CN113772038A - Navigation control method of unmanned ship, computer readable storage medium and unmanned ship - Google Patents

Abstract

The application is suitable for the technical field of unmanned navigation control, and provides a navigation control method of an unmanned ship, a computer readable storage medium and the unmanned ship, wherein the navigation control method of the unmanned ship comprises the following steps: confirming a motion phase of the unmanned ship; sensing attitude information of the unmanned ship; calculating control information of the unmanned ship in the corresponding motion stage based on the attitude information and the attitude reference information; and controlling the unmanned ship to act according to the control information, wherein the water wing plates are controlled to rotate according to the control information, and the unmanned ship is controlled to act and pitch is reduced through the rotation of the water wing plates, so that the pitch angles of the unmanned ship in different stages can be effectively reduced, the integral stability of the navigation process is ensured, and the energy consumption in the control process is low.

Description

Navigation control method of unmanned ship, computer readable storage medium and unmanned ship

Technical Field

The application relates to the technical field of unmanned navigation control, in particular to a navigation control method of an unmanned ship, a computer readable storage medium and the unmanned ship.

Background

In recent years, with the rapid development of the autonomous control technology of unmanned boats, the research and development and application of unmanned boats at home and abroad gradually show explosive growth. The unmanned ship is mainly applied to tasks such as marine surveying, reconnaissance patrol and the like, and has severe requirements on the stability and the rapidity of an unmanned ship platform. At present, the mainstream measures at home and abroad are to reduce the roll angle by an active anti-roll top, but the effect of the active anti-roll top on longitudinal anti-roll is not obvious; moreover, the anti-roll gyroscope occupies valuable layout space in the cabin and needs to continuously consume energy; in addition, the anti-rolling gyroscope increases the displacement of the boat body and is unfavorable for the navigation speed of the unmanned boat. Therefore, a solution for effectively reducing the pitch angle of the unmanned boat based on low energy consumption is needed.

Disclosure of Invention

An object of the embodiment of the application is to provide a navigation control method for an unmanned ship, and the purpose is to provide a solution capable of effectively solving the problem of the pitching angle of the unmanned ship and reducing energy consumption.

The embodiment of the application is realized in such a way that the navigation control method of the unmanned ship comprises the following steps:

confirming a motion phase of the unmanned ship;

sensing attitude information of the unmanned ship;

calculating control information of the unmanned ship in the corresponding motion stage based on the attitude information and the attitude reference information; and

controlling the unmanned ship to act according to the control information, comprising: and controlling the water wing plate to rotate according to the control information, and controlling the hull of the unmanned ship through the rotation of the water wing plate.

In one embodiment, the motion phase comprises at least one of a skidding phase, a high speed skidding phase, and a wave phase;

the attitude reference information comprises a first reference angle corresponding to the start-up sliding stage, the attitude reference information comprises a second reference angle corresponding to the high-speed sliding stage, and the attitude reference information comprises a third reference angle corresponding to the wave stage;

the attitude information comprises a tilt angle of the unmanned vehicle;

the calculating the control information of the unmanned ship comprises: and acquiring the attitude reference information, and calculating to obtain the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information.

In one embodiment, the controlling of the rotation of the hydrofoil comprises: and the control component controls a driving component according to the control information, and the driving component acts and controls the hydrofoil plate to rotate.

In one embodiment, the confirming the motion phase of the unmanned boat comprises: and acquiring the navigation speed of the unmanned ship, and comparing the navigation speed with a reference speed.

In one embodiment, in the skidding stage, when the stern inclination angle of the unmanned boat is larger than the first reference angle, the control assembly controls the driving assembly according to first control information, and the driving assembly controls a water wing plate to rotate and enable the bow to be declined.

In one embodiment, in the high-speed planing stage, when the stern inclination angle of the unmanned boat is larger than the second reference angle, the control assembly controls the driving assembly according to second control information, and the driving assembly controls a water wing plate to rotate and enables the bow to be declined; when the bow inclination angle of the unmanned ship is larger than a second reference angle, the control assembly controls the driving assembly according to third control information, and the driving assembly controls the water wing plates to rotate and enables the bow to incline upwards.

In one embodiment, in the wave stage, when the stern inclination angle of the unmanned boat gradually decreases to the third reference angle, the control assembly controls the driving assembly according to fourth control information, and the driving assembly controls a water wing plate and inclines the bow upwards; and when the stern inclination angle of the unmanned ship is gradually increased to the third reference angle, the control assembly controls the driving assembly according to fifth control information, and the driving assembly controls the water wing plate to rotate and enables the bow to be declined.

In one embodiment, the attitude reference information further includes a fourth reference angle corresponding to the wave phase, the fourth reference angle includes information of periodic variation of the inclination angle of the unmanned boat with waves; when the attitude information of the unmanned ship is in agreement with the fourth reference angle, the control component confirms that the unmanned ship is in the wave phase.

Another object of the present application is to provide a computer-readable storage medium, which stores a computer program, and the computer program realizes the control method according to the above embodiments when executed by a processor.

It is another object of the present application to provide an unmanned boat, which includes a computer-readable storage medium according to the above embodiments and is controlled by the control method according to the above embodiments, and includes a boat body and a hydrofoil device disposed on the boat body; the hydrofoil device includes:

a water wing plate;

a drive assembly; and

the control assembly comprises a resolving module and an inertial navigation module which are connected in a wired or wireless mode, the inertial navigation module is used for sensing attitude information of the unmanned ship, the resolving module is used for receiving the attitude information, comparing the attitude information with the attitude reference information and controlling the driving assembly according to a comparison result, and the driving assembly is used for driving the water wing plate to rotate according to control information of the resolving module.

The navigation control method of the unmanned ship, the computer readable storage medium and the unmanned ship provided by the embodiment of the application have the advantages that:

the navigation control method of the unmanned ship comprises the steps of confirming a motion stage of the unmanned ship, sensing attitude information of the unmanned ship, calculating control information of the unmanned ship corresponding to the motion stage based on the attitude information and attitude reference information, and controlling the unmanned ship to act according to the control information.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a hydrofoil device provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an unmanned surface vehicle provided in an embodiment of the present application;

FIG. 3 is a schematic illustration of a control path of the unmanned boat of FIG. 2;

fig. 4 is a schematic step diagram of a control method of an unmanned surface vehicle according to an embodiment of the present application;

fig. 5 is a schematic control diagram for a first stage of unmanned ship sailing in the unmanned ship control method provided by the embodiment of the application;

fig. 6 is a schematic control diagram of a control method of an unmanned ship provided by an embodiment of the present application for a second stage of unmanned ship sailing;

fig. 7 is a control schematic diagram of a control method of an unmanned ship provided by an embodiment of the present application for a third stage of unmanned ship sailing.

The designations in the figures mean:

200-unmanned boat, 9-boat body, 90-channel, 91-boat body and 92-central controller;

100-hydrofoil devices;

1-a water wing plate;

2-a transmission piece, 21-a first transmission shaft, 22-a second transmission shaft, 23-a third transmission shaft;

3-power part, 31-hydraulic pump station, 32-electromagnetic valve, 33-hydraulic cylinder;

4-a drive assembly;

5-a control component, 51-a resolving module, 52-an inertial navigation module;

6-angle sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to or disposed on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

Referring to fig. 1 and fig. 2, the present embodiment first provides a hydrofoil device 100, which is used in an unmanned navigation device, such as an unmanned boat 200, for assisting the unmanned boat 200 in adjusting the pitch angle of the boat body 9. Specifically, referring to fig. 1 and 3 in combination, the hydrofoil apparatus 100 includes a hydrofoil panel 1, a drive assembly 4 and a control assembly 5, wherein, the control component 5 includes a resolving module 51 and an inertial navigation module 52 which are in communication connection in a wired or wireless connection manner, the inertial navigation module 52 is used for sensing attitude information of the unmanned ship 200 (in fig. 3, a dotted arrow between the inertial navigation module 52 and the hull 9 indicates that the inertial navigation module 52 acquires attitude information of the hull 9, and other solid arrows indicate the transmission direction of the information), the resolving module 51 is used for receiving the attitude information from the inertial navigation module 52, the resolving module 51 is pre-stored with attitude reference information of the unmanned ship 200, the resolving module 51 compares the received attitude information with the attitude reference information, and controls the driving assembly 4 according to the comparison result, wherein the driving assembly 4 is used for driving the water wing plate 1 to rotate according to the control information of the calculating module 51.

After the water wing plates 1 rotate, a corresponding included angle is formed between the water wing plates and the incoming flow (generally, water flow) direction facing the unmanned boat 200, and the included angle is the attack angle of the water wing plates 1. According to different attack angles, the force of the water flow acting on the water wing plates 1 is different in magnitude and direction, so that the pitching angle of the unmanned ship 200 can be changed correspondingly. For example, the hydrofoil 1 has a positive angle of attack and a negative angle of attack after rotating, wherein, at the negative angle of attack, the water flow acts on the upper surface of the hydrofoil 1 to generate a downward acting force on the hydrofoil 1; at a positive angle of attack, the incoming flow acts on the lower surface of the hydrofoil 1 and exerts an upward force on the hydrofoil 1.

In the hydrofoil device 100 provided by the embodiment of the application, the inertial navigation module 52 is configured to sense attitude information of the unmanned ship 200, the calculation module 51 is configured to receive the attitude information, compare the attitude information with attitude reference information, and control the driving assembly 4 according to a comparison result, wherein the driving assembly 4 further drives the hydrofoil 1 to rotate according to control information of the calculation module 51, so that a pitch angle of the unmanned ship 200 is reduced, and the unmanned ship 200 is kept stable during sailing; besides, the hydrofoil plate 1 and the like are arranged outside the boat body 9, so that the space in the cabin is not occupied; the unmanned boat 200 also has low power consumption.

Referring to fig. 1, the water wing plate 1 has a tapered shape on the side facing the water flow. This is intended to reduce the drag between the hydrofoil 1 and the water flow (forces other than the force of the water flow acting on the surface of the hydrofoil 1) and also to facilitate the transition between positive and negative angles of attack of the hydrofoil 1.

With continued reference to fig. 1 and 3, in one embodiment, the drive assembly 4 includes a power member 3 and a transmission member 2 connected together, the power member 3 is connected to the resolver module 51, and the transmission member 2 is connected to the hydrofoil 1. The power member 3 is used for outputting power under the control of the resolving module 51, and the transmission member 2 performs direction conversion on the power and then transmits the power to the hydrofoil 1.

Specifically, in this embodiment, as shown in fig. 1, the power member 3 includes a hydraulic pump station 31, an electromagnetic valve 32, and a hydraulic cylinder 33, which are connected in sequence, the electromagnetic valve 32 and the hydraulic cylinder 33 are both connected to the calculation module 51, and the hydraulic cylinder 33 is further connected to the transmission member 2. After the electromagnetic valve 32 and the hydraulic cylinder 33 receive a control signal of the calculating module 51, the electromagnetic valve 32 is opened, the hydraulic oil provided by the hydraulic pump station 31 enters the hydraulic cylinder 33 through the electromagnetic valve 32, the hydraulic oil acts on the hydraulic cylinder 33, and the output shaft of the hydraulic cylinder 33 outputs power to the transmission member 2; conversely, when the electromagnetic valve 32 and the hydraulic cylinder 33 receive another control signal from the calculation module 51, the hydraulic cylinder 33 acts in reverse, the output shaft thereof outputs reverse power, and the hydraulic oil of the hydraulic cylinder 33 enters the hydraulic pump station 31 through the electromagnetic valve 32.

Of course, without limitation, in other alternative embodiments, the power member 3 may have other forms, for example, the power member 3 may be an electric power structure or an air power structure.

With continued reference to fig. 1, in one embodiment, the transmission member 2 includes a first transmission shaft 21 and a second transmission shaft 22 connected to each other, the first transmission shaft 21 is connected to the hydrofoil 1, the second transmission shaft 22 is connected to the first transmission shaft 21, and the first transmission shaft 21 and the second transmission shaft 22 have the same rotation center axis. The hydraulic cylinder 33 is connected to the second transmission shaft 22 and is used for driving the second transmission shaft 22 to rotate, and the second transmission shaft 22 drives the first transmission shaft 21 to rotate, so that the water wing plate 1 is driven to rotate.

In practical applications, first transmission shaft 21 and/or second transmission shaft 22 are rotatably mounted on hull 9 of unmanned boat 200, and hull 9 substantially fixes the positions of first transmission shaft 21 and second transmission shaft 22 while allowing first transmission shaft 21 and second transmission shaft 22 to rotate.

As shown in fig. 1, the transmission member 2 may further include a third transmission shaft 23 connected between the second transmission shaft 22 and the hydraulic cylinder 33, depending on the specific positional relationship between the hydraulic cylinder 33 and the second transmission shaft 22.

In one embodiment, as shown in fig. 3, the hydrofoil apparatus 100 further comprises an angle sensor 6, which is provided on the hydrofoil 1 and connected to the calculation module 51. The angle sensor 6 is used for monitoring the angle of the water wing plate 1 (the dotted arrow between the water wing plate 1 and the angle sensor 6 in fig. 3 indicates that the angle sensor 6 obtains the angle information of the water wing plate 1), and transmits the angle information of the water wing plate 1 to the resolving module 51. In this way, the calculation module 51 forms a closed loop for controlling the hydrofoil panel 1, and the angle of the hydrofoil panel 1 can be controlled more accurately, so that the navigation stability of the unmanned ship 200 can be further ensured.

As shown in fig. 2, the present embodiment also provides an unmanned boat 200, which includes a boat body 9 and the hydrofoil device 100 provided on the boat body 9 and described in the above embodiments. The features of the hydrofoil apparatus 100 can be combined with and described with reference to fig. 1 and fig. 3 and with reference to the above embodiments, and are not repeated herein.

In the unmanned ship 200 provided by the embodiment of the application, in the hydrofoil device 100, the inertial navigation module 52 is configured to sense attitude information of the unmanned ship 200, the calculation module 51 is configured to receive the attitude information, compare the attitude information with attitude reference information, and control the driving assembly 4 according to a comparison result, and the driving assembly 4 further drives the hydrofoil 1 to rotate according to control information of the calculation module 51, so that a pitch angle of the unmanned ship 200 is reduced, and the unmanned ship 200 is kept stable during sailing; furthermore, the hydrofoil 1 and the like are arranged outside the boat body 9, so that the space in the cabin is not occupied, and the power consumption is low.

The above-mentioned unmanned vehicle 200 may be any type of vehicle. In the present embodiment, as shown in fig. 2, the unmanned boat 200 is a channel boat, i.e., a catamaran, and has a channel 90 at the bottom thereof, and a unit boat 91 is provided at each side of the channel 90.

In this unmanned boat 200, at least the water wing plate 1 is provided in the channel 90. The control assembly 5 may be located within the hull 9, i.e. the cabin. Drive assembly 4 may also be at least partially disposed within channel 90 for direct connection with hydrofoil 1, although hydrofoil 1 and drive assembly 4 may also be disposed on the sides, e.g., opposite sides, of hull 9, as desired.

In alternative embodiments, the unmanned vehicle 200 may be a monohull vessel, a trimaran, or the like.

In one embodiment, at least a plurality of hydrofoil devices 100 are disposed in the channel 90 of the unmanned boat 200, and the plurality of hydrofoil devices 100 are arranged at intervals along the extending direction of the channel 90 (from the fore to the aft direction).

For example, in the present embodiment, as shown in fig. 2, two hydrofoil devices 100 are disposed in the channel 90, wherein one hydrofoil device 100 is relatively close to the bow of the ship and the other hydrofoil device 100 is relatively close to the stern of the ship.

Referring to fig. 3, the unmanned boat 200 includes a central controller 92 disposed in the boat body 9, and the control component 5 of the hydrofoil device 100 can be communicatively connected to the central controller 92 to obtain corresponding navigation information, such as navigation speed, etc., from the central controller 92, so as to further control the navigation process of the unmanned boat 200 (described in detail below).

Optionally, the control component 5 may also feed back the received information and the control information of the driving component 4 and the like to the central controller 92 at the same time, so as to store the corresponding information or further feed back the information to a server and the like for the operator to view, which is not described herein again.

The control component 5 may be provided separately from the central controller 92, or may be integrated with the central controller 92.

Referring to fig. 3 and 4, an embodiment of the present application further provides a navigation control method for the unmanned boat 200, including:

step S1, confirming the movement phase of the unmanned surface vehicle 200;

step S2, sensing attitude information of the unmanned surface vehicle 200;

step S3, calculating control information for the unmanned ship 200 in a corresponding motion stage based on the attitude information and the attitude reference information;

step S4 is to control the operation of the unmanned ship 200 based on the control information, including controlling the rotation of the water wing plates 1 based on the control information, controlling the hull 9 of the unmanned ship 200 by the rotation of the water wing plates 1, and reducing the pitching.

Specifically, in combination with the hydrofoil apparatus 100, the control method specifically includes: the control unit 5 confirms the movement phase of the unmanned boat 200; the attitude of the hull 9 of the unmanned ship 200 is sensed through the inertial navigation module 52, the inertial navigation module 52 transmits the sensed attitude information to the calculation module 51, the calculation module 51 compares the attitude information with the attitude reference information, and calculates according to the comparison result to obtain control information for the unmanned ship 200 in a corresponding motion phase, then the calculation module 51 controls the driving assembly 4, and the driving assembly 4 correspondingly drives the water wing plate 1 to rotate in a manner of reducing the pitching of the hull 9 of the unmanned ship 200 according to the control of the calculation module 51.

The embodiment of the application provides a navigation control method of unmanned ship 200, the attitude information through inertial navigation module 52 perception unmanned ship 200, receive attitude information through calculating module 51, and compare attitude information and attitude benchmark information, control drive assembly 4 according to the comparison result, drive assembly 4 further drives the water wing board 1 according to the control information of calculating module 51 and rotates, make unmanned ship 200's pitch angle reduce, navigation stability improves, low to unmanned ship 200's power consumption, because some structures such as water wing board 1 set up outside hull 9, also reduced the occupation to the under-deck space.

As described above, the cruise control method also has different control phases according to the cruise stability requirements of the unmanned boat 200 at different navigation phases during the course of the voyage. Wherein the motion phase comprises at least one of a skidding phase, a high speed skidding phase and a wave phase. The attitude reference information comprises a first reference angle corresponding to the start-sliding stage, a second reference angle corresponding to the high-speed sliding stage, and a third reference angle corresponding to the wave stage. The attitude information includes the inclination of the unmanned vehicle 200. The above-mentioned calculation of the control information of the unmanned ship 200 includes: and acquiring attitude reference information, and calculating to obtain the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information sensed in real time.

Here, the inclination of hull 9 of unmanned boat 200 will be described below.

The inclination angle of hull 9 of unmanned boat 200 is described in terms of forward inclination, which means that the bow is declined relative to the stern, and the stern is raised relative to the bow, and stern inclination, which means that the stern is declined relative to the bow, and the bow is raised relative to the stern. When the stern enters water (stern draft), the stern inclination is defined, and when the bow enters water (bow draft), the bow inclination is defined. Of course, the unmanned boat 200 is a rigid device as a whole, and the angle of the stern relative to the water surface changes simultaneously with the change of the inclination angle of the bow relative to the water surface.

In one embodiment, the above-mentioned stage of confirming the movement of the unmanned boat 200 includes: the sailing speed of the unmanned ship 200 is acquired, and the sailing speed is compared with reference speed information. That is, in different navigation phases, the unmanned surface vehicle 200 has different characteristics of navigation speed, such as a numerical range, a variation trend, and the like, and the navigation speed is used to determine which motion phase the unmanned surface vehicle 200 is in.

Hereinafter, the unmanned surface vehicle 200 will be described by way of example as including two hydrofoil devices 100. One of the hydrofoil assemblies 100 is relatively close to the bow and the other hydrofoil assembly 100 is relatively close to the stern.

The first phase, the launch phase of the unmanned boat 200. In the skidding stage, the hull 9 of the unmanned boat 200 is in a stern-inclined state by the oncoming water flow, and it needs to maintain the stern-inclined state to quickly reach the required speed. The attitude reference information includes a first reference angle, the first reference angle is a stern inclination a to 0 °, and a is greater than 0. As shown in fig. 5, in the start-up phase, the control method includes:

step S51, the control component 5 determines that the unmanned surface vehicle 200 is in the skidding stage, and the calculation module 51 compares the stern inclination angle of the unmanned surface vehicle 200 sensed by the inertial navigation module 52 with the first reference angle;

step S52, when the stern inclination angle of the unmanned ship 200 is larger than a first reference angle, the calculating module 51 obtains first control information for the skidding stage;

in step S53, the calculation module 51 controls the driving assembly 4 according to the first control information, and further controls the water wing plate 1.

That is, when the control assembly 5 determines that the unmanned boat 200 is in the skidding stage and the stern inclination of the unmanned boat 200 sensed by the inertial navigation module 52 is greater than the first reference angle, the calculation module 51 controls the driving assembly 4, and the driving assembly 4 controls the water wing plate 1 to rotate and enable the bow to tilt downwards until the stern inclination of the boat body 9 is reduced and reaches the first reference angle.

Specifically, when the stern inclination angle is greater than A, the resolving module 51 controls the electromagnetic valve 32 to be opened and controls the hydraulic cylinder 33 to work, and the hydrofoil device 100 positioned at the bow controls the hydrofoil plate 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil plate 1 close to the bow generates a negative attack angle, and a downward force is generated in front of the gravity center of the boat body 9; and/or the hydrofoil device 100 positioned at the stern controls the rotation of the hydrofoil 1 through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil 1 of the stern generates a positive attack angle and generates an upward force behind the gravity center of the boat body 9. The downward force acting on the bow and the upward force acting on the stern form a rotational torque (submerged bow torque) to reduce the stern inclination angle of the boat body 9.

The angle sensor 6 arranged on the water wing plate 1 monitors the change of the attack angle of the water wing plate 1 in real time, the angle information of the water wing plate 1 is fed back to the calculating module 51, the calculating module 51 receives the angle information, and the calculating module 51 further determines whether to further control the water wing plate 1 according to the angle information and the inclination angle information of the hull 9 fed back by the inertial navigation module 52, so that a closed loop is formed for the control of the water wing plate 1 in the sailing control method.

By the above control, the stern inclination angle of the boat body 9 is kept within a ° (stern inclination angle a ° to 0 °). This improves the efficiency of gliding the boat body 9, and reduces the peak-crossing resistance, so that the unmanned boat 200 can smoothly start gliding over the peak of resistance in the start-gliding stage.

In one embodiment, a is 2.5 and the first reference angle is 2.5 ° to 0 ° of stern lean. Of course, according to specific needs, a may also be a numerical range, for example, a is greater than 0 ° and less than or equal to 4 °, and the first reference angle is a stern inclination angle of 4 ° to 0 °, that is, when the stern inclination angle of the unmanned boat 200 is greater than 4 °, the calculating module 51 performs the above-mentioned control on the hydrofoil 1 until the stern inclination angle of the unmanned boat 200 is between 0 ° and 4 °; optionally, a is greater than 1 ° and less than 2 °, the first reference angle is a stern inclination of 1 ° to 2 °, that is, when the stern inclination angle of the unmanned boat 200 is greater than 2 °, the calculation module 51 performs the above control on the hydrofoil 1 until the stern inclination angle of the unmanned boat 200 is between 1 ° and 2 °.

In this embodiment, confirming that the unmanned boat 200 is in the skidding stage by the speed of the unmanned boat 200 specifically includes: the calculation module 51 obtains the current sailing speed of the unmanned ship 200 from the central controller 92, compares the sailing speed with the speed reference information, and when the calculation module 51 confirms that the sailing speed is the first reference speed, it can be confirmed that the unmanned ship 200 is in the skidding stage at the current time.

For example, the first reference speed may be 0 to X, and when the calculation module 51 confirms that the obtained and received planing speed of the unmanned ship 200 is gradually increased from 0 and is increased to X, it may be considered that the unmanned ship 200 is in the skidding stage at this time, and thus the calculation module 51 may perform the above-described control on the hull 9. The specific value of X is not particularly limited, and is specifically limited according to the type and practical situation of the unmanned surface vehicle 200.

The second phase, the high speed planing phase of the unmanned boat 200. In this high-speed gliding phase, hull 9 of unmanned boat 200 also needs to be kept in a stern-inclined state to stably glide at high speed. The attitude reference information includes a second reference angle, and the first reference angle is a stern inclination angle B ° to 0 ° (B is greater than 0).

As shown in fig. 6, in the high-speed navigation phase, the control method includes:

step S61, the control module 5 determines that the unmanned surface vehicle 200 is in the high-speed sailing stage, and the calculation module 51 compares the stern inclination angle of the unmanned surface vehicle 200 sensed by the inertial navigation module 52 with the second reference angle;

step S62, when the stern inclination angle of the unmanned ship 200 is larger than a second reference angle, the resolving module 51 obtains second control information for the high-speed sailing stage; or, when the stern inclination angle of the unmanned ship 200 is smaller than the second reference angle, the calculating module 51 obtains third control information for the high-speed sailing stage;

in step S63, the calculation module 51 controls the driving assembly 4 according to the second control information or the third control information, and further controls the water wing plate 1.

That is, when the control assembly 5 determines that the unmanned ship 200 is in the high-speed planing stage and when the stern inclination angle of the unmanned ship 200 sensed by the inertial navigation module 52 is greater than the second reference angle, the calculation module 51 controls the driving assembly 4, and the driving assembly 4 controls the water wing plate 1 to rotate and enable the bow to be declined. When the control assembly 5 confirms that the unmanned ship 200 is in a high-speed sliding stage and the inertial navigation module 52 senses that the inclination angle of the bow of the unmanned ship 200 is larger than the second reference angle, the calculation module 51 controls the driving assembly 4, the driving assembly 4 controls the water wing plates 1 to rotate, and the stern is inclined downwards until the inclination angle returns to B-0 deg.

Specifically, when the stern inclination angle is larger than a second reference angle (stern inclination is larger than B degrees), the resolving module 51 controls the electromagnetic valve 32 to be opened and controls the hydraulic cylinder 33 to work, and the hydrofoil device 100 positioned on the bow controls the hydrofoil plate 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil plate 1 on the bow generates a negative attack angle and a downward force is generated in front of the gravity center of the boat body 9; and/or the hydrofoil device 100 positioned at the stern controls the rotation of the hydrofoil 1 through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil 1 of the stern generates a positive attack angle and generates an upward force behind the gravity center of the boat body 9. The downward force acting on the bow and the upward force acting on the stern form a rotational torque (submerged bow torque) to reduce the stern inclination angle of the hull 9.

Specifically, when the stern inclination angle is smaller than a second reference angle (stern inclination is smaller than 0 and indicates that the boat body 9 is forward inclination, or bow inclination angle is larger than the second reference angle (bow inclination is larger than 0 °)), the calculating module 51 controls the electromagnetic valve 32 to be opened and controls the hydraulic cylinder 33 to work, and the hydrofoil device 100 positioned on the bow controls the hydrofoil 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil 1 on the bow generates a positive attack angle and generates an upward force in front of the gravity center of the boat body 9; the hydrofoil device 100 located at the stern controls the rotation of the hydrofoil 1 through the output shaft of the hydraulic cylinder 33 and the transmission piece 2, so that the hydrofoil 1 of the stern generates a negative attack angle and generates a downward force behind the gravity center of the hull 9. The upward force acting on the bow and the downward force acting on the stern form a rotational torque (bow raising torque) to increase the stern inclination angle of the hull 9 and/or decrease the bow inclination angle.

Meanwhile, the angle sensor 6 arranged on the water wing plate 1 monitors the change of the attack angle of the water wing plate 1 in real time, the angle information of the water wing plate 1 is fed back to the calculating module 51, the calculating module 51 receives the angle information, and the calculating module 51 further determines whether to further control the water wing plate 1 according to the angle information and the inclination angle information of the boat body 9 fed back by the inertial navigation module 52, so that a closed loop is formed for the control of the water wing plate 1 in the sailing control method.

Through the control, the stern inclination angle of the boat body 9 is kept within B-0 degrees. This can improve the stability of the hull 9 in sliding at this stage, and the unmanned boat 200 can maintain a stable speed.

In one embodiment, B is 4 ° and the first reference angle is 4 ° to 0 ° of stern lean. Further, of course, B may be a range of values or other specific values according to specific needs, and is not particularly limited.

In this embodiment, confirming that the unmanned boat 200 is in the high-speed planing stage by the speed of the unmanned boat 200 specifically includes: the calculation module 51 obtains the current sailing speed of the unmanned ship 200 from the central controller 92, compares the sailing speed with the speed reference information, and when the calculation module 51 confirms that the sailing speed is at the second reference speed, it can be confirmed that the unmanned ship 200 is in the high-speed gliding stage at the current time.

For example, the second reference speed may be Y to Z, and when the calculation module 51 confirms that the obtained and received planing speed of the unmanned boat 200 is between Y and Z, it may be considered that the unmanned boat 200 is in a high-speed sailing stage at this time, and thus, the calculation module 51 may perform the above-mentioned control on the hull 9. Specific values of Y and Z are not particularly limited herein, and are specifically limited according to the type of the unmanned surface vehicle 200, the practical scene, and the like.

The third phase, the wave phase. This stage represents the unmanned boat 200 encountering a wave. Of course, it is understood that this phase is the phase that the unmanned boat 200 may encounter under different sea conditions.

In the wave stage, the hull 9 undulates with the shape of the wave, and the hull 9 changes continuously and gradually between the stern inclination and the heading inclination, that is, the inclination angle of the hull 9 also changes substantially periodically. However, in order to ensure the navigation stability of the unmanned boat 200, it is preferable that the boat body 9 is kept in a stern inclination state, and the connecting line between the bow and the stern is even with the horizontal line, but at least the bow cannot be declined. In the wave phase, the attitude reference information includes a third reference angle. The third reference angle is stern inclination C1-C2, C1 is larger than C2, and C2 is larger than or equal to 0; alternatively, it is also possible that C1 ≧ C2 ≧ 0 so that the third reference angle is a certain value. Alternatively, C2 > 0.

As shown in fig. 7, in the wave phase, the control method includes:

step S71, the control component 5 determines that the unmanned surface vehicle 200 is in the wave phase, and the resolving module 51 compares the stern inclination angle of the unmanned surface vehicle 200 sensed by the inertial navigation module 52 with the third reference angle;

step S72, before the stern inclination angle of the unmanned ship 200 gradually increases and is larger than the third reference angle, the resolving module 51 obtains fourth control information for the wave stage; or, before the stern inclination angle of the unmanned ship 200 gradually decreases and is smaller than the third reference angle, the resolving module 51 obtains fifth control information for the wave stage;

in step S73, the calculation module 51 controls the driving assembly 4 according to the fourth control information or the fifth control information, and then controls the water wing plate 1.

That is, when the control module 5 determines that the unmanned ship 200 is in the high-speed planing stage, the calculation module 51 controls the inclination of the hull 9 in advance in the next stage according to the current inclination of the hull 9 by analyzing the attitude change information of the unmanned ship 200 input by the inertial navigation module 52. That is, when the control module 5 determines that the unmanned boat 200 is in the wave stage, and before the inertial navigation module 52 senses that the stern inclination angle of the boat body 9 gradually decreases and is smaller than the third reference angle (it can be understood that if C1 is greater than C2, it is smaller than C2 at this time), the control hydrofoil device 100 is started to raise the boat body 9, so that the stern inclination of the boat body 9 in the next stage increases to the third reference angle; before the stern inclination angle of the hull 9 gradually increases and is greater than the third reference angle (it can be understood that if C1 is greater than C2, it is greater than C1 at this time), the hydrofoil device 100 is controlled to enable the hull 9 to generate a submerged bow, so that the stern inclination of the hull 9 at the next stage is reduced to the third reference angle. The stern tilt C1 and stern tilt C2 are the time nodes at which the wave phase control assembly 5 begins implementing the advance control strategy.

Specifically, before the stern inclination angle of the hull 9 of the unmanned ship 200 is gradually increased and is larger than a third reference angle, the electromagnetic valve 32 and the hydraulic cylinder 33 are controlled in advance, and the water wing plate 1 is controlled, so that the hydrofoil device 100 positioned at the bow and/or the stern generates bow pressing torque, and bow lifting is reduced, and thus the stern inclination angle of the hull 9 is increased and kept within the third reference angle at the next stage; before the stern inclination angle of the hull 9 of the unmanned ship 200 is gradually reduced and smaller than the third reference angle, the electromagnetic valve 32 and the hydraulic cylinder 33 are controlled in advance, and the hydrofoil 1 is controlled, so that the hydrofoil device 100 positioned at the bow and/or the stern generates a bow lifting torque, and the buried bow amplitude is reduced, and thus the hull 9 can keep stern inclination and stay within the third reference angle at the next stage. Thus, the pitch angle of the boat body 9 can be kept within a certain range; meanwhile, through the control, the heave amplitude of the hull 9 in the wave stage can be reduced, the hull 9 is lifted, the wet surface area and ship bow slamming of the hull 9 are reduced, the resistance and efficiency are reduced, and the sailing efficiency is improved.

When the inertial navigation module 52 senses that the stern inclination angle of the hull 9 is gradually reduced, the calculation module 51 starts to advance control the driving assembly 4 so that the hydrofoil device 100 rotates in advance.

In an optional embodiment, when the inertial navigation module 52 senses that the stern inclination angle of the hull 9 is gradually reduced and the stern inclination angle is C2, the calculation module 51 controls the driving assembly 4, and the driving assembly 4 starts to control the water wing plate 1 to rotate and enable the bow to incline upwards and the stern to incline downwards; in this way, hull 9 can maintain the proper stern inclination angle during the next stage.

When the inertial navigation module 52 senses that the stern inclination angle of the hull 9 is gradually increased, the calculation module 51 starts to advance control the driving assembly 4 so that the hydrofoil device 100 rotates in advance.

In an optional embodiment, when the inertial navigation module 52 senses that the heading angle of the hull 9 is gradually increased and the stern inclination angle is C1, the calculation module 51 starts to control the driving assembly 4, and the driving assembly 4 starts to control the water wing plate 1 to rotate and enable the bow to be declined and the stern to be upwards inclined; thus, hull 9 can maintain the proper stern inclination angle in the next stage.

In an alternative embodiment, the third reference angle is 3 ° to 2.5 ° of stern inclination; in other alternative embodiments, the third reference angle may be 3 ° or 2.5 ° or other specific values. Without being limited thereto, in other alternative embodiments, the value or the range of the third reference angle may also be set according to actual requirements.

Optionally, in this embodiment, the above-mentioned sailing phase of the unmanned boat 200 may also be combined with the inclination change information of the unmanned boat 200 during the wave phase. That is, the attitude reference information stored by the calculation module 51 may further include a fourth reference angle, which is information on periodic changes in the inclination angle of the unmanned boat 200 when it encounters waves. That is, in the wave phase, the inertial navigation module 52 senses that the hull 9 continuously and periodically changes between the stern inclination and the bow inclination, and feeds back the periodic change information of the inclination angle of the hull 9 to the calculation module 51, and the calculation module 51 receives the periodic change information of the inclination angle. When the calculation module 51 compares that the inclination angle change information of the hull 9 at this time is consistent with the fourth reference angle, it can be determined that the unmanned surface vehicle 200 is in the wave stage, and then the calculation module 51 can control the inclination angle of the hull 9 through the above-mentioned advanced control strategy, so that the hydrofoil device 100 rotates in advance. It is understood that the above-mentioned "coincidence" may include the fact that the received information completely coincides with both the period and the amplitude (the value of the inclination angle) in the fourth reference angle, and that the received information tends to coincide with the period and/or the amplitude in the fourth reference angle with a certain deviation range.

Optionally, after the resolving module 51 receives the change information of one cycle of the inclination angle of the unmanned ship 200, it may be determined that the unmanned ship 200 is in the wave stage; or, after the resolving module 51 receives the change information of the two periods of the inclination angle of the unmanned ship 200, it can be determined that the unmanned ship 200 is in the wave stage. Of course, in other alternative embodiments, after the calculation module 51 receives the information about the change of the inclination angle of the unmanned boat 200 in more cycles, it may be determined that the unmanned boat 200 is in the wave phase. Can be specifically based on actual requirements

In this embodiment, confirming that the unmanned boat 200 is in the wave phase by the speed of the unmanned boat 200 specifically includes: the calculation module 51 obtains the current sailing speed of the unmanned ship 200 from the central controller 92, compares the sailing speed with the speed reference information, and when the calculation module 51 confirms that the sailing speed is at the third reference speed, it can be confirmed that the unmanned ship 200 is in a wave stage at the current time.

For example, the third reference speed is a speed value of the unmanned boat 200 that varies periodically within a certain period range and amplitude range. When the resolving module 51 receives that the sailing speed of the unmanned boat 200 also changes periodically, that is, the sailing speed tends to coincide with the third reference speed (the term "tends to coincide" here refers to the above description), it can be considered that the unmanned boat 200 is in the wave phase at this time, and thus the resolving module 51 can perform the above-mentioned control on the boat body 9. The specific periodic variation value and range of the cruising speed are not particularly limited herein, and are specifically limited according to the type and practical scene of the unmanned surface vehicle 200.

The embodiment of the present application also provides a computer-readable storage medium, which is applied to the above unmanned surface vehicle 200. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method as described in the above embodiments, thereby controlling the navigation of the unmanned boat 200 by the control method.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A navigation control method of an unmanned ship is characterized by comprising the following steps:

confirming a motion phase of the unmanned ship;

sensing attitude information of the unmanned ship;

calculating control information of the unmanned ship in the corresponding motion stage based on the attitude information and the attitude reference information; and

controlling the unmanned ship to act according to the control information, comprising: and controlling the water wing plate to rotate according to the control information, and controlling the hull of the unmanned ship through the rotation of the water wing plate.

2. The unmanned ship's voyage control method of claim 1, wherein the motion phase comprises at least one of a takeoff phase, a high speed taxi phase, and a wave phase;

the attitude reference information comprises a first reference angle corresponding to the start-up sliding stage, the attitude reference information comprises a second reference angle corresponding to the high-speed sliding stage, and the attitude reference information comprises a third reference angle corresponding to the wave stage;

the attitude information comprises a tilt angle of the unmanned vehicle;

the calculating the control information of the unmanned ship comprises: and acquiring the attitude reference information, and calculating to obtain the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information.

3. The unmanned ship voyage control method according to claim 2, wherein said controlling the rotation of the strake comprises: and the control component controls a driving component according to the control information, and the driving component acts and controls the hydrofoil plate to rotate.

4. The unmanned ship voyage control method according to claim 1 or 2, wherein the confirming the motion phase of the unmanned ship comprises: and acquiring the navigation speed of the unmanned ship, and comparing the navigation speed with a reference speed.

5. The navigation control method of an unmanned ship according to claim 3, wherein the control unit controls the driving unit according to first control information when a stern inclination of the unmanned ship is greater than the first reference angle in the skimming phase, and the driving unit controls a sail to rotate and a bow to be declined.

6. The cruise control method according to claim 3, wherein, in the high-speed planing stage, when the stern inclination of the unmanned ship is greater than the second reference angle, the control unit controls the driving unit according to second control information, the driving unit controls the water wing plate to rotate and the bow to be declined; when the bow inclination angle of the unmanned ship is larger than a second reference angle, the control assembly controls the driving assembly according to third control information, and the driving assembly controls the water wing plates to rotate and enables the bow to incline upwards.

7. The cruise control method according to claim 3, wherein, in the wave phase, when the stern inclination angle of the unmanned boat is gradually decreased to the third reference angle, the control unit controls the driving unit, which controls the strake and inclines the bow, according to fourth control information; and when the stern inclination angle of the unmanned ship is gradually increased to the third reference angle, the control assembly controls the driving assembly according to fifth control information, and the driving assembly controls the water wing plate to rotate and enables the bow to be declined.

8. The unmanned-vessel voyage control method according to claim 7, wherein the attitude reference information further includes a fourth reference angle corresponding to the wave phase, the fourth reference angle including information on periodic variation of the inclination of the unmanned vessel with waves; when the attitude information of the unmanned ship is in agreement with the fourth reference angle, the control component confirms that the unmanned ship is in the wave phase.

9. A computer-readable storage medium, characterized in that a computer program is stored which, when being executed by a processor, implements the control method according to any one of claims 1 to 8.

10. An unmanned boat, comprising the computer-readable storage medium of claim 9, and controlled by the control method of any one of claims 1 to 8, comprising a boat hull and a hydrofoil device provided on the boat hull; the hydrofoil device includes:

a water wing plate;

a drive assembly; and

the control assembly comprises a resolving module and an inertial navigation module which are connected in a wired or wireless mode, the inertial navigation module is used for sensing attitude information of the unmanned ship, the resolving module is used for receiving the attitude information, comparing the attitude information with the attitude reference information and controlling the driving assembly according to a comparison result, and the driving assembly is used for driving the water wing plate to rotate according to control information of the resolving module.

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