CN205247206U - Automatic barrier device of keeping away of unmanned surface of water ship - Google Patents

Automatic barrier device of keeping away of unmanned surface of water ship Download PDF

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Publication number
CN205247206U
CN205247206U CN201520796354.1U CN201520796354U CN205247206U CN 205247206 U CN205247206 U CN 205247206U CN 201520796354 U CN201520796354 U CN 201520796354U CN 205247206 U CN205247206 U CN 205247206U
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China
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described
unit
water surface
unmanned water
surface ship
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CN201520796354.1U
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Chinese (zh)
Inventor
方励
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北京南风科创应用技术有限公司
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Publication of CN205247206U publication Critical patent/CN205247206U/en

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Abstract

The application discloses automatic barrier device of keeping away of unmanned surface of water ship includes: environment modeling unit is used for acquireing the real time environment data that unit and GPS unit were gathered respectively according to radar cell, image data, establishs the environmental model in the navigation map, and the environmental model includes: current position, speed and self the position appearance of unmanned surface of water ship in the navigation map to and, the position and the size of the barrier in the prebriefed pattern, the route is revised the unit and is used for dodging according to environment model generation the barrier pass round the route, the instruction generation unit for unmanned surface of water ship generates the action of the unmanned surface of water ship of control, so that being along passing round the decision instruction who marchs in the route. Multiple real time environment data are adopted in this application, can be applicable to multiple meteorological environment, and current speed, direction and the position appearance that can be based on unmanned surface of water ship when passing round the barrier do appropriate adjustment, avoid just simple direction adjustment to cause unmanned surface of water ship action adjustment the slip up collision that causes or accident such as turn on one's side.

Description

A kind of unmanned water surface ship automatic fault avoidnig device

Technical field

The utility model relates to waters information survey field, particularly relates to a kind of unmanned water surface ship automatic fault avoidnig device.

Background technology

Unmanned water surface ship (unmannedsurfacevessel, USV), is a kind of operatorless surface ship, is mainly used in carrying out danger in various waters and being unsuitable for the task that people's ship is carried out.

Unmanned water surface ship, in its design, except meeting the requirement of Long-distance Control, also will have in the abilities in the face of the automatic reply of various environment when participating in the cintest, and wherein, the ability of automatic obstacle-avoiding is that unmanned water surface ship ensures inherently safe important guarantee.

In prior art, unmanned water surface ship is all generally by being provided with optical pickocff and infrared sensor, the view data gathering according to optical pickocff and infrared sensor is identified the barrier that will run in original course, then according to the algorithm of the size of barrier and setting, reset the course line of passing round for described barrier, to avoid collision.

Inventor finds through research, at least there is following defect in automatic obstacle-avoiding mode of the prior art, because optical pickocff and infrared sensor can only obtain specific environmental data, so according to these data parameters as parameter reset for described barrier pass round course line time, can be because data are comprehensive not, thereby make to pass round the setting in course line or pass round barrier time the control mode taked reasonable not, easily there is collision or the rollover accident of water surface unmanned boat.

Utility model content

Technical problem to be solved in the utility model is, a kind of unmanned water surface ship automatic fault avoidnig device is provided, and to solve, water surface unmanned boat in prior art easily crashes in the time dodging barrier or the technical problem of rollover accident.

The utility model embodiment provides a kind of unmanned water surface ship automatic fault avoidnig device, comprising:

Navigation map memory cell, radar cell, image data acquisition unit, GPS unit, environmental modeling unit, Inertial Measurement Unit IMU and path modification unit;

The real time environment data of described environmental modeling unit for gathering respectively according to described radar cell, described image data acquisition unit and described GPS unit, in described navigation map, set up environmental model, described environmental model comprises: current location, speed and self pose of described unmanned water surface ship in navigation map, and, the position of the barrier in prebriefed pattern and size;

Described path modification unit is for generating the path of passing round of dodging described barrier according to described environmental model;

Instruction generation unit, controls the behavior of described unmanned water surface ship for generating, so that pass round the decision instruction of advancing in path described in described unmanned water surface ship edge.

Preferably, in the utility model embodiment, the behavior of described unmanned water surface ship comprises:

A kind of or any combination in the pose adjustment of travel direction adjustment, travel speed adjustment and/or the unmanned water surface ship of described unmanned water surface ship.

Preferably, in the utility model embodiment, describedly comprise as data capture unit:

A kind of or any combination in camera, video cameras, optical pickocff and infrared sensor.

Preferably, in the utility model embodiment, also comprise different ship data receiver unit and environmental model amending unit;

The real time environment data that described different ship data receiver unit gathers respectively for the radar cell, image data acquisition unit and the GPS unit that receive other cooperation unmanned water surface ship and be provided with;

Described environmental model amending unit is for environmental model described in the real time environment data correction receiving according to described different ship data receiver unit.

Can find out from above-mentioned technical scheme, in this application, first gather real time environment data by radar cell, image data acquisition unit and GPS unit plurality of devices; Due to obtained by radar cell and/or image data acquisition unit the barrier in prebriefed pattern position and size data, can obtain current location and the speed data of unmanned water surface ship by GPS unit, in addition, by IMU unit, can also obtain current self pose data of unmanned water surface ship; Therefore, just can in navigation map, set up environmental model according to above-mentioned various data by environmental modeling unit; Like this, the path of passing round for dodging barrier just can be set by environmental model in path modification unit, then, controls unmanned water surface ship advance to dodge barrier along passing round path by instruction generation unit generation decision instruction. Owing to having adopted multiple real time environment data in the application, thus go for multiple weather environment, such as can, in the situation that night or other cannot carry out IMAQ, passing round the generation in path by the data of radar cell; In addition, in this application, by setting up environmental model, thereby can in navigation map, determine the position and size of the barrier in prebriefed pattern, and generate the path of passing round of P Passable according to the current location of unmanned water surface ship, speed and self pose, like this, when instruction generates single decision instruction that generates the behavior of control unmanned water surface ship, will do suitable adjustment according to the present speed of unmanned water surface ship, direction and pose, avoiding is that simple direction adjustment causes the action of unmanned water surface ship to adjust the accident such as collision or rollover that error causes.

Brief description of the drawings

In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, the accompanying drawing the following describes is only some embodiment that record in the application, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the structural representation of the automatic fault avoidnig device of unmanned water surface ship described in the application;

Fig. 2 is the another structural representation of the automatic fault avoidnig device of unmanned water surface ship described in the application.

Detailed description of the invention

In order to make those skilled in the art person understand better the utility model scheme, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiment. Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.

In order to solve, water surface unmanned boat in prior art easily crashes in the time dodging barrier or the technical problem of rollover accident, more a kind of unmanned water surface ship automatic fault avoidnig device is provided in the application, as shown in Figure 1, comprising:

Navigation map memory cell 101, radar cell 102, image data acquisition unit 103, GPS unit 104, environmental modeling unit 105, Inertial Measurement Unit IMU106 and path modification unit 107;

The real time environment data of environmental modeling unit 105 for gathering respectively according to radar cell 102, image data acquisition unit 103 and GPS unit 104, in navigation map, set up environmental model, environmental model comprises: current location, speed and self pose of unmanned water surface ship in navigation map, and, the position of the barrier in prebriefed pattern and size;

Path modification unit 107 is for generating the path of passing round of dodging barrier according to environmental model;

Instruction generation unit 108, controls the behavior of unmanned water surface ship for generating, so that unmanned water surface ship is along passing round the decision instruction of advancing in path.

At the application's unmanned water surface ship automatic fault avoidnig device, the radar cell 102 and the GPS unit 104 that have utilized unmanned water surface ship to be provided with, combination is as image data acquisition unit such as camera, video cameras, optical pickocff and infrared sensors again, thereby can many-sided collection real time environment data, in multiple weather environment, can identify the position of the barrier in prebriefed pattern and big or small object to reach; Wherein, coordinate with navigation map by GPS unit 104 and can also obtain the data such as current direction, position and the speed of unmanned water surface ship; Then, unmanned water surface ship is also provided with IMU106 in this application, like this, by measuring unmanned water surface ship angular speed and the acceleration in three dimensions, and calculates the current attitude of unmanned water surface ship with this, that is, and and self pose; The application is by obtaining self pose data of unmanned water surface ship, thereby in the time carrying out unmanned water surface ship behavior control, for different self pose, can generate corresponding decision instruction, to ensure better the balance of unmanned water surface ship in the time that travel direction or speed are adjusted, thereby avoid the action of unmanned water surface ship to adjust the accident such as collision or rollover that error causes. In actual applications, the behavior of unmanned water surface ship specifically can comprise the pose adjustment of travel direction adjustment, travel speed adjustment and/or unmanned water surface ship, coordinate the adjustment of travel direction and travel speed by the pose adjustment of unmanned water surface ship, can under the balance that ensures unmanned water surface ship, complete efficiently dodging of barrier.

Further, in this application, unmanned water surface ship can also comprise different ship data receiver unit 201 and environmental model amending unit 202, refers to Fig. 2;

The real time environment data that different ship data receiver unit 201 gathers respectively for the radar cell, image data acquisition unit and the GPS unit that receive other cooperation unmanned water surface ship and be provided with; Environmental model amending unit 202 is for environmental model described in the real time environment data correction receiving according to different ship data receiver unit.

The data limitation of obtaining due to the unmanned water surface ship by independent is larger, sometimes cannot comprehensively obtain the comprehensive shape size data of barrier, so, in the time of multiple unmanned water surface ship work compound closing on, can obtain the radar cell being provided with in other cooperation unmanned water surface ship by different ship data receiver unit 201, the real time environment data that image data acquisition unit and GPS unit gather respectively, thereby the shape size data of acquired disturbance thing that can multi-angle, and then make environmental model more accurate, and then the setting that also just can make to pass round path more rationally and safety.

In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to. For the device providing for embodiment, because its method providing with embodiment is corresponding, so description is fairly simple, relevant part illustrates referring to method part.

To the above-mentioned explanation of provided embodiment, make professional and technical personnel in the field can realize or use the utility model. To be apparent for those skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from spirit or scope of the present utility model, realize in other embodiments. Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle provided in this article and features of novelty.

Claims (2)

1. a unmanned water surface ship automatic fault avoidnig device, is characterized in that, comprising:
Navigation map memory cell, radar cell, image data acquisition unit, GPS unit, environmental modeling unit, Inertial Measurement Unit IMU and path modification unit;
The real time environment data of described environmental modeling unit for gathering respectively according to described radar cell, described image data acquisition unit and described GPS unit, in described navigation map, set up environmental model, described environmental model comprises: current location, speed and self pose of described unmanned water surface ship in navigation map, and, the position of the barrier in prebriefed pattern and size;
Described path modification unit is for generating the path of passing round of dodging described barrier according to described environmental model;
Instruction generation unit, controls the behavior of described unmanned water surface ship for generating, so that pass round the decision instruction of advancing in path described in described unmanned water surface ship edge;
Wherein, the behavior of described unmanned water surface ship comprises:
A kind of or any combination in the pose adjustment of travel direction adjustment, travel speed adjustment and/or the unmanned water surface ship of described unmanned water surface ship;
Described image data acquisition unit comprises:
A kind of or any combination in camera, video cameras, optical pickocff and infrared sensor.
2. unmanned water surface ship automatic fault avoidnig device according to claim 1, is characterized in that, also comprises different ship data receiver unit and environmental model amending unit;
The real time environment data that described different ship data receiver unit gathers respectively for the radar cell, image data acquisition unit and the GPS unit that receive other cooperation unmanned water surface ship and be provided with;
Described environmental model amending unit is for environmental model described in the real time environment data correction receiving according to described different ship data receiver unit.
CN201520796354.1U 2015-10-14 2015-10-14 Automatic barrier device of keeping away of unmanned surface of water ship CN205247206U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105116904A (en) * 2015-10-14 2015-12-02 北京南风科创应用技术有限公司 Automatic obstacle avoidance device of USV (unmanned surface vessel)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105116904A (en) * 2015-10-14 2015-12-02 北京南风科创应用技术有限公司 Automatic obstacle avoidance device of USV (unmanned surface vessel)

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