Autonomous control method and device of sailing ship and sailing ship

An autonomous control and sailing technology, applied in the direction of non-electric variable control, control/adjustment system, three-dimensional position/channel control, etc., can solve the control method without the integrity of sail autonomous driving, and cannot well realize the sail state of the sailing path The control of rudder angle control and other issues, to achieve the effect of improving autonomous control

Active Publication Date: 2015-01-07
SHENZHEN COSON ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Moreover, through the analysis of the existing technical achievements and related technical documents, it can be seen that the research and development achievements of the existing unmanned sailing ships mainly focus on the realization of the hardware of the automatic control system of the sailing ship, and there is no overall control applied to the autonomous driving of the sailing ship. method, in the sailing process of the sailing ship, the control actions such as the generation of the sailing path, the control of the sail state, and the control of the rudder angle cannot be well realized.

Method used

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  • Autonomous control method and device of sailing ship and sailing ship
  • Autonomous control method and device of sailing ship and sailing ship
  • Autonomous control method and device of sailing ship and sailing ship

Examples

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Embodiment 1

[0067] Such as figure 1 Shown is a flow chart of the sailboat autonomous control method provided by the preferred embodiment of the present invention. The method includes the following steps:

[0068] S1. Set at least one waypoint in the navigation path. Among them, the last waypoint is the sailing end of the sailboat.

[0069] Specifically, the system or the user of the unmanned sailing ship determines several waypoints within the range of the route and numbers them sequentially, and sets waypoint M1, waypoint M2...waypoint Mn in sequence, wherein waypoint M1 is the first waypoint point, the waypoint Mn is the last waypoint, which is the end of the voyage. The position of the waypoint is described by longitude and latitude values.

[0070] S2. The step of determining the target waypoint: obtaining the navigation information of the sailboat, and setting the next waypoint at the location of the sailboat as the target waypoint.

[0071] Specifically, the first waypoint is s...

Embodiment 2

[0088] On the basis of the above examples, if figure 2 In step S201 shown, the longitude information and latitude information of the sailboat are obtained through the built-in global positioning module of the sailboat, and at the same time, the distance between the sailboat and the above-mentioned target waypoint is calculated according to the above-mentioned longitude information and the above-mentioned latitude information. When the above-mentioned distance is less than the preset When the threshold is reached, it is confirmed that the sailboat has reached the above target waypoint.

[0089] For example, set the above threshold to 200 meters, obtain the longitude information and latitude information of the sailboat in real time through the global positioning module (it can be understood as obtaining according to a preset cycle), calculate the current position of the sailboat, and at the same time, call it from the pre-stored data in the background The position of the curren...

specific Embodiment approach

[0104] The specific implementation is as follows:

[0105] First, one end of the sail is set on the mast, and the other end is pulled by the sail rope;

[0106] Situation 1: The sail can be fully wound on the mast, and the sail is not affected by the wind at this time;

[0107] Situation 2: The sail can be fully opened, and the area of ​​the sail affected by the wind is the largest at this time;

[0108] Situation 3: It is also possible to let the sail be partly wound on the mast and partly spread out, at this time, part of the area of ​​the sail is affected by the wind.

[0109] Then, adjust the wind area of ​​the sail according to the calculation result. It can be understood that under the same wind speed, wind direction, adjustment angle, etc., the size of the wind-receiving area of ​​the sail determines the size of the propulsion force obtained by the sailboat from the wind and the size of the roll moment of the sailboat receiving the wind, that is, the larger the wind-r...

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Abstract

The invention discloses an autonomous control method and device of a sailing ship and the sailing ship. The method includes the steps of setting at least one waypoint; acquiring navigation information of the sailing ship and setting the next waypoint from the position where the sailing ship is located as a target waypoint; determining an expected course vector according to the relative azimuth of the sailing ship and the target waypoint and the true wind direction; controlling the sail state of the sailing ship according to relative wind direction information; controlling the rudder angle according to the current course of the sailing ship and the expected course vector so as to reach or track the expected course; judging whether the sailing ship has reached the target waypoint or not, judging whether the target waypoint is a navigation terminal point if the sailing ship has reached the target waypoint, and ending the process if the target waypoint is the navigation terminal point. According to the autonomous control method and device of the sailing ship and the sailing ship, the complete control method for autonomous navigation of the sailing ship is provided for the autonomous navigation process of the sailing ship, and autonomous control over the sailing ship is systematically achieved through division of a course area, calculation of the expected course vector, control over the rudder angle, control over the unfolding area and the adjustment angle of a sail, assisted propelling of a propeller and the like.

Description

technical field [0001] The invention relates to the field of unmanned sailboats, in particular to a sailboat autonomous control method, device and sailboat. Background technique [0002] In the prior art, the unmanned sailing ship is the latest product of the intersectional development of robotics and sailing technology. Unmanned sailing ships use wind power as propulsion power, and can carry out tasks such as guard patrols, scientific investigations, and environmental testing at sea for a long time, and can avoid problems such as safety and supplies that humans may encounter when working at sea for a long time. [0003] As we all know, sailing ships need to face various complicated situations when sailing at sea. However, in the prior art, unmanned autonomous navigation technologies including sailboats mainly focus on autonomous control of sails. [0004] The control method using sails as an auxiliary navigation tool is only suitable for the course control of large transp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10B63H9/04
CPCG05D1/0206G05D1/10
Inventor 王智锋林天麟
Owner SHENZHEN COSON ELECTRONICS
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