding actions by the control equipment; if the device state associated with the node and the device state associated with other nodes has action restriction or the control parameter exceeds a preset reasonable range, the node does not act, the fault reason is judged according to a preset fault tree, the device fault mark and the fault reason mark corresponding to the fault reason are updated in the device state information, the updated device state information is stored into a database by adding recording time, and the updated device state information is published in an ROS message form for other nodes to subscribe.
The unmanned ship equipment information acquisition processing and control method based on the ROS system further comprises the step of displaying the equipment state information stored in each ROS node in a chart form in real time according to a preset updating period.
The step (1) of establishing the communication connection between the node and the corresponding shipborne equipment is specifically realized as follows:
according to the preset times, communication connection is established between the ship-borne equipment and the corresponding ship-borne equipment for multiple times, if any one connection is successful, the connection is considered to be successful, and the connection process is quitted; otherwise, if the connection fails for a plurality of times, the connection is considered to fail, and the connection process is quitted.
The unmanned ship equipment information acquisition, processing and control method based on the ROS system further comprises the following steps:
and (3) during the operation of the node, continuously monitoring the communication connection state of the node and the associated shipborne equipment according to a preset period, and when the disconnection condition occurs, returning to the step (1) to start execution again to establish the communication connection between the node and the associated shipborne equipment.
The communication interface between the node and the associated shipborne equipment comprises serial port communication connection, internet access communication connection and CAN (controller area network) port communication connection, wherein the internet access communication connection comprises connection based on a TCP/IP (transmission control protocol/Internet protocol) protocol and connection based on a UDP (user datagram protocol).
The frame format of the associated device data frame may be any one of the following three frame formats:
the first method comprises the following steps: frame header flag + entire frame length + data content;
and the second method comprises the following steps: frame head mark + data content + frame tail mark;
and the third is that: frame header flag + data length + data content.
And each ROS node stores the equipment state information according to a set data storage period.
The data files in the database can be automatically cleaned regularly according to an externally set cleaning period.
After each ROS node receives the associated equipment data frame through the communication interface, the associated data frames are sequentially stored in the circular data buffer area, and then the complete data frame is extracted from the circular data buffer area according to the data frame format to check, decode and extract information of the data frame. The circular data buffer is implemented in the form of a circular queue data structure.
Compared with the prior art, the invention has the beneficial effects that:
(1) after the communication connection between the industrial personal computer and the shipborne equipment is established, the disconnection reconnection mechanism can ensure the stability of the communication connection of the equipment;
(2) the invention can solve the problems of 'packet sticking' and 'packet loss' in communication by caching the received data in the information processing through the circulating cache region, thereby reducing the frame loss rate and improving the communication quality; equipment faults can be found in time through overtime judgment and data abnormity analysis, relevant equipment can conveniently execute corresponding safety actions, and the safety and reliability of unmanned ship operation are guaranteed.
(3) The unmanned ship can automatically adopt the safety action strategy under the unmanned control state through the safety action strategy, so that the risk caused by an accident situation is avoided, the running stability and reliability of the unmanned ship are ensured, the abnormal situation and the fault reason of each action step are recorded, and the fault reason can be found in time to carry out fault troubleshooting; the data acquisition and safety control links of the invention are respectively realized by independent threads without mutual influence, thereby improving the reliability of software operation.
(4) The invention is convenient for personnel to intuitively debug and monitor equipment through data real-time visualization; through data storage and regular cleaning of shipborne equipment, troubleshooting and data analysis and mining of the operation state of the unmanned ship are facilitated, and excessive storage resources are not occupied.
Drawings
FIG. 1 is a main flow chart of the unmanned ship equipment information acquisition processing and control method based on the ROS system of the present invention;
fig. 2 is a flow chart of the device information collecting and processing method of the present invention.
FIG. 3 is a flow chart of the safety action of the device of the present invention.
FIG. 4 is a flow chart of an engine start-stop safety control strategy of the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and specific examples.
Example (b):
unmanned ship system software based on ROS system runs on Linux operating system of ship-borne industrial personal computer, the industrial personal computer is connected with each ship-borne device through communication interface, the communication connection form comprises serial communication connection, network port communication connection and CAN port communication initial communication, wherein the network port communication connection comprises connection based on TCP/IP protocol and UDP protocol.
As shown in fig. 1, the method for acquiring, processing and controlling information of unmanned ship equipment provided by the invention comprises the following steps:
step 1, establishing communication connection between each ROS node and the associated shipborne equipment.
According to the preset times, communication connection is established between the ship-borne equipment and the corresponding ship-borne equipment for multiple times, if any one connection is successful, the connection is considered to be successful, and the connection process is quitted; otherwise, if the connection fails for a plurality of times, the connection is considered to fail, and the connection process is quitted. If the communication connection is successful, if the associated shipborne device is an execution type device, executing the step (2) and the step (3) in parallel by adopting independent threads, and if the associated shipborne device is an acquisition type device, executing the step (2); and if the communication connection fails, updating the equipment connection fault mark in the equipment state information, storing the updated equipment state information and the recording time into a database, and publishing the information in an ROS message form for subscribing other nodes in the ROS system. And (3) during the operation of the software node, continuously monitoring the communication connection state of the node and the corresponding shipborne equipment according to a preset period, and returning to the step (1) to start executing when the connection disconnection condition occurs.
For example: the industrial personal computer and the meteorological station equipment are communicated through a network port, a TCP/IP protocol is adopted as a network communication protocol, the industrial personal computer serves as a client, the equipment serves as a server, initial TCP/IP network connection is carried out after the nodes operate, and when network connection is unsuccessful, network connection is tried to be established again until the network connection is successful. And if the connection times are more than 3, judging the equipment connection fault.
And 2, acquiring equipment state information and carrying out fault diagnosis.
For the associated equipment of a power-on output type, the node directly receives a data frame of the associated equipment through a communication interface of the associated shipborne equipment; and for the associated equipment needing instruction query, the node circularly sends a query instruction code to the associated equipment according to a preset data acquisition period to acquire a data frame of the associated equipment. If the node does not receive the associated equipment data frame within the preset time, updating the equipment data receiving overtime mark into the equipment state information, storing the equipment state information and the recording time into a database and issuing the equipment state information in an ROS message form; if the associated equipment data frame is received within the preset time, the associated data frame is sequentially stored in a circular data buffer area, and then the complete data frame is extracted from the circular data buffer area according to the data frame format to check, decode and extract information of the data frame. The circular data buffer is implemented in the form of a circular queue data structure.
The data frame of the associated device is checked and analyzed to obtain the running state data of the device, and the frame format of the data frame of the device can be any one of the following three frame formats:
the first method comprises the following steps: frame header flag + entire frame length + data content;
and the second method comprises the following steps: frame head mark + data content + frame tail mark;
and the third is that: frame header flag + data length + data content.
If the equipment data frame is verified correctly and all the equipment running state data are within the preset normal range, judging that the data are normal, updating the equipment data normal mark and the equipment running state data in the equipment state information, storing the updated equipment state information in a database by adding recording time, and publishing the updated equipment state information in an ROS message form for subscribing other nodes; and if the data verification of the associated equipment is wrong or any data of the associated equipment exceeds a preset normal range, judging that the data is abnormal, updating an equipment data abnormal mark in equipment state information, adding recording time to the updated equipment state information, storing the updated equipment state information into a database, and issuing the updated equipment state information in an ROS message form for subscribing other nodes.
For example: the P2 Beidou high-precision positioning and direction-finding receiver is connected with an industrial personal computer through a network port, the data protocol of the receiver is character type data in a format of 'frame head mark + data content + frame tail mark', the equipment automatically sends data frames to the interface of the industrial personal computer after being electrified, and the frequency is 100 Hz. The software node firstly judges whether the received data is overtime, when the receiving time is more than 1s, the software node judges that the receiving is overtime, and the issuing equipment receives the overtime zone bit of the data. After each ROS node receives the associated equipment data frame through the communication interface, the associated data frames are sequentially stored in the circular data buffer area, and then the complete data frame is extracted from the circular data buffer area according to the data frame format to check, decode and extract information of the data frame. The circular data buffer is implemented in the form of a circular queue data structure. And if the data are received within the preset time range, storing the received data into the circular buffer area. If the data sending half frame occurs, the data receiving thread can sequentially store the received data into the circular data buffer area, and starts to circularly traverse the circular buffer area from the buffer area according to the data frame format until the complete data frame is retrieved, and the data is taken out, so that the integrity of the received data is ensured, and the frame loss can not occur. And after the complete data frame is extracted, checking and analyzing the data frame. The data of the navigation equipment can generate numerical jump, and the judging method comprises the following steps: and comparing the data value at the moment with the data value at the previous moment, judging that the data is abnormal when the difference value of the course angle is more than 5 degrees, discarding the data value at the moment, taking the values at 10 moments, and performing binomial fitting to obtain a fitting numerical value serving as the numerical value at the moment.
And 3, performing safety action according to the superior control instruction.
Subscribing control parameter information issued by an ROS system control layer of the unmanned ship and equipment state information issued by other nodes, analyzing the control parameter information to obtain actions to be executed by equipment associated with the node, if the equipment associated with the node and the equipment state associated with the other nodes have no action restriction and the control parameters are within a preset reasonable range, compiling control instruction codes according to the control parameter information and a data protocol of the equipment, sending the control instruction codes to the associated equipment through a communication interface, and executing corresponding actions by the control equipment; if the device state associated with the node and the device state associated with other nodes has action restriction or the control parameter exceeds a preset reasonable range, the node does not act, the fault reason is judged according to a preset fault tree, the fault mark corresponding to the fault reason is updated in the device state information, the updated device state information is stored into a database by adding recording time and is issued in an ROS message form for other nodes to subscribe.
In consideration of safety performance, during the operation of the node, the communication connection state of the node and the associated shipborne equipment is continuously monitored according to a preset period, and when the disconnection occurs, the step (1) is returned to and executed again, and the communication connection of the node and the associated shipborne equipment is established.
For example: FIG. 4 is a safety process flow diagram of an engine start-stop process. The start and stop of the engine are respectively controlled by a starting relay and a flameout relay. The engine start firstly needs safety judgment: the kill relay must be in an off state, the gearbox must be in a disengaged state, and the engine must be in an idle state. The three conditions must be satisfied simultaneously, otherwise, no action is performed, and the failure cause is judged according to a preset failure tree, as shown in fig. 4, the failure cause is set to be different numbers according to different failure causes, a failure flag corresponding to the failure cause is updated in the device state information, the updated device state information is stored in a database with the recording time added, and is published in an ROS message form for subscription of other nodes. If the conditions are met, executing starting operation, and detecting whether the engine is started successfully, wherein the criterion of the successful engine starting is as follows: the engine continuously outputs the idling speed, the idling speed of the engine is 600-650 rpm, and the rated speed is 3500 rpm. And after the engine is started for 5 seconds, if the engine is not started successfully, immediately disconnecting the starting relay to stop starting, waiting for more than 5 seconds, and executing the starting operation again. And after starting for 3 times, if the starting is still unsuccessful, judging that the engine fails, storing the updated equipment state information and the recording time into a database, and issuing the information in an ROS message form for subscribing other nodes. If the starting is successful, setting the engine starting fault flag position to be 0 to indicate that the engine is normally started, storing the updated equipment state information and the recording time to a database, and issuing the information in an ROS message form for other nodes to subscribe
Safety judgment is needed before engine flameout action: the engine must be idling and the gearbox must be de-coupled. And if the two conditions are satisfied at the same time, no action is executed, the fault reason is judged according to a preset fault tree, the fault mark corresponding to the fault reason is updated in the equipment state information, the updated equipment state information is stored in a database by adding recording time, and the updated equipment state information is issued in an ROS message form for subscribing by other nodes. If the conditions are met, executing flameout operation, and detecting whether the engine is successfully flamed, wherein the criterion of the successful flameout of the engine is as follows: the engine speed is 0 or empty, and the oil pressure is 0 or empty. And after the engine is started for 5 seconds, if the engine is not started successfully, immediately disconnecting the starting relay to stop starting, waiting for more than 5 seconds, and executing the starting operation again. And after flameout for 3 times, if the flameout is still unsuccessful, judging the engine fault, and immediately issuing ROS information of the engine fault state and the fault reason. If the flameout is successful, setting the engine flameout fault flag position to be 0 to indicate that the engine is normally flameout, storing the updated equipment state information and the recording time to a database, and issuing the information in the form of ROS message for other nodes to subscribe
The unmanned ship equipment information acquisition processing and control method based on the ROS system further comprises the step of displaying the equipment state information stored in each ROS node in a chart form in real time according to a preset updating period.
The data real-time visualization operation comprises the step of displaying the equipment state data in a chart form in real time during the running process of the software. And (3) generating data records by running the software nodes every time, and recording time, equipment state parameters, data abnormal conditions, fault reasons and the like. The user can freely set the data display frequency, and the data file of each device can be automatically and periodically cleaned according to the priority of the shipborne device. And each ROS node stores the state information of the ship-borne equipment according to a set data storage period. The data files in the database can be automatically cleaned regularly according to an externally set cleaning period.
For example: the data acquisition interface is designed by utilizing the Qt tool, the module can be loaded in an ROS node, the navigation track of the unmanned ship can be displayed in the module in real time in a 2-dimensional curve form of longitude and latitude, and can be compared with the track of a preset navigation point in real time, so that parameters such as a navigation track error are visually reflected. And storing the equipment state information including time, equipment connection fault marks, operation fault state marks, fault reason marks, data abnormal marks and operation state data in a MySQL database. And compiling a shell script on the Linux system, and realizing the functions of automatically cleaning data files before 7 days after starting up and the like.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention are not intended to limit the present invention although the present invention has been disclosed with reference to the preferred embodiments, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention, any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. An unmanned ship equipment information acquisition processing and control method is characterized in that each ROS node executes the following steps:
(1) establishing communication connection between the node and the associated shipborne equipment, if the communication connection is successful, if the associated shipborne equipment is execution type equipment, executing the step (2) and the step (3) in parallel by adopting an independent thread, and if the associated shipborne equipment is acquisition type equipment, executing the step (2); if the communication connection fails, updating the equipment connection fault mark in the equipment state information, storing the updated equipment state information and the recording time into a database, and issuing the information in an ROS message form for subscribing other nodes in the ROS system;
(2) for the associated equipment of the power-on output type, the node directly receives the data frame of the associated equipment through a communication interface of the associated shipborne equipment; for the associated equipment needing instruction inquiry, the node circularly sends an inquiry instruction code to the associated equipment according to a preset data acquisition period, if the data frame of the associated equipment is acquired and the node does not receive the data frame of the associated equipment within preset time, the equipment data receiving overtime mark is updated to the equipment state information, the equipment state information is stored into a database by adding recording time, and the equipment state information is issued in an ROS message form; if the associated equipment data frame is received within the preset time, checking and analyzing the associated equipment data frame to obtain equipment running state data, if the equipment data frame is correctly checked and all the equipment running state data are within a preset normal range, judging that the data are normal, updating an equipment data normal mark and the equipment running state data in equipment state information, storing the updated equipment state information and recording time into a database and issuing the updated equipment state information in an ROS message form for other nodes to subscribe; if the data verification of the associated equipment is wrong or any data of the associated equipment exceeds a preset normal range, judging that the data is abnormal, updating an equipment data abnormal mark in equipment state information, adding recording time to the updated equipment state information, storing the updated equipment state information into a database, and issuing the updated equipment state information in an ROS message form for subscribing other nodes;
(3) subscribing control parameter information issued by an ROS system control layer of the unmanned ship and equipment state information issued by other nodes, analyzing the control parameter information to obtain actions to be executed by equipment associated with the node, if the equipment associated with the node and the equipment state associated with the other nodes have no action restriction and the control parameters are within a preset reasonable range, compiling control instruction codes according to the data protocol of the equipment and the control parameter information according to the control parameter information, sending the control instruction codes to the associated equipment through a communication interface, and executing the corresponding actions by the control equipment; if the device state associated with the node and the device state associated with other nodes has action restriction or the control parameter exceeds a preset reasonable range, the node does not act, the fault reason is judged according to a preset fault tree, the device fault mark and the fault reason mark corresponding to the fault reason are updated in the device state information, the updated device state information is stored into a database by adding recording time, and the updated device state information is published in an ROS message form for other nodes to subscribe.
2. The unmanned ship equipment information collection, processing and control method of claim 1, further comprising a step of displaying the equipment status information stored in each ROS node in a graph form in real time according to a preset update period.
3. The unmanned ship equipment information acquisition processing and control method according to claim 1, wherein the step (1) of establishing the communication connection between the node and the corresponding shipborne equipment is implemented specifically as follows:
according to the preset times, communication connection is established between the ship-borne equipment and the corresponding ship-borne equipment for multiple times, if any one connection is successful, the connection is considered to be successful, and the connection process is quitted; otherwise, if the connection fails for a plurality of times, the connection is considered to fail, and the connection process is quitted.
4. The unmanned ship equipment information acquisition processing and control method according to claim 1, characterized by further comprising the steps of:
and (3) during the operation of the node, continuously monitoring the communication connection state of the node and the associated shipborne equipment according to a preset period, and when the disconnection condition occurs, returning to the step (1) to start execution again to establish the communication connection between the node and the associated shipborne equipment.
5. The unmanned ship equipment information acquisition, processing and control method according to claim 1, wherein the communication interface between the node and the associated shipborne equipment includes serial communication connection, internet access communication connection, and CAN access communication connection, wherein the internet access communication connection includes TCP/IP protocol connection and UDP protocol connection.
6. The method according to claim 1, wherein the frame format of the associated device data frame may be any one of the following three frame formats:
the first method comprises the following steps: frame header flag + entire frame length + data content;
and the second method comprises the following steps: frame head mark + data content + frame tail mark;
and the third is that: frame header flag + data length + data content.
7. The unmanned ship equipment information acquisition, processing and control method of claim 1, wherein each ROS node stores equipment state information according to a set data storage period.
8. The method according to claim 1, wherein the data files in the database are automatically cleaned periodically according to a cleaning period set by an external device.
9. The unmanned ship equipment information acquisition, processing and control method according to claim 1, characterized in that after each ROS node receives the associated equipment data frame through the communication interface, the associated data frame is sequentially stored in a cyclic data buffer area, and then the complete data frame is extracted therefrom according to the data frame format for data frame verification, decoding and information extraction, wherein the cyclic data buffer area is implemented in the form of a data structure of a cyclic queue.
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