CN205931190U - Unmanned navigation ware on water - Google Patents
Unmanned navigation ware on water Download PDFInfo
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- CN205931190U CN205931190U CN201620566862.5U CN201620566862U CN205931190U CN 205931190 U CN205931190 U CN 205931190U CN 201620566862 U CN201620566862 U CN 201620566862U CN 205931190 U CN205931190 U CN 205931190U
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Abstract
The utility model provides an unmanned navigation ware on water, it includes the control unit, it is established in the control cabinet of navigation ware for come to set for and the operation of assignment task according to teleinstruction, and according to teleinstruction or send navigation control signal from the driving system of tendency navigation ware and carry on safe unmannedly, wherein, the control unit further includes: communication module, its configuration is communicated with the center of controlling for being used for to receive teleinstruction or to the center of controlling is returned the current navigation state and the navigation condition of navigation ware, navigation control module, its configuration is the basis teleinstruction formulates the route plan to this plan down real -time produce navigate by water control signal so that the navigation ware reachs the destination, the posture adjustment module, its configuration is by according to being detected the static gesture of current attitude information when adjusting perform tasks of navigation ware.
Description
Technical field
This utility model is related to navigational field, in particulars relate to a kind of unmanned sailing device on water.
Background technology
Compared to other modes of transportation, water sailing is affected be more susceptible to environment, wind direction, current, wave.Therefore,
In navigational field, for the ship of small volume, they usually cannot smoothly complete navigational duty, or even it sometimes appear that
Discussion on personnel casualty problem.Additionally, when ship runs into obstacle, current technology can't accomplish intelligent barrier avoiding completely.In this feelings
Under condition, ship is easily affected by obstacle, or turns on one's side or smashed.On the other hand, to control the navigation of ship using people,
Generally have error in judgement or the not sensitive situation of reaction occurs, so also can affect the execution of such as navigational duty.
At present although unmanned technology by Successful utilization in aircraft and automobile, and nobody drives due to some reasons
Application on ship for the technology of sailing is not extensive, or even there is not yet business application.
Utility model content
For the problems referred to above of the prior art, this utility model provides one kind based on satellite and inertial navigation device
Carry out the Intelligent unattended ship design of the full-automatic autonomous driving of the water surface and positioning.Task system cabin is reserved on unmanned boat, can take
Carry the distinct device needed for execution particular task.Specifically, included according to unmanned sailing device on water of the present utility model：
Control unit, it is located in the control cabinet of aircraft, in order to set simultaneously assigned tasks operation according to teleinstruction,
And according to described teleinstruction or from the dynamical system of trend aircraft send navigation control signal carry out safe unmanned,
Wherein said navigation control signal includes speed index, cardinal direction marker, range index；Wherein, described control unit is further
Including：
Communication module, it is configured for be communicated with manipulation center, with receive teleinstruction or to described manipulation in
The heart returns current flight state and the navigation condition of described aircraft；
Navigation control module, it is configured to according to the plan of mapping out a route of described teleinstruction, and produces in real time under this plan
Raw navigation control signal is so that described aircraft arrives at；
Pose adjustment module, it is configured to adjust aircraft according to the current pose information of the described aircraft being detected
Stationary posture when the navigation attitude in running or execution task.
In one embodiment, it is preferred that, according to the pose adjustment of unmanned sailing device on water of the present utility model
Module includes attitude controller, attitude transducer, hydraulic system, T-shaped hydrofoil and at least two sets wave suppression plates, described attitude transducer
In order to detect the attitude information of described aircraft, described attitude information includes pitch frequency and amplitude, roll frequency and amplitude, bows
Face upward, course angle and acceleration, the attitude controller of described pose adjustment module in order to when described aircraft arrives at,
According to task category to be executed and current pose information to the stationary posture of aircraft by described hydraulic system, T-shaped hydrofoil
At least two sets wave suppression plates are derived from dynamic being adjusted.
In one embodiment, it is preferred that, also included some according to unmanned sailing device on water of the present utility model
Task device, it is located in described mission module, with execute described control unit assignment task operating, and task device control
Molding block, it is used for the current task operating of control task equipment execution after pose adjustment terminates.
In one embodiment, it is preferred that, the navigation according to unmanned sailing device on water of the present utility model controls
Module includes：
Positioning submodule, it is used for obtaining the positional information of itself using double global position systems；
D navigation submodule, the destination information that it is used for according to comprising in the described positional information obtaining and teleinstruction enters
Mobile state route planning, still to drive towards destination after short-term deviates and travels in the original plan；
Security module, whether it is used for the navigation attitude of real-time detection aircraft normal, if described aircraft be in non-
Under normal/cruise attitude, it is adjusted reversing the housing orientation of described aircraft in time.
In one embodiment, it is preferred that, according to the communication module of unmanned sailing device on water of the present utility model
Carry out communicating by downlink with ground base station and receive the remote control commands of described earth station transmission and pass through uplink
Road communicates to described earth station uploaded videos or image acquisition information, and wherein said downlink is believed for 170MHz short wave communication
Road, described up-link is 700M private communication channel.
In one embodiment, it is preferred that, according to the communication module of unmanned sailing device on water of the present utility model
Also include ZigBee submodule, to carry out the autonomous networking of multiple spot, collaborative to complete assigned task.
In one embodiment, it is preferred that, according to the task device of unmanned sailing device on water of the present utility model
Including image capture device, sea rescue equipment, under water instrument of surveying and mapping.
In one embodiment, it is preferred that, according to the image acquisition of unmanned sailing device on water of the present utility model
Equipment is water-proof CCD camera, and it is located at the housing outer surface of described aircraft.
In one embodiment, it is preferred that, according to the control unit of unmanned sailing device on water of the present utility model
In be provided with autonomous navigation control algolithm program, after system initialization terminates, control unit judges whether to need to enter autonomous
Operational configuration, if it is, running described autonomous navigation control algolithm program, if it is not, then parse described teleinstruction to enter
Row Non-follow control navigates by water.
This utility model has the advantage that：
(1) unmanned ship can reduce cost of labor, energy-saving, minimizing accident；
(2) substitute and be accomplished manually the task that the mankind are inconvenient to complete, for example, unknown waters can be detected, understand money
Source distribution etc.；
(3) because the attitude of unmanned boat is detected at any time, and can be with adjust automatically, unmanned boat therefore of the present utility model
Row is safer, stormy waves than in the case of larger it is also ensured that safe navigation.And, when hull is static, in order to complete to clap
The task such as taking the photograph, shooting angle selection being carried out by adjusting Attitude, thus ensureing shooting picture quality.
Further feature of the present utility model or advantage will illustrate in the following description.And, portion of the present utility model
Dtex is levied or advantage will be become apparent by description, or is appreciated that by implementing this utility model.This practicality
New purpose and certain advantages can be realized by specifically noted step in description, claims and accompanying drawing
Or obtain.
Brief description
Accompanying drawing is used for providing further understanding to of the present utility model, and constitutes a part for description, with this practicality
New embodiment is provided commonly for explaining this utility model, does not constitute to restriction of the present utility model.In the accompanying drawings：
Fig. 1 shows that the external structure of the unmanned sailing device on water according to an embodiment of the present utility model is illustrated
Figure；
The functional structure that Fig. 2 is showing the unmanned sailing device on water according to an embodiment of the present utility model is shown
It is intended to；
Fig. 3 is the flow chart carrying out mission planning according to an embodiment of the present utility model；
Fig. 4 shows the structural frames of the control unit in order to safe navigation according to an embodiment of the present utility model
Figure；
Fig. 5 is to carry out hard-wired schematic block circuit diagram according to this utility model to navigation control unit；
Fig. 6 is the overview flow chart according to the control program in navigation control unit of the present utility model；
Fig. 7 is the structure chart according to safe navigation module of the present utility model；And
Fig. 8 is according to the method flow diagram carrying out multiple spot networking of the present utility model.
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing to this utility model
Embodiment is described in further detail.
Emphasis in the research that some have been carried out it is recognised that in unmanned marine technology and difficult point are intelligent skills
Art and control technology.For unmanned ship, it is intelligently most basic feature.This type ship allows for independently carrying out
Environment detection, target recognition, automatic obstacle avoiding, autonomous path planning etc..And control technology is also one of core technology, to instruction
The reaction whether key being to determine unmanned ship success navigation such as sensitive.
The utility model proposes a kind of can business application unmanned sailing device on water, its alternative ordinary ships and
Crewman executes some tasks, for example：Water life-saving, undersea detection, security protection patrol, environment monitoring etc..
As shown in figure 1, which show the unmanned sailing device on water according to one embodiment design of this utility model
Appearance assumption diagram.In the figure it can be seen that sailing device on water has the housing of similar shipform.Held for housing
The function device received is being classified as three parts：Mission module part 101, control cabinet part 102 and piggyback pod part 104.
As illustrated, mission module and control cabinet are distributed in the top half of described housing, wherein, mission module is close to housing
Lower half tail position, controls position in storehouse in the lower half medium position of housing.
Mission module part 101 be located at aircraft by portion, in order to dispose various task devices.New according to this practicality
In the unmanned sailing device on water of one embodiment of type, described task device include image capture device, sea rescue equipment,
Instrument of surveying and mapping under water.In the unmanned sailing device on water according to one embodiment of this utility model, image capture device is
Water-proof CCD camera, it is located at the housing outer surface of aircraft.Unmanned waterborne according to one embodiment of this utility model
In aircraft, the instrument of surveying and mapping under water of described aircraft is deep into mesh by the relieving mechanism of setting on described vehicle hull
Below mark waters, wherein：Described relieving mechanism one end is fixedly connected the housing of described aircraft, and the other end is fixedly connected described survey
Paint instrument.
Sea rescue equipment includes positioner, hawser and lifesaving and helps ring, wherein：Lifesaving helps ring to be fixedly mounted on hull
Deck outer；Location equipment device real-time detection life signal is to search and to position target to be searched and rescued.
Control cabinet part 102 is located at the middle part of aircraft, and in order to dispose, control aircraft carries out task operating and the external world leads to
Letter, the control system of safe navigation.Because control system is made up of electronic device, and control for unmanned technology
Part in cabin is the core of whole aircraft, therefore, needs to carry out special waterproofing design in control cabinet part.According to this
In the example of utility model, control cabinet top additionally arranges outer housing, and outer housing and control cabinet periphery are carried out close using O-ring seal etc.
Envelope.Certainly, the technology being sealed for control cabinet can be using any one disclosed in prior art, and this is not to this reality
Carry out any restriction with new.For the details of the equipment in control cabinet, will be described in detail after a while herein.
It is additionally provided with piggyback pod on housing according to unmanned sailing device on water of the present utility model.As shown in figure 1, it is dynamic
Power cabin 104 is distributed in the position close to aircraft bottom for the latter half of vehicle hull.Piggyback pod part 104 is mainly used
In the generator structure installing aircraft.According in an embodiment of the present utility model, power cabin system is from water spray
Propulsion system, provides the navigating power of unmanned boat.For comparing traditional propeller type dynamical system design, hydraulic jet propulsion designs
It is a kind of special Ship propulsion method.From unlike propeller, it is not directly to produce thrust using propeller, but sharp
Ship is promoted to advance with the counteracting force that propulsion pump sprays current.The theory of this traditional propulsion mode and application with propeller
Development is compared, hydraulic jet propulsion has that propulsive efficiency is high, cavitation resistance is strong, the resistance of appendage is little, maneuverability good, drive shaft system is simple,
Protective value is good, running noises are low, be beneficial to environmental protection, and adds the features such as water inlet safty shield, its safety and motility
To beyond tradition propeller type dynamical system significantly.
For ease of fast running waterborne and realize automatic turning work(during shipwreck in severe hydrological environment for the unmanned boat
Can, the physical structure of the unmanned boat system designed by this utility model meets following relation：
Aircraft overall length is a rice, and beam overall is a*k1Rice, always a height of a*k2Rice.Wherein a=3, k1=0.3, k2=0.2.Its
In, a length of a of mission module2Rice, beam overall is a2*k3Rice, always a height of a2*k4Rice.Wherein a2=1.3, k1=0.6, k2=0.22.
Lifesaving is additionally provided with the aircraft in Fig. 1 and helps ring 103, it is typically designed to circle, radius is 0.2 meter.
The fundamental performance parameter design of the unmanned sailing device on water according to embodiment of the present utility model is as follows：
Net weight：About 90 kilograms
Bearing capacity：About 100 kilograms
Fuel tank size：6 liters
Maximum oil consumption：6 liters/about 3 hours
Maximum speed：40-50 kilometer/hour
Stream time：8 hours
Explanation：Above-mentioned design parameter index all designs for situation with no wind, no waves.
For completing autonomous driving and the preplanned mission function of unmanned boat system, overall plan is with the core concept of three-level system
To design.Wherein, this unmanned boat system is divided into three below one-level subsystem：One is power cabin system, is unmanned boat boat
Row provides power；It two is to control cabin system, mainly realizes the safe driving of unmanned boat, task operating and communicates work(over the ground
Can, therefore control cabinet is divided into safe driving, the operation of task storehouse and the three two grades of subsystems that communicate again；Its three be task cabin system,
The different task character of Main Basiss, loads different task devices, instrument etc..Wherein two grades of subsystems of safe driving are divided into again
Alignment system, navigation system, three three-level subsystems of security system, communication system is divided into earth station system and data linkwork again
System.
Specifically as shown in Fig. 2 which show the function of the unmanned aircraft according to the design of above-mentioned core concept
Structured flowchart.In fig. 2, piggyback pod 104 includes generator structure and actuator.In this utility model, this two machines
Structure uses hydraulic jet propulsion dynamical system, thus providing navigating power for unmanned boat.Usually, generator structure is arranged on
In piggyback pod, actuator is arranged on described hull outside, for driving described aircraft to move according to predetermined direction.
Control unit is located in control cabinet 102, in order to set simultaneously assigned tasks operation according to teleinstruction, and according to institute
State teleinstruction or carry out safe unmanned, wherein said navigation from dynamical system transmission navigation control signal described in trend
Control signal includes speed index, cardinal direction marker, range index.Therefore, as illustrated, control unit specifically needs further exist for
Complete communication control function, navigation control function and task control function.Navigation control function needs be related to drive safely
Sail (prevent rollover and energy is auto-reverse), route planning, positioning and navigation feature.In positioning function, in order to ensure position letter
Number promptly and accurately acquisition, double mode location technology is positioned using GPS location and the Big Dipper and is realized.Therefore, according to this practicality
No matter new unmanned boat all can return to its specific position of manipulation center under what conditions exactly, consequently facilitating controlling
Personnel formulate accurate control strategy.
In fig. 2, show that the control unit traffic carried control function in control cabinet needs by two communication chain
Road is communicated with manipulation center, i.e. the first communication link (descending, that is, from manipulation center to aircraft) and the second communication link
(up, that is, from aircraft to manipulation center).This is because, typically, in the data sent by manipulation center, instruction accounts for
According to main Types, its requirement is able to quickly and accurately be received.Therefore, shortwave frequency range can be considered as during design
Channel is as preferred communication link.And returning in the data at manipulation center by aircraft, mapping information, video data account for master
Will, therefore data volume is very big, in order to not cause the impact of the reception to control instruction, using the channel of extra frequency range.This channel
Frequency can be lower than the frequency range of the first communication link.
In an embodiment of the present utility model, communication module is entered by downlink with ground base station (manipulation center)
Row communication with receive ground base station transmission remote control commands and by uplink communication to state earth station's uploaded videos or
Image acquisition information, wherein downlink are 170MHz short wave communication channel, and up-link is 700M special sea private communication
Channel.
According to mission requirements in task cabin system, carry required instrument and equipment.As shown in Fig. 2 wherein exemplarily showing
Show and comprised lifesaving appliance, life detection equipment, data acquisition equipment, image capture device and cooperation image capture device
Pose adjustment equipment.As maritime surveillance, then carry the photographic head of high definition waterproof.Sea rescue, then carry funicular system, from mesh
Mark nearer dishing out.
Fig. 3 shows the tasks carrying flow chart of the unmanned boat according to this utility model design.It should be strongly noted that
Method of the present utility model describes to be realized in computer systems.This computer system for example can be arranged on robot
Control core processor in.For example, method described herein can be implemented as the software that can execute with control logic, its by
CPU in robot control system is executing.Function as herein described can be implemented as being stored in non-transitory tangible computer
Programmed instruction set in computer-readable recording medium.When implemented in this fashion, this computer program includes one group of instruction, when this group refers to
When order is run by computer, it promotes the method that computer execution can implement above-mentioned functions.FPGA can be temporarily or permanently
Be arranged in non-transitory tangible computer computer-readable recording medium, for example ROM chip, computer storage, disk or its
His storage medium.In addition to software to realize, logic as herein described using discrete parts, integrated circuit and can be able to be compiled
The FPGA that journey logical device (such as, field programmable gate array (FPGA) or microprocessor) is used in combination, or bag
Include any other equipment of their combination in any to embody.All such embodiments be intended to fall under scope of the present utility model it
Interior.
In figure 3, first according to current self poisoning point information and target range and obstacle information, it is first
No need to carry out avoidance judgement, if it is desired, then proceed to intelligent barrier avoiding module, return task entrance after the completion of avoidance, again enter
Row avoidance judges, till not needing avoidance；
If not needing avoidance, being made whether that shipwreck judges, if shipwreck, proceeding to automatic turning hull body block, hold
Row reenters task entrance after finishing, and carries out avoidance and judges to judge with shipwreck；If non-shipwreck, carry out normal tasks mould
Block.
In normal tasks module, it is first determined whether having the new task from earth station or return instruction, having and then executing newly
Task or execution return task and terminate current task, otherwise execute current task.
In execution current task then first according to current self poisoning point information and target position information, computed range target
Distance, if distance objective distance is less than mission area distance, adjusts unmanned boat attitude, carries out the mission module operation of mission area,
Enable unmanned boat higher quality to complete task, after the completion of enter task entrance, carry out avoidance, shipwreck judge, continue executing with appoint
The operation of business cabin or wait return instruction.If distance objective distance, more than mission area distance, carries out route planning.
Carrying out the route planning stage, mainly according to current self-position point, target information, complaint message, automatically advise
Route before drawing, and calculate course information, it is sent to power cabin system so that unmanned boat can according to resolving course automatic running extremely
Target area.
Fig. 4 shows that described control unit further includes according in unmanned sailing device on water of the present utility model：
Communication module 401, it is configured for being communicated with manipulation center to receive, to receive teleinstruction or to described
Manipulation center returns current flight state and the navigation condition of described aircraft；
Navigation control module 402, it is configured to according to the plan of mapping out a route of described teleinstruction, and under this plan in real time
Produce navigation control signal so that described aircraft arrives at；
Pose adjustment module 403, it is configured for when described aircraft arrives at, according to task to be executed
Classification is adjusted automatically to aircraft attitude；And
Task device control module 404, it is used for the current task of control task equipment execution after pose adjustment terminates
Operation.
In the unmanned sailing device on water according to one embodiment of this utility model, described navigation control module bag
Include：
Positioning submodule, it is used for obtaining the positional information of itself using double global position systems.Positioning submodule (three-level
Subsystem) positioning of unmanned boat itself is realized using GPS, Beidou navigation satellite double reception system, system design can using bimodulus
Conversion regime, mutually makes up.
D navigation submodule, the destination information that it is used for according to comprising in the described positional information obtaining and teleinstruction enters
Mobile state route planning, still to drive towards destination after short-term deviates and travels in the original plan.D navigation submodule (three-level subsystem
System) using independent research automatic controlling device, the location information according to itself and target information, carry out route planning, realize
Independent navigation.There is water surface intelligent barrier avoiding function simultaneously, realize the obstruction of unmanned boat surrounding is voluntarily judged and avoids obstacle
Thing travels, and still can accurately drive towards target location after avoiding obstacles simultaneously.Navigation system must have mission planning work(
Can, Task-decomposing can be carried out, carry out avoidance judgement, shipwreck judges, reach mission area judgement etc..
Security module, whether it is used for the navigation attitude of real-time detection aircraft normal, if described aircraft be in non-
Under normal/cruise attitude, it is adjusted reversing the housing orientation of described aircraft in time.According to this utility model case security module
(three-level subsystem), even if making under severe hydrologic regime, if unmanned boat is overturned by stormy waves, it also can automatic identification be
Normally travel state or shipwreck state, automatically reverse hull, make unmanned boat reenter normally travel mode.
In the unmanned sailing device on water according to one embodiment of this utility model, described communication module also includes
ZigBee submodule, to carry out the autonomous networking of multiple spot, collaborative to complete assigned task.
That is, safety driving system of the present utility model mainly passes through alignment system, navigation system and security system
Three big three-level subsystems realize the functions such as the autonomous positioning of unmanned boat, route planning, intelligent barrier avoiding, automatic turning.
Mission module operating system is mainly when close to target location, in order to complete the demand of task, adjustment unmanned boat
Course attitude is so that task cabin system can complete task to higher quality.As when being taken pictures, mission module operating system
Main task is that the attitude adjusting unmanned boat system enables photographic head to be directed at static or moving target all the time, to obtain satisfaction
Target picture.And when completing lifesaving task, needing when near persons falling in water, adjustment hawser exports just to persons falling in water
Dish out again hawser.
Communication system mainly realizes unmanned boat over the ground by earth station system and the big three-level subsystem of data catenary system two
The functions such as communication, data image transfer, instruction transmission.
Earth station system：Realize the remotely compiling to unmanned boat types of functionality control command and parsing work, will artificially order
Order is converted into the acceptable instruction of unmanned boat, and the display function of return data, image information etc..Earth station system is divided into ground
Face base station system and two kinds of portable type ground station.Ground base station system is located at fixing office, and the task that can display the details of sets
Standby, unmanned boat information etc., can control many unmanned boats simultaneously.Portable type ground station uses for staff is single, Ke Yishi
Existing field adjustable, the monitoring of unmanned boat key message etc..
Data catenary system：Unmanned boat is communicated with ground base station used frequency range, and using 170M Shortwave Communication System, raising has
Effect communication distance, foundation is stably connected with.Adopt 700M overocean communications system when propagating real-time video transmission with image acquisition information
System, carries shipboard communication system.Realize hull state, task location, Monitoring Data, high-definition image, real-time pictures, slap at any time
Hold；ZigBee module can be carried simultaneously, realize many unmanned boat automatic network-buildings, work in coordination with and complete particular task.
In sum, ship has been merged according to unmanned boat of the present utility model, communication, automatization, robot control, long-range
The technology such as monitoring, networked system, it is possible to achieve independent navigation, intelligent barrier avoiding, telecommunication, realtime video transmission and network
Change the functions such as monitoring.Its application prospect also widely, can apply to following six big fields：
1) ocean, river, lake environment monitoring；
2) scientific research exploration；
3) survey and draw under water；
4) searching rescue and lifesaving；
5) security protection patrol, maritime patrol, sea police；
6) detection in Military Application field and information acquisition etc..
According to a detailed embodiment of the present utility model, the control unit in aircraft of the present utility model is in hardware
It is embodied as on circuit for doubling plate.As shown in figure 5, it is primary processor that top plate adopts ARM (STM32F407), connect GPS/ north
Bucket, the equipment such as sensor and task device, wireless communication module such as inertial navigation device, magnetometer.And lower plywood adopts FPGA to move
Power panel, connects the steering engine controller of steering-engine and throttle.
Top plate is mainly used to process way point setting, navigation, the real-time resolving of guidance, control and unmanned boat attitude；
Lower plywood major function is to ensure that safety when being switched to remote manipulation, and remote signal can control steering wheel by FPGA, makes
Obtain in the case of control program collapse, manually handle unmanned boat returns safely.
Microswitch is to ensure that the electricity being capable of remote control direct cutting-off controlling steering wheel and throttle in unmanned boat situation out of control
Source, makes unmanned boat stop motion it is ensured that safety.
As shown in fig. 6, which show aircraft of the present utility model to navigate by water two shapes in autonomous navigation and remote manual control
The software flow pattern of switching under state.
In figure 6, it is provided with autonomous navigation in the control unit according to unmanned sailing device on water of the present utility model
Control algolithm program.Method flow shown in Fig. 6 starts from step S601.After system initialization S602 terminates, in step
In S603, carry out the process of sail information.Next, system judges that (S604) enters autonomous navigation shape the need of aircraft
State.If it is, runtime autonomous navigation control algolithm program built-in in advance is to carry out autonomous navigation.If it is determined that
As a result, then parse described teleinstruction to carry out Non-follow control navigation, step S605.Finally, no matter be autonomous navigation state also
It is manual operation course state, system all can send the control command driving the dynamical system of aircraft to be navigated by water.
Security module structure chart of the present utility model as shown in fig. 7, its mainly include high accuracy three axle angular transducers and
Processor.When unmanned boat is in improper attitude (as angle of inclination is excessive), during security module sends to automatic controlling device
Disconnected, attitude information is sent to automatic controlling device, automatic controlling device then processes the data of security module first, adjusts in time
Attitude.Adjustment attitude process herein is usually to run into generation in the case of stormy waves or barrier during navigation, and it is not
It is same as the adjustment of stationary posture mentioned hereinbefore.In the most severe case, aircraft of the present utility model can be in ship
Body can also adjust automatically in the case of having overturn.
When many unmanned boats set up a new network, need to inform how coordinator creates source endpoint and target endpoint
Between link.Zigbee protocol defines a special process that referred to as end points is bound.Coordinator node safeguards one substantially
On comprise the binding table of logical links between two or more end points.Each link is according to its source endpoint and cluster ID Lai unique
Definition.Receive the order of device request access network, network coordinator determines whether that it adds the network of oneself.If with
Meaning, is that equipment distributes an address under this network.
As shown in figure 8, which show the method flow diagram carrying out multiple spot networking according to this utility model.In fig. 8, side
Method starts from step S801.In this step, transmitted into self by Zigbee wireless network by single aircraft node first
Net request.After other aircraft nodes in network receive this request, judge to whether there is coordinator, step S802 in network.
In this utility model, coordinator acts primarily as the effect of task segmentation and distribution.During networking initiates, it is not exist in network
Coordinator.At this moment, can be by the stronger aircraft node load of remote operation centre assignment operational capability and communication capacity
Work as coordinator.If however, remote operation centre does not carry out this assignment operation, can by be initially received network request its
Certain node in his each node itself will be set to the following coordinator in network to be organized, step S803.Next, by general
The node oneself being set to coordinator judges whether the request of also network to be added, S804.If it is present by this coordinator
Respond this request, send address allocation information, S806 to the aircraft sending request.As coordinator aircraft node one
Judge whether to receive the confirmation of the node of network to be added, S807 in the section time.If success, record in the table
The information of this node lower.
Coordinator node is distributed in addition it is also necessary to need to carry out task according to task to be done except entering row address in a network
Segmentation.For example, the wireless network built up by group according to the information itself grasped for extensive rescue task, coordinator
Carry out task distribution, transfer and navigate by water to this target apart from the nearest node of certain rescue target.
According to this utility model, the mode of networking is not limited to a coordinator, the star-shaped network structure of multiple child node, also
It can be other kinds of distributed network.In star network, can both possess group-net communication function in coordinator, also have
Task distribution function.And in distributed network, can also be according to the disposal ability of each node, by node strong for communication capacity
It is set to host node, and only node strong for operational capability is set to coordinator.That is, host node here is not necessarily
There is task segmentation and the aircraft of distribution task ability.
It should be understood that embodiment disclosed in the utility model is not limited to ad hoc structure disclosed herein, process
Step or material, and the equivalent substitute of these features that those of ordinary skill in the related art are understood should be extended to.Also should
When being understood by, term as used herein is only used for describing the purpose of specific embodiment, and is not intended to limit.
" embodiment " mentioned in description or " embodiment " means special characteristic, the structure in conjunction with the embodiments describing
Or characteristic is included at least one embodiment of the present utility model.Therefore, the phrase " that description various places throughout occurs
Individual embodiment " or " embodiment " might not refer both to same embodiment.
Although embodiment disclosed in the utility model is as above, described content is only to facilitate understand this practicality
New and adopt embodiment, be not limited to this utility model.Skill in any this utility model art
Art personnel, on the premise of without departing from spirit and scope disclosed in the utility model, can be in the formal and details implemented
On make any modification and change, but scope of patent protection of the present utility model, still must be defined with appending claims
Scope be defined.
Claims (9)
1. a kind of unmanned sailing device on water is it is characterised in that described aircraft includes：
Control unit, it is located in the control cabinet of aircraft, in order to set simultaneously assigned tasks operation according to teleinstruction, and root
According to described teleinstruction or from the dynamical system of trend aircraft send navigation control signal carry out safe unmanned, wherein
Described navigation control signal includes speed index, cardinal direction marker, range index；
Wherein, described control unit further includes：
Communication module, it is configured for be communicated with manipulation center, to receive teleinstruction or to return to described manipulation center
Return current flight state and the navigation condition of described aircraft；
Navigation control module, it is configured to according to the plan of mapping out a route of described teleinstruction, and produces boat under this plan in real time
Row control signal is so that described aircraft arrives at；
Pose adjustment module, it is configured to adjust aircraft operation according to the current pose information of the described aircraft being detected
During navigation attitude or execution task when stationary posture.
2. unmanned sailing device on water according to claim 1 is it is characterised in that described pose adjustment module includes appearance
State controller, attitude transducer, hydraulic system, T-shaped hydrofoil and at least two sets wave suppression plates, described attitude transducer is in order to detect
State the attitude information of aircraft, described attitude information includes pitch frequency and amplitude, roll frequency and amplitude, pitching, course angle
And acceleration, the attitude controller of described pose adjustment module in order to when described aircraft arrives at, according to will hold
The task category of row and current pose information are to the stationary posture of aircraft by described hydraulic system, T-shaped hydrofoil and at least two
Set wave suppression plate is derived from dynamic being adjusted.
3. unmanned sailing device on water according to claim 2 is it is characterised in that described aircraft also includes some
Business equipment, it is located in described mission module, with execute described control unit assignment task operating, and task device control
Module, it is used for the current task operating of control task equipment execution after pose adjustment terminates.
4. unmanned sailing device on water according to claim 3 is it is characterised in that described navigation control module includes：
Positioning submodule, it is used for obtaining the positional information of itself using double global position systems；
D navigation submodule, it is used for entering action according to the destination information comprising in the described positional information obtaining and teleinstruction
State route planning, still to drive towards destination after short-term deviates and travels in the original plan；
Security module, whether it is used for the navigation attitude of real-time detection aircraft normal, if described aircraft be in improper
Under navigation attitude, it is adjusted reversing the housing orientation of described aircraft in time.
5. unmanned sailing device on water according to claim 4 is it is characterised in that described communication module and ground base station
Carry out communicating by downlink and receive the remote control commands of described earth station transmission and by uplink communication to institute
State earth station's uploaded videos or image acquisition information, wherein said downlink is 170MHz short wave communication channel, described up
Link is 700M private communication channel.
6. unmanned sailing device on water according to claim 5 is it is characterised in that described communication module also includes
ZigBee submodule, to carry out the autonomous networking of multiple spot, collaborative to complete assigned task.
7. the unmanned sailing device on water according to any one of claim 1-6 is it is characterised in that described task device
Including image capture device, sea rescue equipment, under water instrument of surveying and mapping.
8. unmanned sailing device on water according to claim 7 is it is characterised in that described image collecting device is waterproof
Photographic head, it is located at the housing outer surface of described aircraft.
9. unmanned sailing device on water according to claim 8 is it is characterised in that in the control unit of described aircraft
It is provided with autonomous navigation control algolithm program, after system initialization terminates, judge whether to need to enter autonomous navigation state, such as
Fruit is then to run described autonomous navigation control algolithm program, if it is not, then parsing described teleinstruction to carry out Non-follow control boat
OK.
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| CN201620566862.5U CN205931190U (en) | 2016-06-13 | 2016-06-13 | Unmanned navigation ware on water |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947142A (en) * | 2016-06-13 | 2016-09-21 | 于进勇 | Unmanned water vehicle |
| CN110624261A (en) * | 2019-10-18 | 2019-12-31 | 东莞市环宇文化科技有限公司 | Unmanned prop ship device |
-
2016
- 2016-06-13 CN CN201620566862.5U patent/CN205931190U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947142A (en) * | 2016-06-13 | 2016-09-21 | 于进勇 | Unmanned water vehicle |
| CN105947142B (en) * | 2016-06-13 | 2019-02-19 | 烟台中飞海装科技有限公司 | A kind of unmanned sailing device on water |
| CN110624261A (en) * | 2019-10-18 | 2019-12-31 | 东莞市环宇文化科技有限公司 | Unmanned prop ship device |
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Inventor after: Yu Bo Inventor before: Yu Jinyong |