CN115454104A - Unmanned ship control system and control method - Google Patents
Unmanned ship control system and control method Download PDFInfo
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- CN115454104A CN115454104A CN202211322678.2A CN202211322678A CN115454104A CN 115454104 A CN115454104 A CN 115454104A CN 202211322678 A CN202211322678 A CN 202211322678A CN 115454104 A CN115454104 A CN 115454104A
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- 238000004891 communication Methods 0.000 claims abstract description 65
- 238000012546 transfer Methods 0.000 claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims description 17
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000013079 data visualisation Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 206010048669 Terminal state Diseases 0.000 description 4
- 238000007499 fusion processing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
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- 238000012986 modification Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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 discloses a control system and a control method for an unmanned ship, wherein the system comprises a navigation control terminal, a local navigation controller, a remote control terminal and a temporary transfer control terminal, wherein: the navigation control terminal and the local navigation controller are arranged on the unmanned ship, the navigation control terminal is in communication connection with the local navigation controller, and the remote control terminal is in communication connection with the local navigation controller through a satellite communication link and is used for receiving ship end state data and performing comprehensive situation display and control on the unmanned ship cluster; the temporary transfer control terminal is in communication connection with the local navigation controller through a short wave radio station, and the temporary transfer control terminal is in communication connection with the remote control terminal through a satellite; the invention solves the problems of large sensor types and quantity, complex data processing, large data communication flow, poor communication quality of offshore working environment and inaccurate feedback of position and motion state information of large unmanned ships.
Description
Technical Field
The invention relates to a control system and a control method for an unmanned ship, and belongs to the technical field of unmanned ships.
Background
The unmanned ship is a full-automatic water surface robot which can sail on the water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, the existing large unmanned ship cluster cannot well control sailing, formation guiding and state monitoring, the large unmanned ship has the defects of numerous types of sensors, complex data processing, large data communication flow, poor communication quality of marine working environment and inaccurate information feedback of position and motion states, a single sensor is adopted by a common unmanned ship to realize low observation precision, the observation process is single for the relative position or motion of an observed target, the adopted centralized calculation mode is difficult for rare resource sharing, the calculation is centralized in a data center, the data processing pressure of the center is high, other node hardware resources are not fully utilized, the cost is increased, and a large single-point fault risk exists.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a control system and a control method for an unmanned ship, and solves the problems of numerous types of large unmanned ship sensors, complex data processing, large data communication flow, poor communication quality of offshore working environment and inaccurate feedback of position and motion state information.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an unmanned ship control system comprising:
navigation control terminal, local navigation controller, remote control terminal and interim transfer control terminal, wherein:
the navigation control terminal and the local navigation controller are arranged on the unmanned ship, the navigation control terminal is in communication connection with the local navigation controller, the navigation control terminal is used for acquiring monitoring data, and the local navigation controller is used for decoding the monitoring data to acquire ship end state data;
the remote control terminal is in communication connection with the local navigation controller through a satellite communication link and is used for receiving ship end state data and displaying and controlling the comprehensive situation of the unmanned ship cluster;
the temporary transfer control terminal is in communication connection with the local navigation controller through a short wave radio station, and the temporary transfer control terminal is in satellite communication connection with the remote control terminal and used for receiving ship-side state data through short wave communication and forwarding the ship-side state data to the remote control terminal when satellite communication is abnormal.
Furthermore, the navigation control terminal comprises a positioning device, a control device sensor and a state monitoring sensor.
Furthermore, the positioning equipment comprises an AIS receiver, a GPS and a navigation radar, the GPS and the navigation radar are in communication connection with a remote control terminal, the control equipment sensor comprises a rudder angle control sensor, a generator control sensor and an engine control sensor, and the state monitoring sensor comprises a speed sensor, a generator state sensor and an engine state sensor.
In a second aspect, the present invention provides a control method of an unmanned ship control system according to any one of the foregoing, which is applied to a remote control terminal to implement global ship cluster control and situation display, and includes:
receiving ship-side status data, comprising:
when satellite communication is normal, receiving ship end state data sent by a local navigation controller, wherein the local navigation controller is used for collecting data monitored by a navigation control terminal and decoding the data to acquire the ship end state data;
when the satellite communication is abnormal, receiving ship-side state data forwarded by a temporary transfer control terminal, wherein the temporary transfer control terminal receives the ship-side state data through short-wave communication and forwards the ship-side state data to a remote control terminal;
when the unmanned ship data cannot be received, position information discontinuously acquired by a GPS on the unmanned ship and position information of other ships obtained by scanning of a navigation radar are received, and the direction and the position of the unconnected ship are corrected in real time to serve as ship-side state data;
and displaying and controlling the comprehensive situation of the unmanned ship cluster according to the received ship-side state data.
Further, the method for monitoring data by the navigation control terminal comprises the following steps:
and the navigation control terminal classifies the read-back data of the local sensor, performs local data fusion on the classified data stream and then transmits the data stream back.
And further, updating the received ship-side state data to a pre-established terminal state display interface for visualizing the state data and assisting the unmanned ship to operate.
And further, sending the received ship end state data into a pre-constructed remote terminal state library for uniformly updating the navigation state and the azimuth information of the unmanned ship cluster on the map.
Further, the navigation state and the azimuth information of the unmanned ship cluster comprise any one or more of navigation speed, heading, azimuth, longitude, latitude, engine state, generator state and rudder angle steering.
Further, the unmanned ship cluster comprehensive situation display and control comprises ship formation navigation, designated longitude and latitude coordinate navigation and engine control.
Further, the ship-side state data includes self azimuth information, navigation state and equipment running state of the unmanned ship.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention aims at the problems of numerous types and quantity of large unmanned ship sensors, complex data processing and large data communication flow, read-back data of local sensors are sorted and arranged at a navigation control terminal of an unmanned remote control ship, local data fusion is carried out on the arranged data stream and then the data stream is transmitted back, and a remote control terminal of a control center remotely receives the returned data of each individual in a remote control ship cluster and then corrects the state of each ship and uniformly controls the ship. By the method, hierarchical data fusion processing of readback of a large number of sensors of the remote control ship cluster is realized, visual display of real-time comprehensive states of the remote control ship is realized, data processing pressure of a remote control terminal is reduced, data communication flow is effectively controlled, and system robustness is improved.
2. Aiming at the problems of poor communication quality and inaccurate information feedback of positions and motion states in the offshore working environment, the invention transfers communication data by deploying a temporary transfer control terminal at a near point on the sea. When the same unmanned remote control ship receives the azimuth data of the ship, the current positioning data is corrected through other ship positioning sensors (navigation radar, AIS receiver and the like) around the ship. By the measures, the remote control system can effectively position and control the unmanned ship in operation under the condition of poor communication quality and even communication interruption.
Drawings
Fig. 1 is a schematic diagram of a ship-side data fusion processing architecture provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of data reception and data fusion of a remote control terminal according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an unmanned ship control method under normal communication conditions according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an unmanned ship control method in a satellite communication limited state according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an unmanned ship control method in an equipment loss state according to an embodiment of the present invention;
fig. 6 is a flowchart of a control method of the unmanned ship control system according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The present embodiment provides an unmanned ship control system, including:
navigation control terminal, local navigation controller, remote control terminal and interim transfer control terminal, wherein:
the navigation control terminal and the local navigation controller are arranged on the unmanned ship, the navigation control terminal is in communication connection with the local navigation controller, the navigation control terminal is used for acquiring monitoring data, and the local navigation controller is used for decoding the monitoring data to acquire ship end state data; the navigation control terminal comprises positioning equipment, a control equipment sensor and a state monitoring sensor; the positioning equipment comprises an AIS receiver, a GPS and a navigation radar, the GPS and the navigation radar are in communication connection with a remote control terminal, the control equipment sensor comprises a rudder angle control sensor, a generator control sensor and an engine control sensor, and the state monitoring sensor comprises a speed sensor, a generator state sensor and an engine state sensor;
the remote control terminal is in communication connection with the local navigation controller through a satellite communication link and is used for receiving ship-side state data and displaying and controlling the comprehensive situation of the unmanned ship cluster;
the temporary transfer control terminal is in communication connection with the local navigation controller through a short wave radio station, and the temporary transfer control terminal is in satellite communication connection with the remote control terminal and used for receiving ship-side state data through short wave communication and forwarding the ship-side state data to the remote control terminal when satellite communication is abnormal.
Example 2
The present embodiment provides a control method of the unmanned ship control system according to embodiment 1, applied to a remote control terminal, including:
receiving ship-side status data, comprising:
when satellite communication is normal, receiving ship end state data sent by a local navigation controller, wherein the local navigation controller is used for collecting and decoding data monitored by a navigation control terminal to obtain the ship end state data;
when the satellite communication is abnormal, receiving ship-side state data forwarded by the temporary transfer control terminal, wherein the temporary transfer control terminal receives the ship-side state data through short-wave communication and forwards the ship-side state data to the remote control terminal;
when the unmanned ship data cannot be received, position information obtained by GPS on the unmanned ship and position information of other ships obtained by scanning of a navigation radar are received, and the direction and the position of the unconnection ship are corrected in real time to serve as ship-end state data;
and carrying out comprehensive situation display and control on the unmanned ship cluster according to the received ship-side state data.
As shown in fig. 1 to fig. 6, the application process of the unmanned ship control system provided in this embodiment specifically involves the following steps:
1. the local sensor acquires monitoring data. For different types of equipment, the navigation control terminal firstly classifies the data stream types when receiving the read-back data of the local equipment. The system mainly comprises three types of positioning equipment (AIS receiver, GPS, navigation radar and the like), control equipment sensors (rudder angle control sensor, generator control sensor, engine control sensor and the like) and state monitoring sensors (speed sensor, generator state sensor, engine state sensor and the like);
2. the local navigation controller collects and decodes the sensor data. For the readback data of the positioning equipment, repeated items exist in different data packets, in order to ensure accurate system control, only GPS positioning data is used as a control basis, and other items are only used as auxiliary display. For other sensor data, the navigation control terminal firstly receives data packets at different ports according to the same time interval, and one sensor uses one port. Selecting and discarding data packets sent at a frequency higher than the receiving frequency of the navigation controller; keeping the last receiving value for the data packet sent at the frequency lower than the receiving frequency, and sending the data packet until the next packet of data is received and then updating the data;
3. and the local navigation controller sorts and sends the state data of the ship. After the integration is arranged according to the category by the method of the second step, the local navigation controller reports state information to the remote control terminal according to the agreed unified data structure, and the reported content comprises self direction information, navigation state and equipment running state;
4. and the remote control terminal receives ship end state data. And the state data is received between the remote control terminal and the unmanned ship by using a satellite communication link. Meanwhile, communication data are transferred by deploying a temporary transfer control terminal at a near point on the sea. The temporary transfer control terminal has the same function as the remote control terminal, but uses a short-wave radio station as a data transmission means with the unmanned ship, and uses a satellite communication means with the remote control terminal. When the communication is normal, the remote control terminal directly performs data interaction with the unmanned ship; when the satellite communication is abnormal, the temporary transfer control terminal can receive unmanned ship data through short-wave communication and transfer the unmanned ship data to the control center; when the unmanned ship data can not be received completely, the control center obtains position information discontinuously through GPS communication of the unmanned ship, and corrects the direction and the position of the lost connection ship in real time through results obtained by scanning of relevant equipment (navigation radar) of other ships;
5. and the remote control terminal corrects the current target state according to the state data of other ships. The unmanned ship is provided with navigation radar equipment, so that the unmanned ship can scan and find water surface ship obstacles in a certain range, and when the current ship is in the scanning range of other ships, the navigation radar of other ships can find the obstacles and feed the obstacles back to the remote control terminal as one item of data in positioning information. The remote terminal can perform matching through longitude and latitude coordinates and feed back and integrate radar information of other ships into the current ship position information;
6. and the remote control terminal updates the current ship state data. After the remote control terminal processes the received data, updating the received state information to a terminal state display interface for visualizing the state data and assisting the unmanned ship to operate;
7. and adding the current ship state data into a remote terminal state library. The remote control terminal adds the current data into a two-point dynamic state library of the remote control terminal, and the two-point dynamic state library is used for uniformly updating navigation states and direction information of the unmanned ship cluster on a map, wherein the navigation states and the direction information comprise navigation speed, course, azimuth, longitude, latitude, engine state, generator state, rudder angle steering and the like;
8. the remote control terminal controls the unmanned ship cluster comprehensive situation, and can further display and control the comprehensive situation according to the current unmanned ship cluster data, wherein the comprehensive situation comprises ship formation sailing, appointed longitude and latitude coordinate sailing, engine control and the like.
The remote control ship navigation control system aims at the problems of numerous types and quantity of large unmanned ship sensors, complex data processing and large data communication flow, read-back data of local sensors are sorted and arranged at a navigation control terminal of an unmanned remote control ship, local data fusion is carried out on the arranged data stream and then the data stream is transmitted back, and a remote control terminal of a control center remotely receives the returned data of each individual in a remote control ship cluster, corrects the state of each ship and controls the ship in a unified manner. By the method, hierarchical data fusion processing of readback of a large number of sensors of the remote control ship cluster is realized, visual display of real-time comprehensive states of the remote control ship is realized, data processing pressure of a remote control terminal is reduced, data communication flow is effectively controlled, and system robustness is improved.
Aiming at the problems of poor communication quality and inaccurate information feedback of the position and the motion state of the offshore working environment, the method transfers the communication data by deploying the temporary transfer control terminal at the offshore near point. When the same unmanned remote control ship receives the azimuth data of the ship, the current positioning data is corrected through other ship positioning sensors (navigation radar, AIS receiver and the like) around the ship. By the measures, the remote control system can effectively position and control the unmanned ship in operation under the condition of poor communication quality and even communication interruption.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned watercraft control system, comprising: navigation control terminal, local navigation controller, remote control terminal and interim transfer control terminal, wherein:
the navigation control terminal and the local navigation controller are arranged on the unmanned ship, the navigation control terminal is in communication connection with the local navigation controller, the navigation control terminal is used for acquiring monitoring data, and the local navigation controller is used for decoding the monitoring data to acquire ship end state data;
the remote control terminal is in communication connection with the local navigation controller through a satellite communication link and is used for receiving ship end state data and displaying and controlling the comprehensive situation of the unmanned ship cluster;
the temporary transfer control terminal is in communication connection with the local navigation controller through a short wave radio station, and the temporary transfer control terminal is in satellite communication connection with the remote control terminal and used for receiving ship end state data and forwarding the ship end state data to the remote control terminal through short wave communication when satellite communication is abnormal.
2. The unmanned watercraft control system of claim 1, wherein: the navigation control terminal comprises positioning equipment, a control equipment sensor and a state monitoring sensor.
3. The unmanned watercraft control system of claim 2, wherein: the positioning equipment comprises an AIS receiver, a GPS and a navigation radar, the GPS and the navigation radar are in communication connection with a remote control terminal, the control equipment sensor comprises a rudder angle control sensor, a generator control sensor and an engine control sensor, and the state monitoring sensor comprises a speed sensor, a generator state sensor and an engine state sensor.
4. The control method of the unmanned ship control system of claim 3, applied to a remote control terminal to realize global ship cluster control and situation display, comprising:
receiving ship-side status data, comprising:
when satellite communication is normal, receiving ship end state data sent by a local navigation controller, wherein the local navigation controller is used for collecting data monitored by a navigation control terminal and decoding the data to acquire the ship end state data;
when the satellite communication is abnormal, receiving ship-side state data forwarded by the temporary transfer control terminal, wherein the temporary transfer control terminal receives the ship-side state data through short-wave communication and forwards the ship-side state data to the remote control terminal;
when the unmanned ship data cannot be received, position information discontinuously acquired by a GPS on the unmanned ship and position information of other ships obtained by scanning of a navigation radar are received, and the direction and the position of the unconnected ship are corrected in real time to serve as ship-side state data;
and displaying and controlling the comprehensive situation of the unmanned ship cluster according to the received ship-side state data.
5. The method of controlling an unmanned ship control system according to claim 4, wherein the method of the voyage control terminal monitoring data includes:
and the navigation control terminal classifies and arranges the read-back data of the local sensor, and returns the data after local data fusion of the arranged data stream.
6. The control method of the unmanned ship control system of claim 4, wherein the received ship-side status data is updated to a pre-established terminal status display interface for status data visualization to assist unmanned ship operation.
7. The control method of the unmanned ship control system of claim 4, wherein the received ship-side status data is sent to a pre-constructed remote terminal status library for uniformly updating navigation status and orientation information of the unmanned ship cluster on the map.
8. The control method of the unmanned marine vehicle control system according to claim 7, wherein the unmanned marine vehicle cluster voyage state and azimuth information includes any one or more of a speed, a heading, an azimuth, a longitude, a latitude, an engine state, a generator state, and a rudder angle steering.
9. The method as claimed in claim 4, wherein the displaying and controlling of the integrated situation of the unmanned ship cluster comprises formation of sails, designation of longitude and latitude coordinates, and engine control.
10. The control method of the unmanned ship control system of claim 4, wherein the ship-side state data includes unmanned ship self-orientation information, a sailing state, and an equipment operation state.
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| CN202211322678.2A CN115454104A (en) | 2022-10-27 | 2022-10-27 | Unmanned ship control system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117579669A (en) * | 2023-11-29 | 2024-02-20 | 青岛映蓝科技有限公司 | Multi-channel control method and system for remote control unmanned ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117579669A (en) * | 2023-11-29 | 2024-02-20 | 青岛映蓝科技有限公司 | Multi-channel control method and system for remote control unmanned ship |
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