CN116101420A - Unmanned sailing ship robot capable of self-adapting to telescopic ship board and control method - Google Patents
Unmanned sailing ship robot capable of self-adapting to telescopic ship board and control method Download PDFInfo
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- CN116101420A CN116101420A CN202310074672.6A CN202310074672A CN116101420A CN 116101420 A CN116101420 A CN 116101420A CN 202310074672 A CN202310074672 A CN 202310074672A CN 116101420 A CN116101420 A CN 116101420A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
- B63B2001/126—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls comprising more than three hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Combustion & Propulsion (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned sailing ship robot of a self-adaptive telescopic ship board and a control method, comprising the following steps: unmanned sailing boat hulls; the driving module is arranged in the middle of the unmanned sailing boat body and is fixedly connected with the unmanned sailing boat body; the stretching modules are arranged on two sides of the unmanned sailing boat body and fixedly connected with the driving modules; the electronic control module is arranged in the unmanned sailing boat body cabin and is electrically connected with the driving module; the electronic control module is used for controlling the driving module to rotate according to the instruction, and driving the stretching module to stretch so as to enable the unmanned sailing boat to be switched into the multi-body unmanned sailing boat in a straight-going scene; or the extension module is driven to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under the steering scene. The unmanned sailing boat can give consideration to the steering sensitivity of the single unmanned sailing boat and the stability of the multi-body unmanned sailing boat.
Description
Technical Field
The invention relates to the technical field of unmanned sailing boats, in particular to an unmanned sailing boat robot with a self-adaptive telescopic boat side and a control method.
Background
Currently, according to the different hull structures, unmanned sailing vessels can be divided into single unmanned sailing vessels, double-body unmanned sailing vessels and triple-body unmanned sailing vessels, wherein the double-body sailing vessels and the triple-body sailing vessels can be described as multi-body unmanned sailing vessels (hereinafter, the sailing vessels are all abbreviated as unmanned sailing vessels). According to different structures, the stability and flexibility of different sailing boat bodies are different. For example, in an equivalent wind farm environment, a monohull vessel is less stable than a multi-hull sailing vessel. Therefore, when the wind power is high, the probability of side turning of the single unmanned sailing boat is higher than that of the multi-unmanned sailing boat. Therefore, structurally, the stability of the multi-body unmanned sailing boat is constantly greater than that of the single unmanned sailing boat; however, in the upwind direction, the ratio of the width to the length of the single ship is small, so that the ship body is more flexible and the steering is rapid. Contrary wind steering failure may occur in very special cases (e.g., wind-unpaired or sudden windless environments), and even under breeze conditions, the monohull vessel can still successfully perform contrary wind steering; the multi-hull unmanned sailing boat is different, and because the multi-hull sailing boat has a large framework and a large ratio of the width to the length, compared with a wind field under the same condition given to a single sailing boat, even a better wind field has the condition of difficult upwind steering.
Therefore, summarizing and comparing the advantages and disadvantages of the single unmanned sailing boat and the multi-body unmanned sailing boat can show that the single sailing boat has the excellent performance of fast sailing under the condition of straight running, but the stability is relatively insufficient, and the multi-body sailing boat sails stably but the flexibility is poor; when the sailing boat turns against the wind, the single boat turns rapidly, the turning radius is small, otherwise, the multi-hull sailing boat may have the conditions of failure turning and large turning radius; in order to enable the sailing boat to be more stable and capable of rapidly and rapidly steering under the condition of large wind, and have the characteristics of small turning radius and the like, the structures of the single unmanned sailing boat and the multi-body unmanned sailing boat need to be adaptively changed.
Accordingly, there is a need in the art for improvement.
Disclosure of Invention
The invention aims to solve the technical problems that aiming at the defects of the prior art, the invention provides a self-adaptive telescopic shipboard unmanned sailing ship robot and a control method thereof, so as to solve the technical problems that the existing single unmanned sailing ship and multi-body unmanned sailing ship cannot achieve both stability and steering sensitivity.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, the present invention provides an unmanned sailing robot for an adaptive retractable watercraft, comprising:
unmanned sailing boat hulls;
the driving module is arranged in the middle of the unmanned sailing boat body and is fixedly connected with the unmanned sailing boat body;
the stretching modules are arranged on two sides of the unmanned sailing boat body and fixedly connected with the driving modules;
the electronic control module is arranged in the unmanned sailing boat body cabin and is electrically connected with the driving module;
the electronic control module is used for controlling the driving module to rotate according to the instruction to drive the stretching module to stretch so as to enable the unmanned sailing boat to be switched into a multi-body unmanned sailing boat in a straight-going scene; or driving the extension module to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under a steering scene.
In one implementation, the unmanned sailing boat hull includes: the deck set up in the surface of single hull, just deck with single hull fixed connection.
In one implementation, the driving module includes: the screw rod module, the sliding component and the sliding connecting block are arranged on the screw rod module; the screw rod module is fixedly connected with the deck; the sliding component is fixedly connected with the deck, and a sliding block in the sliding component is connected with a screw rod sliding block of the screw rod module through the sliding connecting block.
In one implementation, the stretch module includes: the first ship board, the second ship board, the first carbon fiber rod connecting rod and the second carbon fiber rod connecting rod; the first ship board and the second ship board are respectively arranged at two sides of the single ship body; the first ship board is connected with the deck and the sliding connecting block respectively through the first carbon fiber rod connecting rod, and the second ship board is connected with the deck and the sliding connecting block respectively through the second carbon fiber rod connecting rod.
In one implementation, one end of the first carbon fiber rod connecting rod is fixedly hinged with the deck through a fixing collar, the middle part of the first carbon fiber rod connecting rod is fixedly hinged with the first shipboard, and the other end of the first carbon fiber rod connecting rod is fixedly hinged with the sliding connecting block through a fixing collar;
one end of the second carbon fiber rod connecting rod is fixedly hinged with the deck through a fixing collar, the middle part of the second carbon fiber rod connecting rod is fixedly hinged with the second ship board, and the other end of the second carbon fiber rod connecting rod is fixedly hinged with the sliding connecting block through a fixing collar.
In one implementation, the sliding connection block, the first side, the second side, and the deck are all structures made of 3D printed material.
In one implementation, the first carbon fiber rod link and the second carbon fiber rod link are both parallelogram linkages.
In one implementation, the electronic control module includes: the direct current motor driving plate module, the control motor corresponding to the first shipboard and the control motor of the second shipboard.
In a second aspect, the present invention provides a method for controlling an unmanned sailing robot of an adaptive retractable shipboard, which is applied to the unmanned sailing robot of an adaptive retractable shipboard according to the first aspect, and includes:
outputting an S instruction signal or a Z instruction signal according to the sailing state of the unmanned sailing boat;
converting the S instruction signal into a first level signal or converting the Z instruction signal into a second level signal through a direct current motor driving board module;
the driving module is controlled to drive the stretching module to shrink according to the first level signal, so that the unmanned sailing boat is switched into a single unmanned sailing boat under a steering scene;
and controlling the driving module to drive the stretching module to stretch according to the second level signal so as to enable the unmanned sailing boat to be switched into the multi-body unmanned sailing boat in a straight-going scene.
In one implementation, outputting the S command signal or outputting the Z command signal according to the unmanned sailing state includes:
judging whether the unmanned sailing boat is about to be converted from straight running to steering running or not;
outputting the S command signal if the straight running is converted into the steering running;
judging whether the unmanned sailing boat is about to be converted from the steering running to the straight running;
and outputting the Z instruction signal when the steering running is converted into the straight running.
The technical scheme adopted by the invention has the following effects:
according to different control instructions, the electronic control module is used for controlling the driving module to rotate, so that the stretching module is driven to stretch, and the unmanned sailing boat is switched into the multi-body unmanned sailing boat in a straight-going scene; or the extension module is driven to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under the steering scene; the unmanned sailing boat can give consideration to the steering sensitivity of the single unmanned sailing boat and the stability of the multi-body unmanned sailing boat.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of an unmanned sailing robot adapted to a retractable boat deck in one implementation of the present invention.
Fig. 2 is a top view of an unmanned sailing robot with an adaptive retractable boat deck in one implementation of the present invention.
Fig. 3 is a cross-sectional view of an unmanned sailing robot of an adaptive retractable boat deck in one implementation of the present invention.
Fig. 4 is a flow chart of a method of optically controlled beamforming in one implementation of the invention.
FIG. 5 is a flow chart of a control program of the electronic system in one implementation of the invention.
In the figure: 100. unmanned sailing boat hulls; 200. a driving module; 300. an extension module; 400. an electronic control module; 101. a monohull; 102. a deck; 201. a screw rod module; 201a, a screw rod sliding block; 202. a sliding assembly; 203. a sliding connection block; 301. a first boat side; 302. a second boat side; 303. a first carbon fiber rod link; 304. and a second carbon fiber rod connecting rod.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Exemplary apparatus
Under the condition of straight running, the single sailing boat has the excellent performance of quick sailing, but the stability is relatively insufficient, and the multi-body sailing boat has stable sailing and poorer flexibility; when the sailing boat turns against the wind, the single boat turns rapidly, the turning radius is small, otherwise, the multi-hull sailing boat may have the conditions of failure turning and large turning radius; in order to enable the sailing boat to be more stable and capable of rapidly and rapidly steering under the condition of large wind, and have the characteristics of small turning radius and the like, the structures of the single unmanned sailing boat and the multi-body unmanned sailing boat need to be adaptively changed.
Aiming at the technical problems, the embodiment provides the unmanned sailing boat robot with the self-adaptive telescopic boat side, and the electronic control module can be used for controlling the driving module to rotate according to different control instructions so as to drive the stretching module to stretch, so that the unmanned sailing boat is switched into a multi-body unmanned sailing boat in a straight running scene; or the extension module is driven to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under the steering scene; the unmanned sailing boat in the embodiment can consider the steering sensitivity of the single unmanned sailing boat and the stability of the multi-body unmanned sailing boat.
As shown in fig. 1 and 3, an unmanned sailing robot for an adaptive telescopic ship side, comprising:
the unmanned sailing boat comprises an unmanned sailing boat body 100, a driving module 200, an extending module 300 and an electronic control module 400;
the driving module 200 is disposed in the middle of the unmanned sailing boat body 100, and the driving module 200 is fixedly connected with the unmanned sailing boat body 100; the stretching modules 300 are arranged on two sides of the unmanned sailing boat body 100, and the stretching modules 300 are fixedly connected with the driving modules 200; the electronic control module 400 is disposed in the cabin of the unmanned sailing boat body 100, and the electronic control module 400 is electrically connected to the driving module 200.
The electronic control module 400 is configured to control the driving module 200 to rotate according to the instruction, and drive the stretching module 300 to stretch, so that the unmanned sailing boat is switched into a multi-body unmanned sailing boat in a straight-going scene; or the extension module 300 is driven to retract, so that the unmanned sailing boat is switched into a single unmanned sailing boat in a steering scene.
In this embodiment, a novel unmanned sailing boat robot structure is provided, which can be used for offshore operations (e.g., remote cargo transportation) to realize the functions of the offshore robot operations.
Correspondingly, the embodiment provides a mechanical structure of a telescopic shipboard for changing the shape of the hull of the unmanned sailing ship, and the hull can be switched from a single body to a three body and from the three body to the single body. The sailing boat can be freely converted into a single unmanned sailing boat or a three-body unmanned sailing boat for sailing, when the sailing boat is switched into the three-body unmanned sailing boat, the sailing boat can be more stable in a straight line, and when the sailing boat is in the steering state, the side boat bodies on two sides can be folded, so that the original stretched three-body boat is changed into the single unmanned sailing boat, and at the moment, the single sailing boat can be rapidly steered, so that the sailing boat can stably move forward in a strong wind area or a relatively breeze area and the upwind steering is more successful.
Specifically, as shown in fig. 2, in one implementation of the present embodiment, the unmanned sailing boat body 100 includes: the deck 102 is arranged on the surface of the single hull 101, and the deck 102 is fixedly connected with the single hull 101.
As shown in fig. 2, the driving module 200 includes: a screw module 201 (i.e., motor, screw slider 201 a), a slide assembly 202 (i.e., slide rail and slider), and a slide connection block 203; the screw rod module 201 is fixedly connected with the deck 102; the sliding component 202 is fixedly connected with the deck 102, and a sliding block in the sliding component 202 is connected with a screw rod sliding block 201a of the screw rod module 201 through the sliding connecting block 203.
As shown in fig. 2, the stretching module 300 includes: a first boat side 301, a second boat side 302, a first carbon fiber rod link 303, and a second carbon fiber rod link 304; the first ship board 301 and the second ship board 302 are respectively arranged at two sides of the single hull 101; the first boat deck 301 is connected to the deck 102 and the sliding connection block 203 via the first carbon fiber rod link 303, and the second boat deck 302 is connected to the deck 102 and the sliding connection block 203 via the second carbon fiber rod link 304.
In this embodiment, one end of the first carbon fiber rod link 303 is fixedly hinged to the deck 102 through a fixing collar, the middle part of the first carbon fiber rod link 303 is fixedly hinged to the first ship board 301, and the other end of the first carbon fiber rod link 303 is fixedly hinged to the sliding connection block 203 through a fixing collar.
One end of the second carbon fiber rod connecting rod 304 is fixedly hinged to the deck 102 through a fixing collar, the middle part of the second carbon fiber rod connecting rod 304 is fixedly hinged to the second ship board 302, and the other end of the second carbon fiber rod connecting rod 304 is fixedly hinged to the sliding connecting block 203 through a fixing collar.
In this embodiment, the sliding connection block 203, the first ship board 301, the second ship board 302, and the deck 102 are all made of 3D printing materials. The first carbon fiber rod link 303 and the second carbon fiber rod link 304 are both parallelogram link mechanisms. The electronic control module 400 includes: the direct current motor drives the board module, the control motor corresponding to the first shipboard 301 and the control motor of the second shipboard 302.
In one implementation manner of this embodiment, the main structure of the unmanned sailing robot of the adaptive retractable shipboard further includes: and the battery module is provided with relevant control electronic equipment positioned in the inner cabin of the single ship. The homemade parts in this embodiment include: the sliding connection block 203, the first ship board 301, the second ship board 302 and the deck 102 are all made of 3D printer, and in this embodiment, the printing material is nylon. Other conventional 3D printing materials can be applied to the 3D printing process in the present embodiment. The parts are fixed by screws, ball bearings, ball thrust bearings, brass bushings, brass shims and related fixing collars.
In this embodiment, according to the movement stroke of the screw slider 201a in the screw module 201, a stopper may be disposed on a sliding rail of the sliding assembly 202, and according to the deck structure of the hull, the movement stroke of the screw slider 201a is combined with the movement strokes of the first carbon fiber rod link 303 and the second carbon fiber rod link 304, so that the first boat side 301 and the second boat side 302 may be extended or contracted as required under the driving of the screw module 201.
As shown in fig. 2, taking the upper side (i.e. the first side 301) in fig. 2 as an example, the left carbon fiber rod connecting rod is fixedly hinged to the deck, and is fixed by the fixing collar, so that the left carbon fiber rod connecting rod can only rotate, and is limited in other directions, and the other end of the left carbon fiber rod connecting rod is hinged and fixed to the self-made side hull. The right side carbon fiber pole connecting rod one end is articulated with self-control removal slider, carries out spacingly with the nut in upper and lower direction simultaneously, and self-control removal slider links to each other with the guide rail slider, realizes making a round trip to slide on the guide rail, and the right-hand member carbon fiber pole connecting rod other end also articulates with self-control side hull. Thereby achieving the purpose of controlling the stretching and recycling of the side ship body.
The telescopic ship board unmanned sailing boat in the embodiment is composed of a single boat, a self-made deck, two self-made ship boards, a connecting rod mechanism, a motor screw rod driving mechanism and an electronic control module. The self-made deck is attached to the single ship, the motor screw rod mechanism is attached to the deck and the connecting rod mechanism, so that the formation of the trimaran is achieved, and the control of the stretching of the ship sides at two sides is further completed by controlling the motor screw rod.
In this embodiment, an electronic control system for controlling contraction and expansion of two sides of a retractable unmanned sailing boat is provided, where the control system device for the retractable unmanned sailing boat includes the following parts:
(1) The upper computer sends out a control instruction through a code program;
(2) The processor is used for receiving the data sent by the data acquisition and acquisition system and processing the data to obtain a control instruction of the telescopic unmanned sailing boat;
(3) And the control module is used for receiving the control instruction sent by the processor and controlling the contraction and the extension of the ship sides at the two sides of the telescopic ship side unmanned sailing ship.
The telescopic unmanned sailing boat on the boat side can flexibly and independently control the extension and retraction of the boat sides on the two sides, and the self-adaptive adjustment of the sailing boat is realized according to different environmental conditions, so that the telescopic unmanned sailing boat on the boat side is converted into a single sailing boat and a three-body sailing boat; the self-adaptive rapid telescopic deformation control strategy in the embodiment can realize different elongations of different side hulls through a control program, and autonomous navigation autonomous telescopic can be realized under the condition of more control algorithms. According to the existing control program, the elongation can be adaptively adjusted to cope with different wind power environments, so that the sailing boat is more stable and rapid.
The telescopic shipboard unmanned sailing boat provided in the embodiment can realize free switching modes under different wind power conditions, including different conditions such as downwind and upwind, so that safer and more stable conditions are created for the practical application of the unmanned sailing boat.
The potential technical/product application fields and application modes in the embodiment include:
1. the embodiment can be used for remotely transporting cargoes under the water conditions of different wind power intensity stability of the unmanned sailing boat, provides convenience for stabilizing the three-body sailing boat but slowly turning or having large turning radius, and also enables the single unmanned sailing boat to switch the form under certain critical water conditions and strong wind environment to keep safety and stability.
2. The embodiment can be used for adaptively adjusting the shipboard on two sides in certain wind field environments with large variation degree and water conditions with large variation degree so as to improve the stability of the shipboard on two sides for long-time patrol exploration, and can also be applied to cleaning of garbage on the water surface.
The following technical effects are achieved through the technical scheme:
the embodiment innovatively improves the free running of different wind power driving environments and different water conditions in the field of unmanned sailing vessels, solves the problem that a traditional single unmanned sailing vessel may topple over under a larger wind field, improves the steering success rate of a three-body unmanned sailing vessel, and can adaptively adjust the side hulls according to different environments so as to achieve self stability.
Exemplary method
As shown in fig. 4, an embodiment of the present invention provides a control method of an unmanned sailing robot of a self-adaptive telescopic ship board, which is applied to the unmanned sailing robot of the self-adaptive telescopic ship board described in the above embodiment, and includes the following steps:
step S100, outputting an S instruction signal or a Z instruction signal according to the sailing state of the unmanned sailing boat;
step S200, converting the S instruction signal into a first level signal or converting the Z instruction signal into a second level signal through a direct current motor driving board module;
step S300, controlling a driving module to drive an extending module to shrink according to the first level signal so as to enable the unmanned sailing boat to be switched into a single unmanned sailing boat in a steering scene;
and step S400, controlling the driving module to drive the stretching module to stretch according to the second level signal so as to enable the unmanned sailing boat to be switched into the multi-body unmanned sailing boat in a straight-going scene.
In this embodiment, the hull can be switched from mono-hull to tri-hull and from tri-hull to mono-hull. The sailing boat can be freely converted into a single unmanned sailing boat or a three-body unmanned sailing boat for sailing, when the sailing boat is switched into the three-body unmanned sailing boat, the sailing boat can be more stable in a straight line, and when the sailing boat is in the steering state, the side boat bodies on two sides can be folded, so that the original stretched three-body boat is changed into the single unmanned sailing boat, and at the moment, the single sailing boat can be rapidly steered, so that the sailing boat can stably move forward in a strong wind area or a relatively breeze area and the upwind steering is more successful.
Specifically, in one implementation of the present embodiment, step S100 includes:
step S101, judging whether the unmanned sailing boat is about to be converted from straight running to steering running;
step S102, outputting the S instruction signal if the straight running is converted into the steering running;
step S103, judging whether the unmanned sailing boat is about to be converted from the steering running to the straight running;
step S104, when the steering travel is changed to the straight travel, the Z command signal is output.
As shown in fig. 5, fig. 5 is a schematic flow chart of a control program of the electronic system of the unmanned sailing boat on the telescopic boat side in the present embodiment, where the control object of the control program is to control the adaptive extension of the boat sides on the two sides provided in the present embodiment, and the control program is executed in the processor. The specific flow of the control program is as follows:
step S1: the control program is divided into two different control programs developed under the following conditions:
1. when sailing, the sailing ship receives a signal from straight running and is about to turn: outputting an S instruction signal;
2. when sailing is finished by steering, the receiving signal steps into the straight line navigation: and outputting a Z instruction signal.
Step S2: control instructions Z (unfolding), S (retracting) and T (stopping) are received.
Step S3: the physical development board (FireBeetle Board ESP and 8266) inputs a program code conversion signal in advance through an instruction, and outputs the signal to the 2-path direct current motor driving board module through a serial port.
Step S4: and the 2-path direct current motor driving board module adjusts the high and low levels of the PWM adjusting output serial ports 1 and 2 in real time according to the pulse signals transmitted by the development board.
Step S5: the motor realizes forward rotation, reverse rotation and stalling according to the high and low levels output by the 2-path direct current motor driving plate module.
The telescopic unmanned sailing boat on the boat side can flexibly and independently control the extension and retraction of the boat sides on the two sides, and the self-adaptive adjustment of the sailing boat is realized according to different environmental conditions, so that the telescopic unmanned sailing boat on the boat side is converted into a single sailing boat and a three-body sailing boat; the self-adaptive rapid telescopic deformation control strategy in the embodiment can realize different elongations of different side hulls through a control program, and autonomous navigation autonomous telescopic can be realized under the condition of more control algorithms. According to the existing control program, the elongation can be adaptively adjusted to cope with different wind power environments, so that the sailing boat is more stable and rapid.
The telescopic shipboard unmanned sailing boat provided in the embodiment can realize free switching modes under different wind power conditions, including different conditions such as downwind and upwind, so that safer and more stable conditions are created for the practical application of the unmanned sailing boat.
The potential technical/product application fields and application modes in the embodiment include:
1. the embodiment can be used for remotely transporting cargoes under the water conditions of different wind power intensity stability of the unmanned sailing boat, provides convenience for stabilizing the three-body sailing boat but slowly turning or having large turning radius, and also enables the single unmanned sailing boat to switch the form under certain critical water conditions and strong wind environment to keep safety and stability.
2. The embodiment can be used for adaptively adjusting the shipboard on two sides in certain wind field environments with large variation degree and water conditions with large variation degree so as to improve the stability of the shipboard on two sides for long-time patrol exploration, and can also be applied to cleaning of garbage on the water surface.
The following technical effects are achieved through the technical scheme:
the embodiment innovatively improves the free running of different wind power driving environments and different water conditions in the field of unmanned sailing vessels, solves the problem that a traditional single unmanned sailing vessel may topple over under a larger wind field, improves the steering success rate of a three-body unmanned sailing vessel, and can adaptively adjust the side hulls according to different environments so as to achieve self stability.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program comprising instructions for the relevant hardware, the computer program being stored on a non-volatile storage medium, the computer program when executed comprising the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory.
In summary, the invention provides an unmanned sailing robot of a self-adaptive telescopic shipboard and a control method thereof, comprising the following steps: unmanned sailing boat hulls; the driving module is arranged in the middle of the unmanned sailing boat body and is fixedly connected with the unmanned sailing boat body; the stretching modules are arranged on two sides of the unmanned sailing boat body and fixedly connected with the driving modules; the electronic control module is arranged in the unmanned sailing boat body cabin and is electrically connected with the driving module; the electronic control module is used for controlling the driving module to rotate according to the instruction, and driving the stretching module to stretch so as to enable the unmanned sailing boat to be switched into the multi-body unmanned sailing boat in a straight-going scene; or the extension module is driven to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under the steering scene. The unmanned sailing boat can give consideration to the steering sensitivity of the single unmanned sailing boat and the stability of the multi-body unmanned sailing boat.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. An unmanned sailing robot of self-adaptation scalable shipboard, characterized by comprising:
unmanned sailing boat hulls;
the driving module is arranged in the middle of the unmanned sailing boat body and is fixedly connected with the unmanned sailing boat body;
the stretching modules are arranged on two sides of the unmanned sailing boat body and fixedly connected with the driving modules;
the electronic control module is arranged in the unmanned sailing boat body cabin and is electrically connected with the driving module;
the electronic control module is used for controlling the driving module to rotate according to the instruction to drive the stretching module to stretch so as to enable the unmanned sailing boat to be switched into a multi-body unmanned sailing boat in a straight-going scene; or driving the extension module to contract so that the unmanned sailing boat is switched into a single unmanned sailing boat under a steering scene.
2. The unmanned sailing robot of the adaptive telescopic watercraft as recited in claim 1, wherein the unmanned sailing hull includes: the deck set up in the surface of single hull, just deck with single hull fixed connection.
3. The unmanned sailing robot of the adaptive telescopic watercraft of claim 2, wherein the drive module includes: the screw rod module, the sliding component and the sliding connecting block are arranged on the screw rod module; the screw rod module is fixedly connected with the deck; the sliding component is fixedly connected with the deck, and a sliding block in the sliding component is connected with a screw rod sliding block of the screw rod module through the sliding connecting block.
4. An unmanned sailing robot as claimed in claim 3, wherein the stretching module comprises: the first ship board, the second ship board, the first carbon fiber rod connecting rod and the second carbon fiber rod connecting rod; the first ship board and the second ship board are respectively arranged at two sides of the single ship body; the first ship board is connected with the deck and the sliding connecting block respectively through the first carbon fiber rod connecting rod, and the second ship board is connected with the deck and the sliding connecting block respectively through the second carbon fiber rod connecting rod.
5. The unmanned sailing robot of the adaptive telescopic shipboard as recited in claim 4, wherein one end of the first carbon fiber rod link is fixedly hinged to the deck through a fixed collar, the middle of the first carbon fiber rod link is fixedly hinged to the first shipboard, and the other end of the first carbon fiber rod link is fixedly hinged to the sliding connection block through a fixed collar;
one end of the second carbon fiber rod connecting rod is fixedly hinged with the deck through a fixing collar, the middle part of the second carbon fiber rod connecting rod is fixedly hinged with the second ship board, and the other end of the second carbon fiber rod connecting rod is fixedly hinged with the sliding connecting block through a fixing collar.
6. The unmanned sailing robot of the adaptive telescoping watercraft as recited in claim 4, wherein the sliding connection block, the first watercraft, the second watercraft, and the deck are all constructed of 3D printed material.
7. The unmanned sailing robot of the adaptive telescoping watercraft as recited in claim 4, wherein the first and second carbon fiber rod links are parallelogram linkages.
8. The unmanned sailing robot of the adaptive telescoping watercraft as recited in claim 4, wherein the electronic control module includes: the direct current motor driving plate module, the control motor corresponding to the first shipboard and the control motor of the second shipboard.
9. A control method of an unmanned sailing robot of an adaptive retractable shipboard, applied to the unmanned sailing robot of an adaptive retractable shipboard as claimed in any one of claims 1 to 8, comprising:
outputting an S instruction signal or a Z instruction signal according to the sailing state of the unmanned sailing boat;
converting the S instruction signal into a first level signal or converting the Z instruction signal into a second level signal through a direct current motor driving board module;
the driving module is controlled to drive the stretching module to shrink according to the first level signal, so that the unmanned sailing boat is switched into a single unmanned sailing boat under a steering scene;
and controlling the driving module to drive the stretching module to stretch according to the second level signal so as to enable the unmanned sailing boat to be switched into the multi-body unmanned sailing boat in a straight-going scene.
10. The method for controlling an unmanned sailing robot on a side of an adaptive telescopic vessel according to claim 9, wherein outputting the S command signal or outputting the Z command signal according to the sailing state of the unmanned sailing vessel comprises:
judging whether the unmanned sailing boat is about to be converted from straight running to steering running or not;
outputting the S command signal if the straight running is converted into the steering running;
judging whether the unmanned sailing boat is about to be converted from the steering running to the straight running;
and outputting the Z instruction signal when the steering running is converted into the straight running.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310074672.6A CN116101420A (en) | 2023-01-12 | 2023-01-12 | Unmanned sailing ship robot capable of self-adapting to telescopic ship board and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310074672.6A CN116101420A (en) | 2023-01-12 | 2023-01-12 | Unmanned sailing ship robot capable of self-adapting to telescopic ship board and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117048785A (en) * | 2023-08-31 | 2023-11-14 | 广东海洋大学 | Monomer double-body switching unmanned ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117048785A (en) * | 2023-08-31 | 2023-11-14 | 广东海洋大学 | Monomer double-body switching unmanned ship |
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