CN115309157A - Water quality monitoring ship, water quality monitoring ship control system and method - Google Patents
Water quality monitoring ship, water quality monitoring ship control system and method Download PDFInfo
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Abstract
The invention discloses a water quality monitoring ship, a water quality monitoring ship control system and a water quality monitoring ship control method, wherein the water quality monitoring ship comprises a communication module, a communication module and a control module, wherein the communication module is used for receiving ship navigation information and control information sent by a ground control station; the ship subsystem is used for acquiring self state information and environment information of a ship; the whole ship domain controller comprises a data input module, an interface module, a control module and a storage module, wherein the data input module is used for receiving ship state information and control information sent by a first communication module, the interface module is used for receiving the ship state information and the environmental information of a ship subsystem, the control module is used for resolving according to the received ship state information and control information, and obtains a corresponding navigation control instruction by combining the ship state information and the environmental information to control a water quality monitoring ship. The invention realizes the operation capability of the water quality monitoring ship under different navigation environments and navigation modes, and improves the control effect.
Description
Technical Field
The invention relates to the technical field of water quality monitoring ship controller implementation, in particular to a water quality monitoring ship, a water quality monitoring ship control system and a water quality monitoring ship control method.
Background
As a ship with specific application, the water quality monitoring ship is based on a miniature ship, carries water quality monitoring sensors such as dissolved oxygen, pH, conductivity, temperature and the like, utilizes GPS autonomous navigation or remote control navigation, transmits monitoring data in real time, has the characteristics of convenience in collection and release, cost economy, accurate data and the like, has obvious technical advantages in the aspect of reservoir and city inland river water body monitoring due to the technical characteristics, and is a development trend of future water quality monitoring.
However, the water quality monitoring ship in the prior art is not strong in environmental adaptability, and the overall control effect is not good enough.
Disclosure of Invention
The invention provides a water quality monitoring ship, a water quality monitoring ship control system and a water quality monitoring ship control method, which are used for solving or at least partially solving the technical problems of low environmental adaptability and poor overall control effect in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a first aspect provides a water quality monitoring vessel comprising:
the communication module is used for receiving ship navigation information and control information sent by the ground control station and sending the ship navigation information and the control information to the whole ship domain controller;
the ship subsystem is used for acquiring self state information and environment information of a ship;
the whole ship domain controller comprises a data input module, an interface module, a control module and a storage module, wherein the data input module is used for receiving ship state information and control information sent by a first communication module, the interface module is used for receiving the ship state information and the environmental information of a ship subsystem, the control module is used for resolving according to the received ship state information and control information, and obtains a corresponding navigation control instruction by combining the ship state information and the environmental information to control a water quality monitoring ship.
In one embodiment, the control module comprises a whole ship mode management module, a propulsion motor control module, a water quality monitor control module, a camera driving control module and a laser radar pan-tilt control module, wherein the whole ship mode management module comprises control of an autonomous cruise mode, a remote control mode and an emergency return mode, and the water quality monitor control module is used for controlling the sampling depth and frequency of the water quality monitor; the camera driving control module is used for controlling the steering and pitching angle of the camera holder, and the laser radar holder control module is used for controlling the steering and rotating speed of the laser radar holder.
In one embodiment, the vessel subsystem includes a camera, a lidar, a water quality monitor, a propulsion motor, an electrical tilt, an inertial navigation, a DGPS, and an electrical compass.
In one embodiment, the whole ship domain controller further comprises an output module for receiving the navigation control command output by the controller module, and the navigation control command is transmitted to the ship subsystem through the CAN bus and the FlexRay bus.
Based on the same inventive concept, the second aspect of the invention provides a water quality monitoring ship control system, which comprises the water quality monitoring ship of the first aspect and a ground control station, wherein the ground control station comprises a remote control console platform and a ground station comprehensive display module, the remote control console platform is used for generating ship navigation information and control information, and the ground station comprehensive display module is used for displaying ship state data and ship navigation environment information.
In one embodiment, the remote console platform is also used to manage and control the operational modes of the water quality monitoring vessel.
In one embodiment, the generated ship navigation information comprises attitude information of ship navigation, navigation speed, water environment perception state and state information of a water quality monitor, and the remote control command signal comprises: navigation speed, course and motor control instruction of the water quality monitor.
Based on the same inventive concept, the third aspect of the invention provides a water quality monitoring ship control method, which is realized based on the system of the second aspect, the control method is used for controlling a propulsion motor, and the control method comprises the following steps:
the remote control platform sets the working mode of the water quality monitoring ship and sends the working mode of the water quality monitoring ship, the navigational speed and the course of the ship to the whole ship domain controller through the communication module;
the ship-wide domain controller controls a propulsion motor of a ship to work at a corresponding power level according to a working mode of the water quality monitoring ship, and the power level is calculated according to the received navigational speed and course of the ship to obtain an electric regulation control instruction and a corresponding ship speed signal, and the electric regulation control instruction and the corresponding ship speed signal are sent to the propulsion motor controller.
A water quality monitoring ship control method is realized based on the system in the second aspect, and the control method is used for controlling a water quality monitoring instrument and comprises the following steps:
the remote control platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode, and sends the working mode of the water quality monitoring ship, the navigational speed and the course of the ship to the whole ship domain controller through the communication module;
the whole ship domain controller calculates a propulsion motor control instruction of the ship and a control instruction of the water quality monitor according to the working mode of the water quality monitoring ship, the navigational speed and the course of the ship, and the water quality monitor controller automatically adjusts the sampling interval and the sampling frequency according to the control instruction of the water quality monitor;
the whole ship domain controller aligns DGPS information with water quality information monitored by the water quality monitor, marks the water quality condition, superposes the water quality information and longitude and latitude information of a water quality sampling point, pushes the water quality information to the ground station and displays the water quality information and the longitude and latitude information through the ground station comprehensive display module.
A water quality monitoring ship control method is realized based on the system of the second aspect, the control method is control over an environment sensing system, the environment sensing system comprises a camera and a laser radar, and the control method comprises the following steps:
a remote control console platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode;
under the autonomous cruise mode, the whole ship domain controller receives image data and laser radar data collected by the camera and the laser radar, fuses the image data and the laser radar data, identifies an overwater target according to a data fusion result, and judges obstacle avoidance according to an identification result.
Compared with the prior art, the invention has the advantages and beneficial technical effects as follows:
according to the water quality monitoring ship provided by the invention, the bidirectional communication between the ship end and the ground station is realized through the communication module, the ship state information and the environment information are acquired through the ship subsystem, the whole ship domain controller is used for receiving the ship state information and the control information sent by the ship end through the data input module, the running state information and the environment information of the water quality monitoring ship are received through the interface module, the control module is used for resolving according to the received ship state information and the received control information, and a corresponding navigation control instruction is obtained by combining the ship state information and the environment information to control the water quality monitoring ship.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a diagram of a controller architecture for a ship domain according to an embodiment of the present invention;
FIG. 2 is a structural diagram of a control system of a water quality monitoring ship in an embodiment of the invention;
fig. 3 is a schematic diagram of a power control of a ship domain controller and a propulsion motor according to an embodiment of the invention.
Detailed Description
The invention provides a water quality monitoring ship, a water quality monitoring ship control system and a water quality monitoring ship control method.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Example one
The embodiment of the invention provides a water quality monitoring ship, which comprises:
the communication module is used for receiving ship navigation information and control information sent by the ground control station and sending the ship navigation information and the control information to the whole ship domain controller;
the ship subsystem is used for acquiring self state information and environment information of a ship;
the whole ship domain controller comprises a data input module, an interface module, a control module and a storage module, wherein the data input module is used for receiving ship state information and control information sent by a first communication module, the interface module is used for being connected with a ship subsystem and receiving the ship self state information and the environment information, the control module is used for resolving according to the received ship state information and control information, and a corresponding navigation control instruction is obtained by combining the ship self state information and the environment information to control a water quality monitoring ship.
In the specific implementation process, the whole ship domain controller is connected with each ship subsystem through an interface module and is communicated with the ground station through a communication module.
In one embodiment, the control module comprises a whole ship mode management module, a propulsion motor control module, a water quality monitor control module, a camera driving control module and a laser radar pan-tilt control module, wherein the whole ship mode management module comprises control of an autonomous cruise mode, a remote control mode and an emergency return mode, and the water quality monitor control module is used for controlling the sampling depth and frequency of the water quality monitor; the camera driving control module is used for controlling the steering angle and the pitching angle of the camera holder, and the laser radar holder control module is used for controlling the steering angle and the rotating speed of the laser radar holder.
Specifically, the whole ship domain controller comprises modules for correspondingly controlling a plurality of water quality monitoring ships in an autonomous cruise mode, a remote control mode and an emergency return mode, and is used for realizing ship control of the water quality monitoring ships in different modes;
and the whole ship domain controller performs corresponding control by combining the state monitoring information of the ship according to the control information sent by the ground station.
As shown in figure 1, the whole ship domain controller mainly comprises three modules
The first module is an interface module and mainly comprises various interfaces for connecting input and output equipment, and the access information mainly comprises instruction information, navigation information and self state information of the ship of the ground station, wherein the instruction information and the navigation information of the ground are from two subsystems of a remote control platform of the ground station and a ground station comprehensive display module. The control information and navigation information of the ground are input into the whole ship domain controller through the communication module, the ground station can receive a control instruction sent by the whole ship domain controller and the real-time state information of the whole ship, and then the state data of the whole ship is displayed through the ground station comprehensive display module; the remote control platform is used for controlling the ship navigation state; the self state information of the ship mainly comprises collected information and feedback signals of a camera, a laser radar, inertial navigation, a DGPS, an electric compass, an electric speed regulator, a motor, a water quality monitor, communication equipment and the like, and is used for monitoring the ship state by a whole ship domain controller.
The second module is a control module which comprises a whole ship mode management module, an autonomous cruise module, a remote control module, an emergency return module, a camera tripod head control module, a laser radar tripod head control module, a left-right propulsion motor control module, a water quality monitor control module, a system state monitoring module, an emergency management module, a fault diagnosis function module and other functional modules. The automatic cruise control system is mainly responsible for controlling ship navigation control and water quality monitoring application, the automatic cruise module controls the water quality monitoring ship to achieve an automatic cruise water quality monitoring function, the rotating speed of the left and right propulsion motors is controlled according to a set navigation line, and navigation, steering and the like of the ship are achieved. The remote control module is mainly used for realizing remote control of a remote operator on the water quality monitoring ship, comprises ship navigation control and remote control of the water quality monitoring instrument, and realizes identification and avoidance of aquatic moving and static obstacles in an autonomous cruise mode and a remote control mode through an environment sensing system consisting of a camera and a laser radar. The control module is used for resolving the instruction information sent by the remote control platform and processing the control instruction required to be executed by each subsystem. The control instruction is transmitted to each subsystem controller node through a hard wire/CAN network, and the subsystem controllers are controllers corresponding to each execution node of the ship and used for executing the control instruction of the whole ship domain controller.
The ship subsystem comprises corresponding subsystem controllers, and mainly comprises an inertial navigation drive control module, a DGPS drive control module, an electronic compass drive control module and a left and right electronic speed regulator drive control module, and is mainly used for finishing related control instructions issued by the whole ship controller and feeding back state information of nodes controlled by the ship controller in real time.
The third module is a storage module and is mainly responsible for storing ship navigation state data and water quality monitoring data, and the stored information comprises ship track longitude and latitude information, ship navigation speed information, ship course information, ship camera acquisition information and water quality monitor acquisition information.
Optionally, the control module further comprises a whole ship mode management submodule for switching between different modes of an autonomous cruise mode, a remote control mode and an emergency return mode; in addition, the whole ship mode management submodule further comprises a mode identification switch used for identifying the current operation mode.
In one embodiment, the vessel subsystem includes a camera, a lidar, a water quality monitor, a propulsion motor, an electrical tilt, an inertial navigation, a DGPS, and an electrical compass.
The ship subsystem comprises corresponding controllers, and specifically comprises a motor speed regulation controller, a water quality monitor controller, a camera controller, a laser radar controller, an inertial navigation controller, a DGPS controller, an electric compass controller, a communication radio controller and a 4G 5G controller.
In one embodiment, the whole ship domain controller further comprises an output module for receiving the navigation control command output by the controller module, and the navigation control command is transmitted to the ship subsystem through the CAN bus and the FlexRay bus.
Example two
Based on the same inventive concept, the embodiment provides a water quality monitoring ship control system, which comprises the water quality monitoring ship in the first aspect, and further comprises a ground control station, wherein the ground control station comprises a remote control console platform and a ground station comprehensive display module, the remote control console platform is used for generating ship navigation information and control information, and the ground station comprehensive display module is used for displaying ship state data and ship navigation environment information.
Fig. 2 is a structural diagram of a water quality monitoring ship control system according to an embodiment of the present invention;
specifically, the ground station comprehensive display module comprises state display, comprehensive state display and the like of autonomous cruising, remote control, emergency return voyage and the like. The ground operator monitors the state of the ship in real time through the man-machine integrated display module, the ground control console comprises ship working mode selection, water quality monitor operation, camera and laser radar cloud deck operation, a power switch of the ship, ship navigation speed adjustment and ship navigation direction adjustment, and the ground operator comprehensively uses control components in the control console to realize normal navigation and water quality monitoring application at the highest level. Various switches, mode switching buttons/switches, operating rods, operating instruments and the like are arranged on the ground console and are used for controlling the whole water quality monitoring ship system through the ground console.
In one embodiment, the remote console platform is also used to manage and control the operational mode of the water quality monitoring vessel.
In one embodiment, the generated ship navigation information comprises attitude information of ship navigation, navigation speed, water environment perception state and state information of a water quality monitor, and the remote control command signal comprises: navigation speed, course and motor control instruction of the water quality monitor.
Particularly, the water quality monitoring ship control system comprises a ground station and a ship end, wherein the ship end is a water quality monitoring ship, and the ground station comprises a remote control console platform and a ground station comprehensive display module.
The core of the water quality monitoring ship is a whole ship domain controller which comprises a data input module, wherein the data input module comprises autonomous cruising air route planning information (navigation information), a remote control instruction signal (control information) and ship self state information and environment information of each subsystem of the whole ship.
The autonomous cruising route planning information includes: course range, course overlap, waypoint coordinates, and the like.
The remote control command signal includes: navigation speed, course, motor control instruction of the water quality monitoring module and the like.
The planning information of the autonomous cruising flight path and the remote control instruction signal comprise information of a ground station comprehensive display module and a remote control console subsystem, the information is input into a control module in a whole ship domain controller, and a ship motion control instruction and real-time state information of a ship sent by the domain controller control module are received.
In the specific implementation process, the ground station comprehensive display module specifically displays ship state data and ship navigation environment information, the remote control console is used for controlling the navigation state of the water quality monitoring ship in real time, the sensing and state signals of each system of the water quality monitoring ship mainly comprise sensing information such as a camera, a laser radar and a water quality monitor, and state signals fed back by subsystems such as a propulsion motor, an electric controller, an electric compass, a DGPS, an inertial navigation system, a 4G \5G communication module, a data transmission diagram communication radio and a battery electric quantity monitoring module are used for monitoring the ship state of the water quality monitoring ship whole ship domain controller.
The system comprises a radio station, a 4G \/5G communication module, a ground station, a water quality monitoring ship, a remote control console, a ship end and a ship execution mechanism, wherein the ground station is provided with a communication device, the water quality monitoring ship is provided with a communication device, the remote control console converts real-time control information of control personnel into digital information, the digital information is sent to the ship end through the communication device, and the ship end receives signals and then calculates in a whole ship domain controller to obtain control signals required by the ship execution mechanism.
Specifically, the information displayed by the ground station comprehensive display module comprises ship-shore communication quality information, a water quality monitoring ship state display signal and a navigation environment display signal. The information of the remote control platform comprises navigation general control information for the water quality monitoring ship, autonomous cruise control information for autonomous cruise control, remote real-time control information for remote control, emergency control information for emergency control, sensing control information for controlling an environment sensing camera, equipment control information for controlling the water quality monitor and ship electric control information for controlling a ship electric system.
The remote control console is a real-time control console erected on a shore base and carries out bidirectional communication through a digital radio station, a 4\5G communication device and a water quality monitoring ship. The command of the autonomous cruise information comes from the planning of a ground comprehensive display station, various control modules are pre-installed in the remote control console, mode switching can be carried out according to conditions, a ship motion control command sent by a whole ship domain controller control module directly controls an executing mechanism of a ship, and real-time state information of the ship is transmitted to the ground station through a radio station to be comprehensively displayed so as to be judged by an operator.
Further, the navigation general operation information of the water quality monitoring ship comprises selection information of a working mode of the water quality monitoring ship, mode selection information of a shipborne lower computer and a standby control panel and mode selection information of electric regulation; the autonomous cruise information comprises a motor gear selection signal, an electric regulation signal, an electric compass signal, a DGPS signal and an inertial navigation signal; the remote real-time control information comprises a left motor rotating speed signal and a right motor rotating speed signal; the emergency operation information comprises a left motor rotating speed signal, a right motor rotating speed signal, an electric regulation signal and a communication quality signal; the perception control information comprises a camera tripod head angle control signal and a laser radar tripod head angle signal; the equipment control information comprises a sampling depth signal and a sampling frequency signal of the water quality monitor; the ship electric control information comprises a ship light signal and a ship main power switch signal.
The autonomous cruise control module is used for controlling the water quality monitoring ship to sail on water, sailing, decelerating and steering according to the rotating speed of the motor and controlling the output power of the motor through the set autonomous sailing speed; the remote control module is used for realizing the real-time remote control of the water quality monitoring ship, controlling the output power of the left motor and the output power of the right motor according to a control operation signal on the remote control console, realizing the navigation, deceleration and steering of the water quality monitoring ship according to a control instruction of the remote control console, receiving an instruction signal of the remote control console by the water quality monitoring ship through an instruction receiver, transmitting the instruction signal to the control layer, and driving the motor by the control layer to realize the remote control of the water quality monitoring ship;
the autonomous cruise control module is used for autonomous navigation of the ship according to the environment, the state of the ship and a preset air route, navigation information planned by a ground station is input into the autonomous cruise control module and is sent to the ship through a communication device, and then a whole ship domain controller is used for resolving navigation control instructions (bottom layer signals such as a motor PWM waveform and an instruction signal of a sensing equipment holder motor).
The remote control module is operated manually according to the ship state information and the environment perception information in a remote mode, and the whole ship domain controller is resolved into a ship execution mechanism control instruction in real time according to the operation data. The remote control module is used for sending an operation instruction to the control console, sending the operation instruction to the ship through the communication device, and then resolving the operation instruction (a motor PWM waveform, a command signal of a sensing equipment holder motor and other bottom layer signals) into a navigation control instruction by the whole ship domain controller. The two modes of autonomous cruising and remote control can be switched by the ground control station.
The emergency operation control module is used for triggering an emergency return mode under emergency conditions of communication interruption, signal interference and the like of the water quality monitoring ship, return of the water quality monitoring ship is realized, under the emergency conditions, communication quality of the water quality monitoring ship, a remote operation platform and a ground station is monitored in real time by the control module of the domain controller, if secondary communication interruption occurs, emergency operation control is started by the control module of the domain controller, and through a preset return point, the water quality monitoring ship realizes emergency return operation.
Furthermore, the control module of the whole ship domain controller further comprises a ship mode management submodule for switching different modes of autonomous cruising, remote control, emergency return voyage and the like of the water quality monitoring ship. The ship mode management submodule also comprises a mode identification module which can identify the current operation mode according to the ship state information, upload the current operation mode to the ground station through the communication module and display the current operation mode on the ground station comprehensive display module.
Since the system described in the second embodiment of the present invention is a system including the water quality monitoring ship described in the first embodiment of the present invention, based on the water quality monitoring ship described in the first embodiment of the present invention, those skilled in the art can understand the specific structure and deformation of the system, and thus, the details thereof are not described herein. All systems including the water quality monitoring ship in the first embodiment of the invention belong to the protection scope of the invention.
EXAMPLE III
Based on the same invention concept, the invention also provides a water quality monitoring ship control method, which is realized based on the system of the second embodiment, the control method is used for controlling the propulsion motor, and the control method comprises the following steps:
the remote control platform sets the working mode of the water quality monitoring ship and sends the working mode of the water quality monitoring ship, the navigational speed and the course of the ship to the whole ship domain controller through the communication module;
the ship whole area controller controls a propulsion motor of a ship to work at a corresponding power level according to the working mode of the water quality monitoring ship, and calculates according to the received ship speed and course of the ship to obtain an electric regulation control instruction and a corresponding ship speed signal, and sends the electric regulation control instruction and the corresponding ship speed signal to the propulsion motor controller.
Referring to fig. 3, a schematic diagram of a ship domain controller and a propulsion motor power control according to an embodiment of the invention is shown.
In the specific implementation process, the whole ship domain controller is used for resolving PWM waves required by motor driving according to the speed instruction, and the high-low electric frequency signals are used for driving the propulsion motor, so that the rotating speed of the motor is controlled.
The ship can work only in the autonomous cruise mode, and the propulsion motor is allowed to work in a high-power level mode; meanwhile, the situation that stable power control is difficult to perform on water in a remote control mode is considered, but the rotating speed of the propulsion motor can be directly controlled through a control module of the whole ship domain controller according to speed instruction information of the remote control console, so that the power of the propulsion motor in the remote control mode is set in a low-power mode, and the monitoring quality of water quality monitoring and the safety of ship navigation are guaranteed.
Based on the same invention concept, the invention also provides a water quality monitoring ship control method, which is realized based on the system of the second embodiment, the control method is used for controlling the water quality monitoring instrument, and the control method comprises the following steps:
a remote console platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode, and sends the working mode of the water quality monitoring ship, the ship speed and the course of the ship to a whole ship domain controller through a communication module;
the whole ship domain controller calculates a propulsion motor control instruction of the ship and a control instruction of the water quality monitor according to the working mode of the water quality monitoring ship, the navigational speed and the course of the ship, and the water quality monitor controller automatically adjusts the sampling interval and the sampling frequency according to the control instruction of the water quality monitor;
the whole ship domain controller aligns DGPS information with water quality information monitored by the water quality monitor, marks the water quality condition, superposes the water quality information and longitude and latitude information of a water quality sampling point, pushes the water quality information and longitude and latitude information of the water quality sampling point to a ground station, and displays the water quality information and the longitude and latitude information through a ground station comprehensive display module.
In the specific implementation process, the whole ship domain controller controls the water quality monitor of the ship to work in a corresponding working mode through the working mode identification switch of the water quality monitoring ship. Under the autonomous cruise mode, the ground station firstly sets the navigation speed and navigation route of the water quality monitoring ship, the set information is uploaded to a whole ship domain controller through a communication module, a control module in the whole ship domain controller resolves a control instruction of a propulsion motor of the ship and a control instruction of a water quality monitor, and the water quality monitor controller automatically adjusts sampling intervals and frequency. And then, a control module of the whole ship domain controller automatically aligns the DGPS information and the water quality monitoring information, marks the water quality condition in real time, superposes the water quality condition and the longitude and latitude information of the water quality sampling point, pushes the water quality condition and the longitude and latitude information to a ground station, and a ground station comprehensive display module displays the information for a commander to distinguish.
Specifically, the control module in the whole-ship domain controller in the embodiment is specifically an autonomous cruise control module of the domain controller, and is specifically calculated according to a PID control algorithm to obtain a control parameter. And then converting the obtained control parameters into PWM wave patterns required by motor control according to the motor control model so as to obtain control signals for propelling the motor. And resolving the obtained control instruction of the propulsion motor and the control instruction of the water quality monitor, and controlling the speed and the course of the ship, the water quality sampling frequency and the sampling depth.
Under the remote control mode, can carry out real-time adjustment to water quality monitoring ship's navigation speed, direction through the remote control console, simultaneously, also can carry out real-time adjustment to water quality monitoring appearance's sampling frequency through the water quality monitoring appearance switch of remote control console, carry out real-time control to opening and close of water quality monitoring appearance. And under the emergency mode, the control module of the whole ship domain controller carries out power-off treatment on the water quality monitor.
Based on the same invention concept, the invention also provides a water quality monitoring ship control method, which is realized based on the system of the second embodiment, the control method is used for controlling an environment sensing system, the environment sensing system comprises a camera and a laser radar, and the control method comprises the following steps:
a remote control console platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode;
under the autonomous cruise mode, the whole ship domain controller receives image data and laser radar data collected by the camera and the laser radar, fuses the image data and the laser radar data, identifies an overwater target according to a data fusion result, and judges obstacle avoidance according to an identification result.
The environment sensing system mainly comprises a camera and a laser radar and is mainly used for assisting the water quality monitoring ship to monitor the navigation environment, and the whole ship domain controller controls the water quality monitor of the ship to work in a corresponding working mode through a mode identification switch for the water quality monitoring ship to work.
Under the autonomous cruise mode, the camera and the laser radar input sensed original data into a control module in the whole ship domain controller through an interface, input data are fused through a multi-source data fusion identification submodule in the control module, targets on water are identified, and identified structural data are transmitted into a collision prevention module in the control module, so that the autonomous collision prevention function of the water quality monitoring ship under the autonomous cruise mode is achieved.
Specifically, in the collision avoidance module, for the overwater static target, the distance and the direction between the overwater static target and the ship are identified through the sensing system, the decision module of the control module calculates the route of collision avoidance, the control module controls the rotating speed of the left and right propulsion motors to realize steering collision avoidance, for the overwater dynamic target, the relative speed and the direction between the overwater dynamic target and the water quality monitoring ship are identified through the sensing system, the possible collision area is identified through calculating the minimum meeting time and the minimum meeting distance, the route of collision avoidance is calculated through the decision module of the control module, and the control module realizes speed collision avoidance and steering collision avoidance through controlling the rotating speed of the left and right propulsion motors. And transmitting the processed structure data to the ground station through the communication module, and visualizing the structure data on the ground station comprehensive display module.
The minimum meeting time refers to the shortest distance which is calculated according to the current navigation state and is met by two ships, and the minimum meeting distance is the time for reaching the meeting position.
It should be noted that the control module includes a processor, and the processor includes a multi-source data fusion identification submodule, a decision module, and the like.
In the remote control mode, different from the autonomous cruise mode, the control module in the whole ship domain controller cannot autonomously calculate an avoidance route for the overwater static and dynamic obstacle targets. For a static obstacle target, the safety distance set by the control module is 4-5 times of the length of the ship, after the safety distance is reached, the control module can control the driving control module of the propulsion motor to cut off the power output of the propulsion motor, at the moment, the water quality monitoring ship cannot move towards the static obstacle target, the control module can shield an advancing instruction issued by the ground control station, and a steering and backing instruction can be normally issued. For the dynamic target, the control module can transmit the current possible collision area to the ground station comprehensive display module for an operator to judge, the control module can calculate the real-time reachable area of the water quality monitoring ship, define the safety field, when the safety field and the possible collision area are overlapped, the safety early warning can be triggered, the control module can shield the forward instruction issued by the ground control station, and the steering and backing instructions can be normally issued.
Compared with the prior art, the method for realizing the whole ship domain controller function of the water quality monitoring ship has the following advantages:
the invention aims to fully exert the water quality monitoring capability of a water quality monitoring ship in complex water areas and multiple working modes, and completes the development of control functions based on the characteristics of an intelligent unmanned ship, such as the design of a whole ship domain controller hardware interface based on the functional requirements of the water quality monitoring ship, the switching and management of the working modes of the whole ship, the motion control of a propulsion motor, the follow-up control of a water quality monitor, the follow-up control of a sensing system, the ship electric control of the whole ship and the like on the basis of the characteristics of the intelligent unmanned ship according to the characteristics of the water quality monitoring ship.
Since the water quality monitoring ship control system described in the third embodiment of the present invention is a system used for implementing the water quality monitoring ship control method in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and deformation of the system based on the method described in the first embodiment of the present invention, and thus the detailed description thereof is omitted. All systems adopted by the method of the first embodiment of the present invention are within the intended protection scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (10)
1. A water quality monitoring ship is characterized by comprising:
the communication module is used for receiving ship navigation information and control information sent by the ground control station and sending the ship navigation information and the control information to the whole ship domain controller;
the ship subsystem is used for acquiring self state information and environment information of a ship;
the whole ship domain controller comprises a data input module, an interface module, a control module and a storage module, wherein the data input module is used for receiving ship state information and control information sent by a first communication module, the interface module is used for receiving the ship state information and the environmental information of a ship subsystem, the control module is used for resolving according to the received ship state information and control information, and obtains a corresponding navigation control instruction by combining the ship state information and the environmental information to control a water quality monitoring ship.
2. The water quality monitoring ship according to claim 1, wherein the control module comprises a ship-only mode management module, a propulsion motor control module, a water quality monitor control module, a camera drive control module and a laser radar pan-tilt control module, wherein the ship-only mode management module comprises control of an autonomous cruise mode, a remote control mode and an emergency return mode, and the water quality monitor control module is used for controlling the sampling depth and frequency of the water quality monitor; the camera driving control module is used for controlling the steering angle and the pitching angle of the camera holder, and the laser radar holder control module is used for controlling the steering angle and the rotating speed of the laser radar holder.
3. A water quality monitoring vessel according to claim 2 wherein the vessel subsystems include cameras, lidar, water quality monitors, propulsion motors, electrical tilt, inertial navigation, DGPS and electrical compass.
4. The water quality monitoring ship according to claim 1, wherein the whole ship domain controller further comprises an output module for receiving a navigation control command output by the controller module, and the navigation control command is transmitted to the ship subsystem through the CAN bus and the FlexRay bus.
5. A water quality monitoring ship control system is characterized by comprising the water quality monitoring ship according to any one of claims 1 to 3 and further comprising a ground control station, wherein the ground control station comprises a remote control console platform and a ground station comprehensive display module, the remote control console platform is used for generating ship navigation information and control information, and the ground station comprehensive display module is used for displaying ship state data and ship navigation environment information.
6. The water quality monitoring vessel control system of claim 5, wherein the remote console platform is further configured to manage and control the operational mode of the water quality monitoring vessel.
7. The water quality monitoring ship control system according to claim 5, wherein the generated ship navigation information includes ship navigation attitude information, navigation speed, water environment sensing state, and state information of the water quality monitor, and the remote control command signal includes: navigation speed, course and motor control instructions of the water quality monitor.
8. A water quality monitoring ship control method is realized based on the system of claim 5, and is characterized in that the control method is used for controlling a propulsion motor, and comprises the following steps:
the remote control platform sets the working mode of the water quality monitoring ship and sends the working mode of the water quality monitoring ship, the navigational speed and the course of the ship to the whole ship domain controller through the communication module;
the ship-wide domain controller controls a propulsion motor of a ship to work at a corresponding power level according to a working mode of the water quality monitoring ship, and the power level is calculated according to the received navigational speed and course of the ship to obtain an electric regulation control instruction and a corresponding ship speed signal, and the electric regulation control instruction and the corresponding ship speed signal are sent to the propulsion motor controller.
9. A water quality monitoring ship control method is realized based on the system of claim 5, and is characterized in that the control method is used for controlling the water quality monitoring instrument, and comprises the following steps:
the remote control platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode, and sends the working mode of the water quality monitoring ship, the navigational speed and the course of the ship to the whole ship domain controller through the communication module;
the whole ship domain controller calculates a propulsion motor control instruction of the ship and a control instruction of the water quality monitor according to the working mode of the water quality monitoring ship, the navigational speed and the course of the ship, and the water quality monitor controller automatically adjusts the sampling interval and the sampling frequency according to the control instruction of the water quality monitor;
the whole ship domain controller aligns DGPS information with water quality information monitored by the water quality monitor, marks the water quality condition, superposes the water quality information and longitude and latitude information of a water quality sampling point, pushes the water quality information and longitude and latitude information of the water quality sampling point to a ground station, and displays the water quality information and the longitude and latitude information through a ground station comprehensive display module.
10. A water quality monitoring ship control method is realized based on the system of claim 5, and is characterized in that the control method is the control of an environment sensing system, the environment sensing system comprises a camera and a laser radar, and the control method comprises the following steps:
a remote control console platform of the ground station sets the working mode of the water quality monitoring ship to be an autonomous cruise mode;
under the autonomous cruise mode, the whole ship domain controller receives image data and laser radar data collected by the camera and the laser radar, fuses the image data and the laser radar data, identifies an overwater target according to a data fusion result, and judges obstacle avoidance according to an identification result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116513407A (en) * | 2023-04-28 | 2023-08-01 | 中国船舶科学研究中心 | Control system and control method of semi-submerged ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116513407A (en) * | 2023-04-28 | 2023-08-01 | 中国船舶科学研究中心 | Control system and control method of semi-submerged ship |
| CN116513407B (en) * | 2023-04-28 | 2023-11-07 | 中国船舶科学研究中心 | Control system and control method of semi-submerged ship |
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