CN112925324A

CN112925324A - Unmanned ship control system and automatic cruise control method

Info

Publication number: CN112925324A
Application number: CN202110127900.2A
Authority: CN
Inventors: 余道洋; 肖世龙; 刘锦淮
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-06-08
Anticipated expiration: 2041-01-29
Also published as: CN112925324B

Abstract

The invention discloses an unmanned naval vessel control system, which comprises a remote control unit, a signal processing unit and a signal processing unit, wherein the remote control unit is used for sending a remote control signal and comprises a remote controller and a network mobile terminal, and the remote controller comprises a preset cruising route selection switch; the information processing unit is in signal communication with the remote controller and the network mobile terminal and is used for receiving and processing remote control signals sent by the remote controller and the network mobile terminal and generating execution control signals; the execution unit is used for receiving the execution control signal sent by the information processing unit or the remote control signal sent by the remote controller and controlling the movement of the naval vessel according to the received control signal.

Description

Unmanned ship control system and automatic cruise control method

Technical Field

The invention relates to the technical field of automatic control communication of ships, in particular to an unmanned ship control system and an automatic cruise control method.

Background

With continuous development and breakthrough of new technologies such as artificial intelligence, internet of things, big data and cloud computing, the automation level of ships is continuously improved, the realization of unmanned ships and boats has scientific support, and the shipping industry is expected to move from the information era to the intelligent era.

At present, the operation and control of unmanned ships are mainly realized based on portable mobile terminals such as computers and the like and remote controllers. The two operation modes correspond to different functions, the remote controller mode is preferentially selected when short-distance communication or a series of operations such as complex water areas and ship landing are carried out, and the control mode based on a portable mobile terminal such as a computer is preferentially selected when remote communication or unmanned ships need to cruise autonomously or manually cruise. The two modes supplement each other and do not interfere with each other. The traditional remote controller is simple and convenient to operate in an operation mode, has no threshold, can be easily handed even by a user with low cultural level, can only realize the adjustment of the speed and the course of the unmanned ship, and cannot control the unmanned ship to autonomously cruise according to a set course; the control mode based on the portable mobile terminals such as the computer can realize remote cruising and autonomous cruising, but the threshold is higher, the prior art can only be applied to a single platform, the same unmanned ship intelligent control system is installed on other platforms, a large amount of transplantation and reconstruction work needs to be carried out, and the time and the energy spent are not inferior to the development of a set of new control system on a new platform. Therefore, how to realize cross-platform operation and control is a major difficulty in realizing unmanned boat intellectualization and shipping intellectualization.

Disclosure of Invention

The invention aims to provide a cross-platform operation and control method for an unmanned ship, which can realize the remote control operation of the unmanned ship and a control mode based on a portable mobile terminal such as a computer and the like, meanwhile, the remote control operation mode not only can meet the basic course and power speed regulation function, but also can carry out autonomous cruise according to various pre-trained paths, the autonomous cruise under a remote controller mode is simple in operation and free of threshold, and the method is suitable for users with low cultural degree. The control mode of the portable mobile terminal such as a computer provides a computer control mode and a main control panel control mode, the remote cruise, path planning and automatic cruise functions can be realized simultaneously, an unmanned ship intelligent control system (RUB for short) adopted by the control mode of the portable mobile terminal such as the computer does not depend on an operating system and a hardware environment, the unmanned ship intelligent control system can be installed on platforms such as Windows, Linux and Android without being redeveloped for use, the problem of incompatibility of the platforms provided by the background technology is solved, and cross-platform operation and control of the unmanned ship can be realized.

In order to achieve the purpose, the invention provides the following technical scheme:

an unmanned vessel control system comprising:

the remote control unit is used for sending a remote control signal and comprises a remote controller and a network mobile terminal, wherein the remote controller comprises a preset cruising route selection switch;

the information processing unit is in signal communication with the remote controller and the network mobile terminal and is used for receiving and processing remote control signals sent by the remote controller and the network mobile terminal and generating execution control signals;

and the execution unit is used for receiving the execution control signal sent by the information processing unit or the remote control signal sent by the remote controller and controlling the movement of the naval vessel according to the received control signal.

As a further scheme of the invention: the remote controller comprises a remote controller emitter and a remote controller receiver, the remote controller receiver is installed on the unmanned naval vessel, and the remote controller receiver is communicated with the information processing unit and the execution unit in an information mode.

As a further scheme of the invention: the remote controller emitter comprises an emitter main body, and a rocker, a display screen, an operation mode switch, at least one cruise path key and an emitting module which are arranged on the emitter main body.

As a further scheme of the invention: the information processing unit comprises an industrial control computer installed on the unmanned naval vessel and a computer control panel communicated with the industrial control computer, and the computer control panel is communicated with the execution unit.

As a further scheme of the invention: and the industrial control computer is communicated with the remote controller through a signal acquisition card.

As a further scheme of the invention: the network mobile terminal comprises a mobile computer, a mobile phone and a tablet, and is communicated with the industrial control computer and the computer control panel.

As a further scheme of the invention: the execution unit comprises a motor control panel and a motor communicated with the motor control panel, and the motor control panel is communicated with the remote controller.

As a further scheme of the invention: and the control level of the network mobile terminal is higher than that of the remote controller.

An automatic cruise control method for an unmanned ship comprises the following steps:

step 1, setting at least one automatic cruising route through a network mobile terminal and storing the automatic cruising route to an industrial control computer;

step 2, numbering the stored automatic cruise paths and corresponding the numbers to the cruise path key numbers on the remote controller;

step 3, selecting a cruise path number through a network mobile terminal or a remote controller and transmitting a selection control signal to an information processing unit;

and 4, selecting an automatic cruise route and controlling the naval vessel to cruise automatically by the execution unit according to the control information transmitted by the information processing unit.

As a further scheme of the invention: the step 1 comprises the following steps:

step 1.1, determining a target cruising route, and confirming a plurality of position points on the cruising route;

step 1.2, marking the position points in the step 1 or sequentially inputting the coordinates of the position points in a map;

step 1.3, after the marking or inputting is finished, an automatic cruising route is synthesized according to the positions of all the position points;

and 1.4, keeping the fitted automatic cruising route to an industrial control computer.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention aims at the problem that the existing autonomous cruise mode of the unmanned ship can only be operated at a computer end, remote controller control and computer control modes are combined, the autonomous cruise of the unmanned ship is realized by utilizing the operation of the remote controller, and the autonomous cruise of the unmanned ship is simple and convenient to operate and has no threshold, so that a user with low cultural degree can also realize the autonomous cruise of the unmanned ship under the condition of not knowing the operation of the computer.

2. The control mode based on the intelligent mobile terminals such as the computer and the mobile phone has an interlocking function, and after one intelligent terminal obtains the control authority, other intelligent terminals can obtain the unmanned ship control authority only after the intelligent terminal releases the control authority, so that misoperation can be avoided, and the safety of unmanned ship operation is greatly improved.

3. The unmanned ship intelligent control system does not depend on an operating system or a hardware environment, can be easily installed and transplanted to mainstream operating systems such as Windows, Linux and Android for use, solves the problem of platform incompatibility, and can realize cross-platform operation and control of the unmanned ship.

Drawings

FIG. 1 is a schematic diagram of the unmanned ship control of the present embodiment;

fig. 2 and 3 are schematic structural views of a remote controller transmitter according to the present embodiment;

FIG. 4 is a schematic diagram of a main board of a remote control receiver according to the present embodiment;

FIG. 5 is a schematic diagram of a computer control board according to the present embodiment;

fig. 6 and 7 are schematic diagrams of manual and automatic cruise interfaces of the intelligent control system of the unmanned ship;

fig. 8 is a diagram of unmanned boat cross-platform operation and control software architecture.

In the figure: 1-transmitter, 11-rocker, 12-display screen, 13-operation mode switch, 14-cruise path 1, 15-cruise path 2, 16-cruise path 3, 17-emergency stop button, 18-transmitting module, 2-receiver, 21-wireless receiving module, 22-relay control panel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An unmanned vessel control system comprising:

the remote control unit is used for sending a remote control signal, the remote control unit comprises a remote controller and a network mobile terminal, the remote controller comprises a preset cruise route selection switch, the remote controller comprises a remote controller transmitter and a remote controller receiver, the remote controller receiver is installed on the unmanned naval vessel, the remote controller receiver is communicated with the information processing unit and the execution unit, the remote controller transmitter 1 comprises a transmitter main body, a rocker 11 arranged on the transmitter main body, a display screen 12, an operation mode switching switch 13, at least one cruise path key and a transmitting module 18, the network mobile terminal comprises a mobile computer, a mobile phone and a tablet, and the network mobile terminal is communicated with an industrial control computer and a computer control panel;

and the execution unit is used for receiving the execution control signal sent by the information processing unit or the remote control signal sent by the remote controller and controlling the movement of the naval vessel according to the received control signal, and comprises a motor control panel and a motor communicated with the motor control panel, and the motor control panel is communicated with the remote controller.

step 1.4, keep the fitted auto-cruise route to the industrial control computer

and 4, selecting an automatic cruise route and controlling the naval vessel to automatically cruise by the execution unit according to the control information transmitted by the information processing unit, wherein the control level of the network mobile terminal is higher than that of the remote controller.

Example 1

Referring to fig. 1-7, the remote control transmitter 1 comprises a joystick 11, a display 12, an operation mode switch 13, an emergency stop button 17, a transmitting module 18, and a plurality of cruise path buttons (14-16). The course and the power of the unmanned ship are controlled by adopting double rockers; the display screen can display the speed and the position of the boat and the operation mode of the unmanned boat; an operation mode selector switch for selecting a remote operation or a control mode based on a portable terminal such as a computer; the panel of the remote controller emitter is provided with a plurality of cruise path keys, and the unmanned boat can realize autonomous cruise of a preset path through the keys in a remote control mode; the emergency stop key can force the unmanned boat to stop suddenly under emergency conditions, so that accidents are prevented; meanwhile, a plurality of keys are reserved on a panel of the remote controller emitter, and a user can train a path as required and store the path to the industrial personal computer to realize autonomous path planning. The remote controller receiver 2 is provided with a wireless receiving module 21 and a relay control board, when a corresponding key of the remote controller transmitter is pressed down, the corresponding relay 22 is closed after the receiver receives a signal, and the signal is output to the signal acquisition card.

The manual cruise of the unmanned ship is realized by using a remote controller rocker or an intelligent unmanned ship control system (RUB) interface as shown in figure 6, the course and the speed of the unmanned ship are in direct proportion to the push angle of the rocker in a remote control mode, a mouse is used for clicking a power button and a direction button under the control of the RUB to adjust, the time for pressing the button determines the running time of the unmanned ship, and the ship stops after the mouse is loosened, so that accidents caused by unstable communication can be prevented.

The unmanned ship has two autonomous cruise control modes, which are realized by a remote controller and a portable mobile terminal provided with an RUB, and the software architecture of an intelligent unmanned ship control system (RUB) adopts a layered architecture idea; as shown in fig. 8, the layers communicate with each other via an interface. Similar to the physical model of the OSI7 layer, the device interface layer is equivalent to a hardware layer, the presentation layer is equivalent to an application layer, the service layer is equivalent to a server, and a plurality of hosts can commonly serve the presentation layer in a cluster form; the presentation layer can not directly control the device interface layer, the service provided by the service layer must be called, the bottom protocol layer provides a protocol for the service layer, and at the same level, the lower layer provides service for the upper layer, and the presentation layer only needs to care about the logic details of the application program, but not the transmission activity of data in the network. The three lower layers of the presentation layer handle the real communication details. An unmanned ship intelligent control system (RUB) realizes the fusion of different operation system architectures through a shared bottom end protocol (mqtt, tcp), and realizes the multi-terminal synchronous control in the modes of web, APP, client and the like.

1. The autonomous cruise under the operation mode of the unmanned ship remote controller does not need any portable equipment or mobile phone to carry out complicated operation, simultaneously avoids the uncertainty of a cruise path, and enables users with lower cultural degree to operate; the control method comprises the following steps:

(1) a user trains under an RUB autonomous cruise mode according to actual application requirements to obtain an optimal cruise path, the optimal path is stored as a txt file, if a plurality of task scenes exist, a plurality of paths are trained, and corresponding path information is stored as files, such as

cruise paths

1,2 and 3.

(2) And an operation mode switch of the remote controller emitter is switched to a remote control end, a corresponding cruise path is selected according to the cruise task, and a key corresponding to the path on a panel of the remote controller emitter is pressed. The key 1 corresponds to the cruise path 1, the key 2 corresponds to the cruise path 2, and so on.

(3) When the key 1 is pressed down, after the remote controller receiver receives a signal, the corresponding relay 1 on the relay control panel is closed, the closing signal is transmitted to a signal acquisition card of the shipborne industrial personal computer, the signal acquisition card is connected with the shipborne industrial personal computer or directly connected with the shipborne computer control panel through a 232 serial port, and an instruction of the signal acquisition card is sent to the industrial personal computer or the computer control panel.

(4) And after receiving the instruction, the intelligent unmanned ship control system on the industrial personal computer calls the cruise path 1, and further controls the unmanned ship to autonomously cruise according to the path 1 trained in advance. Similarly, when the cruise keys of the

keys

2 and 3 are pressed, the unmanned ship runs along the

cruise paths

2 and 3.

As shown in fig. 7, autonomous cruising of the unmanned ship in the RUB-based portable mobile terminal mode includes two modes, namely a computer control mode and a main control panel control mode, wherein the computer control mode is that the portable mobile terminal provided with the RUB sends a cruising path to a shipborne industrial personal computer, and the industrial personal computer sends a control instruction to a computer control panel through a serial port 1 after receiving information, so as to control the unmanned ship to autonomously cruise according to the path set by the RUB; the control panel mode means that the computer control panel is directly connected and communicated with the portable mobile terminal provided with the RUB without passing through a shipborne industrial personal computer. The computer control mode is stable in communication, so this mode is preferred. The control method comprises the following steps:

(1) the RUB software interface of the portable computer control end is selected by computer control and mainboard control, and computer control is selected.

(2) During autonomous cruise, as shown in fig. 7, a navigation route is determined, the navigation route is split into a plurality of intermediate points (1, 2,3,4 and 5 in fig. 7), the points are sequentially clicked on an RUB map by a mouse, specific longitude and latitude values can be input to determine the points, after the points are clicked, a cruise adding button is sequentially clicked, cruise points are added to a cruise list, and then cruise is clicked to realize autonomous cruise.

(3) In the autonomous cruise, a 'clear cruise' button needs to be clicked when a cruise point needs to be changed, deleted or added, at the moment, the ship stops, and the cruise path is set at the moment.

The control method can also be operated on a mobile phone, the specific operation method is the same as the operation mode of the RUB based on the computer, when automatic cruise is realized on the APP with the mobile phone, firstly, cruise route points are selected on a map, an optimal cruise route is obtained through a fitting algorithm, and the autonomous cruise can be started by clicking the cruise.

The control authorities of the mobile phone and the computer have an interlocking function, and when the unmanned ship is under the control of the RUB based on the computer, the mobile phone cannot control the unmanned ship; on the contrary, when the unmanned ship is under the control of the mobile phone APP, the computer RUB can only wait for the release permission of the mobile phone control end when the unmanned ship wants to acquire the control permission, so that the safety can be improved, and the occurrence of accidents caused by manual misoperation can be reduced.

Before the remote controller autonomously cruises, an optimal cruise path is trained in an RUB autonomous cruise mode, the path is saved as a txt file, and a plurality of paths and files such as

cruise paths

1,2 and 3 can be saved. The path training method for autonomous cruising of the remote controller comprises the following steps:

firstly, planning a rough path according to the task requirement of an operation scene, selecting a cruise path point on an autonomous cruise map of a computer RUB or a mobile phone APP, clicking a cruise button, and issuing a cruise command to a shipborne industrial personal computer by a server. The cruise command format between the server and the industrial personal computer is as follows:

CRUISEx:(*DEV,dstID,srcID,CRUISEx；n；LAT1；LNG1；LAT2；LNG2；LAT3；LNG3...,CHK#)

wherein, n: the number of cruise points; x: a cruise path plan sequence number; LAT 1; LNG 1; the longitude and latitude of a first cruise point; LAT 2; LNG 2; the longitude and latitude of the second cruise point; … …

And x in the cruise is 1,2 and 3, and represents cruise path planning serial numbers respectively. CRUISE 1: a first cruise order number, a cruise path plan order number one; CRUISE 2: a second cruise order number, cruise route plan order number two; CRUISE 3: the third cruise order number, cruise route plan order number three.

The CRUISE commands CRUISE1, CRUISE2 and CRUISE3 correspond to three switching values of the remote controller, namely three CRUISE keys. After receiving CRUISE commands of CRUISE1, CRUISE2 and CRUISE3, the shipborne industrial personal computer saves or updates CRUISE points, and after analyzing the CRUISE commands, the industrial personal computer sends control commands to the shipborne computer control main board to further control the unmanned ship to run according to the planned path

The operation and control of unmanned ships and light boats under remote controller mode include remote controller and signal acquisition card, industrial computer, computer control panel, motor control panel and motor, signal acquisition card can trigger the switching value input signal of high level and convert RS232 RS485 output into, the communication protocol of signal acquisition card and on-board industrial computer adopts self-defined communication protocol, and its protocol format is: 9600-N-8-1, the serial port baud rate is 9600, a check bit None, 8 data bits and 1 stop bit, and the hexadecimal representation is adopted. The communication command contains a total of 6 bytes, where 00 is the default address of the signal acquisition card. The shipborne industrial personal computer receives the command: AA5A 00 FC 0F FF, no control is performed; receiving AA5a 00 FC xF FF, x ═ 8, 4, 2, indicating

cruise buttons

1,2,3, respectively, pressed; the AA5a 00 FC 1F FF command indicates an emergency stop button press; the shipborne industrial personal computer sends a command: AA5a 00 FC 00 FF looks up the switching value status.

The signal acquisition card can report the switching value state actively, namely the signal acquisition card automatically uploads the switching value state to a shipborne industrial personal computer after detecting the switching value change, and the switching value is not uploaded as long as the change is realized no matter whether the high level of the switching value is detected to be changed to be low level or the low level is detected to be jumped to be high level. For example, when no key is pressed on the panel of the emitter of the remote controller, the switching value is not changed, and the signal acquisition card does not upload commands; when the emergency stop button on the panel of the remote controller emitter is dialed up to the upper part, the signal acquisition card actively sends a command: the AA5A 00 FC 1F FF is used for analyzing an emergency button pressing by the industrial personal computer according to a protocol analysis command, and then sending a command to the computer driving plate to control the unmanned ship to stop; when the emergency button is dialed to the original position, the signal acquisition card actively sends a command: AA5A 00 FC 0F FF, the industrial computer resolves out the emergency button according to the protocol and dials to be unsettled, the industrial computer does not issue instructions to the computer drive plate, and the unmanned ship maintains the original state.

The shipborne industrial personal computer can also actively inquire the state of the switching value, namely, an inquiry command is sent to the signal acquisition card: AA5A 00 FC 00 FF actively inquires the state of the switching value, and when the switching value is not closed, namely a cruise key on a panel of a transmitter of the remote controller is not shifted, a signal acquisition card returns to the shipborne industrial personal computer under the condition that a relay corresponding to a receiver of the remote controller is disconnected: AA5A 00 FC 0F FF, when the onboard industrial personal computer does not invoke the cruise path. When a cruise key 1 on a panel of a remote controller transmitter is pulled towards the X-axis direction, a remote controller receiver is closed corresponding to a relay 1, a high-level trigger switching value is input into a signal acquisition card, and the signal acquisition card sends a command to a shipborne industrial personal computer: and the AA5A 00 FC 8F FF, the shipborne industrial personal computer analyzes the received command according to the communication protocol and calls the cruise path 1, the command is sent to the computer drive board through serial port communication, and the unmanned ship is further controlled to carry out autonomous cruise according to the path 1 trained in advance. Similarly, if the industrial personal computer receives a command: AA5a 00 FC 4F FF and AA5a 00 FC 2F FF indicate that the

cruise keys

2 and 3 are pressed, thereby invoking

paths

2 and 3 for cruise. When the

cruise keys

1,2 and 3 on the panel of the remote controller emitter are dialed to the original position, the signal acquisition card actively sends a command: AA5A 00 FC 0F FF is sent to a shipborne industrial personal computer, but the industrial personal computer does not send an instruction to a computer control panel, the unmanned ship still cruises according to the previous path, and a corresponding button must be shifted when the unmanned ship is stopped or a cruise route is changed.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An unmanned vessel control system, comprising:

2. The unmanned ship control system of claim 1, wherein the remote controller comprises a remote controller transmitter and a remote controller receiver, the remote controller receiver is mounted on the unmanned ship, and the remote controller receiver is in information communication with the information processing unit and the execution unit.

3. The unmanned ship control system of claim 2, wherein the remote control transmitter (1) comprises a transmitter body, and a rocker (11), a display screen (12), an operation mode switch (13), at least one cruise path key, and a transmitting module (18) arranged on the transmitter body.

4. The unmanned vessel control system of claim 1, wherein the information processing unit comprises an industrial control computer installed on the unmanned vessel and a computer control board in communication with the industrial control computer, the computer control board in communication with the execution unit.

5. The unmanned ship control system of claim 4, wherein the industrial control computer is in communication with the remote controller via a signal acquisition card.

6. The unmanned ship control system of claim 4, wherein the network mobile terminal comprises a mobile computer, a mobile phone and a tablet, and the network mobile terminal is communicated with the industrial control computer and the computer control panel.

7. The unmanned vessel control system of claim 1, wherein the execution unit comprises a motor control board and a motor in communication with the motor control board, the motor control board in communication with the remote control.

8. The unmanned ship control system of claim 1, wherein the network mobile terminal has a higher control level than the remote controller.

9. The automatic cruise control method for the unmanned ship according to any one of claims 1 to 8, characterized by comprising the following steps:

10. The unmanned ship control system control method of claim 9, wherein the step 1 comprises the steps of: