CN114594765A - Unmanned surface vehicle remote control system - Google Patents
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- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention provides a remote control system for an unmanned surface vehicle, which comprises an onboard control subsystem and a shore-based network control subsystem, wherein a remote motion control mode of the remote control system has better real-time performance, operability, stability, practicability and popularization. Specifically, the on-board control subsystem comprises a controller, communication terminal equipment and mobile network equipment. And the controller controls the propulsion motor and the digital steering engine and acquires and processes navigation data. The controller and the communication terminal are interacted. The communication terminal is connected with the cloud server and the mobile network equipment through a network. The shore-based network control subsystem is installed on the mobile network equipment and comprises a USV network monitoring interface, and the USV network monitoring interface comprises a battery pack of the unmanned ship, a propulsion system, a navigation sea state and real-time and historical operation data of the USV position.
Description
Technical Field
The invention relates to a remote control system for an unmanned surface vehicle.
Background
Unmanned Surface Vehicles (USV) on the water Surface can realize manual control and autonomous navigation functions by matching an intelligent control system on the water Surface with a remote wireless remote control system. The unmanned surface vehicle can be regarded as an intelligent robot for executing tasks on the water surface, and corresponding functional modules can be carried according to different requirements to form a robot with specific functions, so that the unmanned surface vehicle can replace people to execute various tasks. The unmanned water craft has the characteristics of strong mobility, good stealth performance, low cost and the like, has important functions in civil use and military use, and gradually becomes a replacement and supplement for manned platforms in the offshore danger field, so that the unmanned water craft is more and more widely concerned. In order to improve the reliability of the unmanned surface vehicle, the corresponding unmanned vehicle control technology has a large lifting space.
Disclosure of Invention
The invention provides a remote control system of an unmanned surface vehicle, which aims to solve the technical problems and comprises a vehicle-mounted control subsystem and a shore-based network control subsystem, wherein,
the boat-borne control subsystem comprises a controller, communication terminal equipment and mobile network equipment. And the controller controls the propulsion motor and the digital steering engine and acquires and processes navigation data. The controller and the communication terminal are interacted. The communication terminal is connected with the cloud server and the mobile network equipment through a network.
The shore-based network control subsystem is installed on the mobile network equipment and comprises a USV network monitoring interface, and the USV network monitoring interface comprises a battery pack of the unmanned ship, a propulsion system, a navigation sea state and real-time and historical operation data of the USV position.
According to the invention, the shipboard control subsystem and the shore-based network control subsystem are carried on the unmanned surface vehicle, so that a user can accurately control the unmanned surface vehicle remotely through the mobile equipment, various real-time and historical operating data of the unmanned surface vehicle can be checked at any time, and the reliability and convenience of the unmanned surface vehicle are improved.
Preferably, the shore-based network control subsystem comprises a DSP controller and an ARM controller. And the DSP controller and the ARM controller carry out data information interaction through RS-232.
Preferably, the DSP controller is a TMS32F2812 model. The ARM controller adopts an STM32H743 model, acquires inertial navigation and radar data, and processes, calculates and analyzes the data.
Preferably, the DSP controller reads voltage and current data information of the propulsion motor, the digital steering engine and the battery pack, performs fusion processing on the acquired data information, and controls the propulsion motor and the digital steering engine in a pulse width modulation mode.
Preferably, the unmanned ship carries an inertial navigation system, and the inertial navigation system measures USV position, heading, roll angle and pitch angle data. The ARM controller processes and calculates data of the inertial navigation system to obtain steering and rotating speed of the unmanned ship, so that a control instruction is obtained, and the control instruction is transmitted to the DSP controller to perform motion control and path tracking on the unmanned ship.
Preferably, the communication terminal and the cloud server perform bidirectional transmission of the USV task information and the state information, and the USV speed measurement and position coordinate positioning functions are achieved.
Preferably, the communication terminal comprises a desktop computer, a notebook computer, a tablet computer and a mobile phone.
Preferably, the shore-based network control subsystem is based on a 4G mobile communication technology and is based on an Ali cloud server, a web server, an Apache server and a MySQL database.
Preferably, the shore-based network control subsystem comprises a client interface, and the client interface is written by HTML and Javascript. And the background script program of the client interface realizes the CGI function so as to realize the interaction of the Web browser and the Web server. The Web browser receives HTML codes sent by the Web server, interprets the HTML codes into Web pages one by one and displays the Web pages, and the displayed information comprises battery pack information, radar information, video pictures, electronic charts and motion states of the USV.
Preferably, the motion control instruction given by the controller and the deviation of the current course and speed fed back by the USV are adjusted by the fuzzy PID, the error is eliminated, and the direction and speed required to be steered are obtained, so that the unmanned ship is controlled to sail.
According to the description of the invention, the boat-mounted control subsystem and the shore-based network control subsystem are carried on the unmanned boat on the water surface, so that a user can accurately control the unmanned boat remotely through mobile equipment, various real-time and historical operating data of the unmanned boat can be checked at any time, and the reliability and convenience of the unmanned boat are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Wherein:
FIG. 1 is a surface unmanned boat motion control system architecture;
FIG. 2 is a digital steering engine;
FIG. 3 is a shore-based network control center for a surface unmanned vehicle;
FIG. 4 is a flow chart of unmanned boat sailing motion control;
FIG. 5 is a USV speed test chart;
fig. 6 is a USV motion trajectory diagram.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in 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 invention and are not intended to limit the invention.
A remote control system for an unmanned surface vehicle comprises a vehicle-mounted control subsystem and a shore-based network control subsystem, and can be carried on the unmanned surface vehicle.
In this embodiment, the hardware that unmanned surface vehicle remote control system corresponds includes control processing module, direct current brushless motor, digital steering wheel, DTU/GPS, lithium cell group energy management system (BMS), inertial navigation module, millimeter wave radar, surveillance camera head etc.. The BMS is mainly responsible for acquiring information such as temperature, voltage, current, SOC and the like of the lithium battery pack in the current charge state. The inertial navigation system is used for accurately measuring USV position, course, heading, roll angle and pitch angle data. The millimeter wave radar mainly detects information such as the direction, the moving speed and the distance (the maximum detection distance is 40m) between a suspected obstacle and the unmanned surface vehicle in the environment around the USV. The monitoring cameras are used for observing the water area conditions around the USV, one wall-mounted camera arranged in front of the USV deck is used for observing the water area environment in front of the USV, and the other spherical camera (360-degree full rotation) arranged at the tail of the USV deck is used for monitoring the water area environment behind the unmanned boat and on the two sides of the unmanned boat.
The on-board control subsystem comprises a controller, communication terminal equipment and mobile network equipment. The controller controls the propulsion motor and the digital steering engine and collects and processes navigation data. The controller and the communication terminal are interactive. The communication terminal is connected with the cloud server and the mobile network equipment through a network, and preferably comprises a desktop computer, a notebook computer, a tablet computer and a mobile phone.
In this embodiment, the controller includes a DSP controller and an ARM controller. And the DSP controller and the ARM controller carry out data information interaction through RS-232.
As shown in fig. 1, the DSP controller is of a TMS32F2812 type, has 2 time manager EV modules, CAN generate 4 independent PWM waveforms and 6 to 12 complementary PWM waveforms, 1 ADC sampling module, 2 serial communication interfaces SCI, and 1 local area network communication controller CAN bus interface, and is configured to read data information such as voltage and current of a propulsion motor, a digital steering engine, and a battery, fuse the acquired data information, and control a dc brushless motor and the digital steering engine by pulse width modulation, thereby realizing control of the unmanned ship movement speed and movement direction. The ARM controller adopts an STM32H743 model, an STM32H743 core is based on a 32-bit Cortex-M7 core, a double-precision FPU and an L1 cache are built in, the highest main frequency 400MHz is used for collecting inertial navigation and radar data, the data are processed, calculated and analyzed, the steering and rotating speed of the unmanned ship are obtained, a control instruction is obtained, and the control instruction is transmitted to TMS32F2812 through RS-232, so that the path tracking of the unmanned ship is realized. In this embodiment, the unmanned ship position state information acquired by the inertial navigation system is configured to be in an RS-485 communication mode through a Universal Synchronous Asynchronous Receiver Transmitter (USART) to perform data interaction with the ARM.
Relevant parameters of a direct current brushless motor adopted by the unmanned ship are shown in a table 1, the rated voltage of a digital steering engine (shown in figure 2) is 12V-24V/DC, and the rated power is 95W.
TABLE 1
In this embodiment, the TMS32F2812 and the STM32H743 perform data information interaction through RS-232, the TMS32F2812 and a communication terminal Device (DTU) realize interaction between an upper computer and a lower computer through RS-232, the communication terminal device establishes connection with an ali cloud server through a 4G mobile communication network, and mobile network devices such as a desktop computer, a notebook computer, a tablet computer and a mobile phone can be used to access a network control interface of the unmanned surface vehicle to perform motion control and state monitoring on the unmanned vehicle.
In the embodiment, the remote control is realized by connecting a communication terminal unit (DTU) with a web server, so that the bidirectional transmission of task information and state information of the USV is realized, and meanwhile, the functions of USV speed measurement and position coordinate positioning are realized, and wireless communication is realized.
In other embodiments, the navigation motion control flow of the unmanned ship is shown in fig. 4, and the given motion control command and the deviation γ and μ of the current heading and speed fed back by the USV are adjusted by the fuzzy PID to eliminate the error, so as to obtain the direction and speed required to steer, thereby controlling the navigation of the unmanned ship.
The shore-based network control subsystem is installed on the mobile network equipment and comprises a USV network monitoring interface, and the USV network monitoring interface comprises a battery pack of the unmanned ship, a propulsion system, a navigation sea state and real-time and historical operation data of the USV position.
In the embodiment, the shore-based network control subsystem is mainly based on an Aliskiu server, a web server, an Apache server and a MySQL database, and based on a 4G mobile communication technology, a USV network monitoring interface is designed and developed, so that the battery pack of the unmanned ship, the state of a propulsion system, the navigation sea state and the USV position can be monitored in real time, and a user can visually acquire current and historical operation data.
MySQL is selected because the MySQL is simple to operate, small in occupied size, convenient to call and capable of providing various programming interfaces, and stores data in a table form, is high in access speed and flexibility, and effectively prevents data redundancy. In addition, MySQL can also limit user access through a self authority access control mechanism, so that the safety of stored data is ensured. Therefore, MySQL is selected as a back-end database for storing the navigation data of the unmanned ship, and is used as a data storage center of the shore-based network control subsystem, so that the data storage function is achieved, and the logical operation can be provided.
The Apache server functions to provide the web information browsing service. When a client initiates a file request to an HTML static webpage file managed by an Apache server, the Apache server receives the request and searches the HTML webpage file in a related directory, then the result is fed back to a client browser, and the attached text type information indicates how the browser views the file.
The cloud server adopts an Aliskiu ECS server, the ECS server is based on an Aliskiu flying operating system, and elastic and telescopic computing services can be provided according to user requirements.
The data exchange between the DTU and the ECS is completed based on a TCP protocol format of the Internet, and working parameters such as a DTU dialing parameter, a cloud server IP address, a serial port baud rate, a port number and the like need to be configured. After the DTU is electrified to work, firstly, the working parameters stored in the internal FLASH are read, the DTU logs in the GPRS network to carry out PPP dialing, and an internal IP network randomly distributed by the mobile is obtained. And the web server of the cloud server receives the TCP communication request of the DTU and responds to the request, and a request success character needs to be returned to the DTU, so that the connection between the DTU and the web server is successful, namely socket connection.
Preferably, the USV network monitoring interface includes a client interface, and the client interface is written by HTML and Javascript. The background script program of the client interface mainly realizes the CGI function. CGI (common Gateway interface) is a standard interface for external extension applications to interact with Web servers. The Web server realizes the interaction with the Web browser by calling the CGI program, namely, the CGI program receives and processes the information sent to the Web server by the Web browser, and returns the response result to the Web browser. After receiving HTML codes sent by the Apache server, the browser interprets the HTML codes into web pages one by one, and the information of the battery pack information, the radar information, the video image, the electronic chart, the motion state and the like of the USV is displayed on the browser at the client side, so that the man-machine interaction function required by the platform is completed.
Or the platform design aims at all users, combines the functional requirements on USV monitoring and control, the front-end man-machine interaction design is composed of five functional interfaces, namely a USV monitoring interface, a USV control interface, a storage battery pack information interface, a radar data interface and a historical navigation record interface, as shown in figure 3, the motion control and data analysis interface of the shore-based control center of the unmanned surface vehicle can remotely and manually control the navigation speed and the navigation direction of the USV, and displays the state information of the storage battery and the motion state information of the USV in real time.
The following are real-time tests of the unmanned boat:
and (3) testing the real-time performance of USV remote communication: when the unmanned surface vehicle sails in a remote manual control mode, a control instruction needs to be sent to the USV frequently, and the DTU interacts with the shore-based control center through the 4G mobile network and establishes data. Therefore, whether the control command can be issued in real time is the key of manual control. As shown in table 2, the communication response time was tested at different locations, respectively. The test result shows that: the communication delay time between the shore-based network control center and the shipborne equipment is short, and the control instruction delay time is below 1s in a downtown area and an offshore range within a distance of 150km, so that the basic control requirement can be met.
TABLE 2 remote control real-time test
And (3) testing the real-time acceleration performance of the USV: course and speed control are the basis and key of the USV motion control. The propulsion motor that this system chose for use is the brushless motor of direct current, and maximum rotational speed 1100r/min divides the motor speed into four gears: DS, S, H, F, correspond to four speeds, respectively, as shown in fig. 5.
From fig. 5, the acceleration and speed maintenance performance of the unmanned surface vehicle at different motor speeds can be obtained. When the speed is F gear, the motor speed is 1100r/min, the USV accelerates to the maximum speed of 9.3km/h within 3.2s, and the ship can stably sail, as shown in Table 3.
TABLE 3 Propulsion Performance test data
The test results show that: the self-adaptive fuzzy PID control method can effectively control the movement of the unmanned ship, can better calibrate and stabilize the navigational speed according to the remote movement control instruction, and enables the remote movement control of the unmanned ship to be more accurate.
And (3) testing the rotation performance under the remote control of the USV: the main design parameters of the unmanned ship are shown in table 4, and according to the main parameters of the unmanned ship, in order to verify the sensitivity and operability of USV remote motion control, the cruise radiuses under the set navigational speed and the set rudder angle are respectively tested, and the rudder angle ranges are [ -60 °, +60 ° ]. In the remote motion control test, because no navigation track drawing is performed, the stored data of the MySQL database needs to be analyzed after the test is finished. According to the navigation data stored in the MySQL database, by MATLAB coordinate transformation operation, and by combining with the changes of the navigation speed and the course size, data fitting is carried out on a map to obtain an USV movement locus diagram, as shown in FIG. 6.
Table 4 design parameters of unmanned surface vehicle
A certain navigation speed V of the USV is given, and a rudder angle is formed after the ship speed is stable under the condition that the transverse inclination angle of the USV is less than 15 DEG
Gradually increasing to a certain degree to obtain the cruising track with the smallest radius at different ship speeds. In this way, the cruise radius for different given speeds and headings can be obtained, as shown in table 5. In the table, when the ship speed V is 9km/h, the rudder angle
At this time, the ship transverse inclination angle is larger than 15 degrees, and at this time, the seawater enters the ship body due to overlarge inclination, so that the test is not carried out.
TABLE 5 itinerant radius table
The test result shows that: the small-sized pod type propulsion device developed by the method can meet the requirement of remote motion control of the unmanned surface vehicle, and the flexibility, operability and real-time performance of remote control of the USV steering at different speeds are verified.
The unmanned surface vehicle is provided with the vehicle-mounted control subsystem and the shore-based network control subsystem, so that a user can accurately control the unmanned surface vehicle remotely through the mobile equipment.
The present invention has been described in detail with reference to the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, and that various insubstantial modifications of the inventive concepts and solutions, or their direct application to other applications without modification, are intended to be covered by the scope of the invention.
Claims (10)
1. A remote control system for an unmanned surface vehicle is characterized by comprising a vehicle-mounted control subsystem and a shore-based network control subsystem;
the boat-mounted control subsystem comprises a controller, communication terminal equipment and mobile network equipment; the controller controls the propulsion motor and the digital steering engine and acquires and processes navigation data; the controller and the communication terminal are interacted; the communication terminal is connected with the cloud server and the mobile network equipment through a network;
the shore-based network control subsystem is installed on the mobile network equipment and comprises a USV network monitoring interface, and the USV network monitoring interface comprises a battery pack of the unmanned ship, a propulsion system, a navigation sea state and real-time and historical operation data of the USV position.
2. The surface unmanned surface vehicle remote control system of claim 1, wherein the shore-based network control subsystem comprises a DSP controller and an ARM controller; and the DSP controller and the ARM controller carry out data information interaction through RS-232.
3. The surface unmanned ship remote control system of claim 2, wherein the DSP controller is model TMS32F 2812; the ARM controller adopts an STM32H743 model.
4. The unmanned surface vehicle remote control system of claim 3, wherein the DSP controller reads voltage and current data information of the propulsion motor, the digital steering engine and the battery pack, performs fusion processing on the acquired data information, and controls the propulsion motor and the digital steering engine in a pulse width modulation manner.
5. The unmanned surface vehicle remote control system of claim 3, wherein the unmanned vehicle carries an inertial navigation system, and the inertial navigation system determines USV position, heading, roll angle, and pitch angle data; the ARM controller processes and calculates data of the inertial navigation system to obtain steering and rotating speed of the unmanned ship, so that a control instruction is obtained, and the control instruction is transmitted to the DSP controller to perform motion control and path tracking on the unmanned ship.
6. The remote control system for the unmanned surface vehicle of claim 5, wherein the communication terminal performs bidirectional transmission of USV task information and state information with the cloud server, and has functions of USV speed measurement and position coordinate positioning.
7. The unmanned surface vehicle remote control system of claim 1, wherein the communication terminal comprises a desktop computer, a laptop computer, a tablet computer and a mobile phone.
8. The surface unmanned ship remote control system of claim 7, wherein the shore-based network control subsystem is based on 4G mobile communication technology and is based on an Aries cloud server, a web server, an Apache server and a MySQL database.
9. A surface unmanned surface vehicle remote control system as claimed in claim 1, wherein the shore based network control subsystem comprises a client interface, the client interface being written in HTML and Javascript; the background script program of the client interface realizes a CGI function so as to realize the interaction of the Web browser and the Web server; the Web browser receives HTML codes sent by the Web server, interprets the HTML codes into Web pages one by one and displays the Web pages, and the displayed information comprises battery pack information, radar information, video pictures, electronic charts and motion states of the USV.
10. The system of claim 1, wherein the deviation between the motion control command given by the controller and the current heading and speed fed back by the USV is adjusted by fuzzy PID to eliminate errors and obtain the direction and speed required to steer.
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