JPH10316095A - Control system for unmanned remote navigation ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control system for an unmanned remote navigation ship that can control the position and attitude of the ship even in such environment that the ship is carried away by the wind and a current. SOLUTION: A system is provided with two ahead-astern propulsion machines 1 and two left-right propulsion machines 1 at the bottom of an unmanned remote navigation ship 100, and provided on board with a position measuring device 2 for measuring the present position of the ship 100, an attitude measuring device 3 for measuring the attitude of the ship 100, a control computer 4 for computing control deviation between the position and attitude of the ship 100 detected by the measuring devices 2, 3, and a moving target and outputting a control signal to the propulsion machines 1, and a generator 104 for the propulsion machines 1 and measuring devices 2, 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to undersea reclamation,
The present invention relates to a control system for an unmanned remote navigation vessel used for various 3K (dangerous, dirty, and hard) work such as observing the situation at the time of a (seabed) volcanic eruption.

[0002]

2. Description of the Related Art An example of a conventional unmanned remote navigation ship system is as follows.
As shown in FIG. A human determines a deviation of a relative position from a moving target visually using a surveillance camera 101 on board, and a propulsion device 102 installed on the bottom of a conventional unmanned remote navigation system.
Then, a speed command is manually output for each propulsion device 102 using a joy stick 103 or the like to move the conventional unmanned remote navigation ship to a moving target.

[0003]

The conventional apparatus has the following problems. (1) In an environment where a ship is swept away due to the effects of wind, water, etc., a human can use a surveillance camera to visually recognize the relative position with the moving target and implement an unmanned remote navigation system. Due to the operation, the position cannot be held at the target position. (2) In a conventional unmanned remote navigation ship, since the operator operates the ship based on the video information of the surveillance camera, it is necessary to constantly move the ship toward the moving target, and the attitude of controlling the direction of the ship There is a problem that control is not possible. (3) When there is no target mark at the moving target position, or when maneuvering a conventional unmanned remote navigation ship in a situation where the mark is difficult to see, such as when maneuvering at night, accurate positioning on the moving target And that the attitude cannot be controlled.

[0004] The present invention has been made in order to solve the above problems.
A control system that can be used in environments with disturbances such as wind and water current, and can realize accurate positioning control and attitude control even when there is no mark on the moving target or when it is difficult to see with a surveillance camera such as at night. The purpose is to provide.

[0005]

The control system for an unmanned remote-going ship according to the present invention comprises:
(A) At the bottom of the ship, two forward and backward thrusters 1 and two
With two right-handed propulsion units, (B)
A position measuring device that measures the current position of the ship in real time, a posture measuring device that measures the position of the ship in real time, and calculates the control deviation between the position and posture of the ship detected by these measuring devices and the moving target. , A control computer for outputting a control signal to the propulsion device, and a generator for the propulsion device and a measuring device.

Therefore, the operation is as follows. (1) Even if the ship is swept under the influence of disturbances such as wind and water current, the position measurement device can measure the distance traveled by the ship, so that the position deviation caused by the disturbance is set to “zero”. The control computer controls the four propulsion units installed at the bottom of the ship, thereby realizing position holding at the target position. (2) A position measuring device and a posture measuring device that measure the position and posture of the ship in real time are installed in the unmanned remote navigation ship, and target values of the position and posture are obtained by control signals detected by these two measuring machines. Control deviation between the current value and the current value is “zero”
By controlling the command values to the four propulsion units by the control computer in such a manner, the attitude control of the ship can be realized. (3) When there is no target mark at the movement target position,
Alternatively, even if the landmarks are not visible due to nighttime maneuvering, not only the position control of the unmanned remote navigation ship but also the posture control can be realized by the position measuring device, attitude measuring device, and control computer installed inside the ship. .

[0007]

1 to 5 show an embodiment of the present invention.
It will be described based on. FIG. 1 is a side view of an unmanned remote navigation boat according to an embodiment of the present invention. FIG. 2 is a plan view of the unmanned remote navigation boat according to the embodiment of the present invention.

FIG. 3 is a flowchart of a main routine of the control system according to the present invention. FIG. 4 is an explanatory diagram of a control mode (control region) of the present invention. FIG. 5 is a correlation diagram between the propulsion / turning movement amount of the barge and the output value.

In the unmanned remote navigation ship of the present invention, FIG.
-As shown in Fig. 5, the unmanned remote navigation vessel
By installing a total of four propulsion units 1, two propulsion units for backward movement and two propulsion units for left and right movement, it is possible to control not only the position of the unmanned remote navigation vessel but also the attitude control. Do.

Further, in order to control the position and attitude of the unmanned remote navigation vessel having such a device configuration, a position measuring device 2 for measuring the current position of the unmanned remote navigation vessel in real time inside the vessel, and a real time measurement of the attitude of the vessel. Is installed, the control computer 4 calculates the control deviation between the position and attitude of the ship and the moving target detected by these measuring devices, and the operation command values to the four propulsion units described above. Is calculated.

The propulsion device 1, the measuring devices 2, 3 and the computer 4
The generator 104 for moving the power is provided in the ship. Generator 1
The installation position of 04 may be anywhere on the ship.

FIG. 3 shows a flowchart of a main routine of the control system of the present invention. When the unmanned remote navigation ship approaches the moving target, the control mode is changed according to the relative distance between the moving target and the ship, as shown in FIG. (1) First, when the ship enters the deceleration area, the control computer 4 reduces the moving speed of the ship. (2) When the ship further approaches the moving target and enters the propelling machine insensitive area, the control computer 4 changes from the deceleration mode to the position / posture control mode.

In the position / posture control mode, the position / posture control is performed so that the posture of the ship becomes constant while the ship approaches the moving target. (3) Further, when the ship approaches the moving target, the ship enters the hovering insensitive area. In this case, the control computer 4 performs only the attitude control of the ship.

As described above, by changing the control mode of the ship according to the relative distance between the ship and the moving target, it is possible to control the position and attitude of the controlled object having a large inertia.
Next, a ship control algorithm will be described with reference to FIG. (Sub.1) In the ship control algorithm shown in FIG. After reading the current position and current attitude of the ship in step 1, the propulsion / turning movement amount is calculated.

A speed command value to each propulsion unit 1 is calculated from the correlation between the movement amount of the propulsion / turning, the movement amount shown in FIG. 5, and the output value. Here, when the difference between the control target angle and the current angle is within the dead angle, the control is shifted to sub2. (Sub.2) Next, in sub2, the output of each propulsion unit is set to “zero”, and the time defined by the turning control time and the propulsion control time (1 second or more for the purpose of propulsion device protection) (hereinafter simply referred to as “specified”). After outputting the speed command value, the control is shifted to sub3. (Sub.3) After starting the turning control in sub3, the control is transferred to sub4. (Sub.4) In sub4, the turning control is continued until the current angle falls within the dead angle.

After the current angle enters the dead angle, the control shifts to sub5. (Sub.5) In sub5, the output of each propulsion unit is set to “zero”, and after outputting the speed command value for the specified time, the control is switched to
b. Move to l.

[0017]

Since the present invention is configured as described above, it has the following effects. (1) According to the unmanned remote navigation system according to the present invention,
It is possible to control the position of the ship even in an environment where disturbances such as wind and water flow are present. (2) Since the attitude control of the ship can also be realized, various operations such as reclamation on the sea or lake surface and collection of observation samples can be performed. (3) Further, since the position measuring device, the attitude measuring device, and the generator for the propulsion device are installed in the ship, the operation can be performed for 24 hours, and all-weather unmanned remote navigation can be realized. Therefore, it has versatility and good investment effect.

[Brief description of the drawings]

FIG. 1 is a side view of an unmanned remote navigation system according to an embodiment of the present invention.

FIG. 2 is a plan view of the unmanned remote navigation ship system according to the embodiment of the present invention.

FIG. 3 is a flowchart of a main routine of the control system of the present invention.

FIG. 4 is an explanatory diagram of a control mode (control region) of the present invention.

FIG. 5 is a diagram showing the correlation between the amount of movement of the barge propulsion and turning and the output value.

FIG. 6 is a configuration diagram showing a conventional unmanned remote navigation ship system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Propulsion device, 2 ... Position measurement device, 3 ... Attitude measurement device, 4 ... Computer for control, 100 ... Unmanned remote navigation ship, 101 ... Surveillance camera, 102 ... Propulsion device of conventional unmanned remote navigation ship, 103 ... Joy -Stick, 104 ... generator.

Continued on the front page. (72) Katsuji Terazono, Inventor 2-14-2 Kojimachi, Chiyoda-ku, Tokyo Kojimachi NK Building Inside the Dam Water Source Environmental Improvement Center (72) Inventor Hiroshi Tsunewaki 2, Araimachi, Takasago-shi, Hyogo Prefecture No. 1-1, Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Tetsuro Goto 11-1, Haneda Asahimachi, Ota-ku, Tokyo Inside Ebara Corporation (72) Inventor Tomio Yokota 11, Haneda-Asamachi, Ota-ku, Tokyo No. 1 Inside EBARA CORPORATION (72) Inventor Hiroshi Taniuchi 11-1 Haneda Asahimachi, Ota-ku, Tokyo Inside EBARA CORPORATION

Claims (1)

[Claims] 1. In an unmanned remote navigation vessel (100),
(A) At the bottom of the ship, there are two forward and backward propulsion units (1) and two left and right propulsion units (1).
(B) Inside the ship, a position measuring device (2) for measuring the current position of the ship in real time, an attitude measuring device (3) for measuring the attitude of the ship in real time, and these measuring devices (2,
A control computer (4) for calculating a control deviation between the position and attitude of the ship detected by 3) and the moving target and outputting a control signal to the propulsion device (1); the propulsion device (1) and a measuring device A control system for an unmanned remote navigation ship, comprising a generator (104) for (2, 3).