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A control method and system for solving the problem of overturning during unmanned ship navigation

A control method and control system technology, applied in the direction of unmanned surface ships, ship safety, special-purpose ships, etc., can solve the problems that unmanned ships cannot continue to work, the operating environment is harsh, and data cannot be recovered, and achieve good secondary The effect of righting ability, convenient salvage and recovery, and reduced navigation risk

Active Publication Date: 2020-11-24
WUHAN UNIV OF TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The operating environment faced by unmanned ships is getting worse and worse. In the process of completing tasks, unmanned ships will inevitably capsize or sink due to collisions, large waves, etc.
How to make it self-righting or avoid sinking when the unmanned ship capsizes has become a problem to be solved continuously. If it is left unattended, it will cause waste of funds and water pollution.
At present, most unmanned ships lack the function of self-correction after capsizing or self-rescue when sinking, which leads to some irreparable losses when faced with some harsh environments, such as the inability to recover data when the unmanned ship cannot continue to work after capsizing or the function is seriously damaged. , can only be allowed to sink, and the cost of salvage after sinking is much higher than that of surface salvage

Method used

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  • A control method and system for solving the problem of overturning during unmanned ship navigation
  • A control method and system for solving the problem of overturning during unmanned ship navigation
  • A control method and system for solving the problem of overturning during unmanned ship navigation

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0039] The present invention provides a control method for solving the problem of overturning in unmanned ship navigation, such as figure 1 As shown, it includes the following steps:

[0040] S1. Determine whether the unmanned ship has capsized, such as figure 2 As shown, specifically, the heel angle can be collected by the gyroscope that comes with the hull, and the normal range of the heel angle α∈(a,b) can be set. When the collected heel angle exceeds the normal range, it is judged that the unmanned ship has capsized.

[0041] S2. When it is judged that the unmanned ship has capsized, a corresponding attitude correction signal is sent according to the direction of the capsizing. Specifically, it can be judged whether it is leaning left or right according to the collected heel angle. flat.

[0042] S3. Send control instructions to the correspond...

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Abstract

The invention provides a control method for solving the capsizing problem of an unmanned ship in navigation. The control method comprises: sending a control command to a corresponding attitude correction unit according to the capsizing direction, wherein the attitude correction unit comprises airbags arranged symmetrically on the left and right sides of the unmanned ship, and the airbags on both sides comprise an airbag A on the outer side and an airbag group B on the inner side separately; after receiving the control command, the attitude correction unit opening the corresponding airbags in the following order: opening the airbag A on the opposite side of the capsizing direction, and a hull starting to rotate; after a certain interval of time t1, and opening the airbag group B on the opposite side of the capsizing direction; opening the airbag group B on the same side as the capsizing direction, and the hull starting to rotate; after a certain interval of time t2, opening the airbag Aon the same side as the capsizing direction; and choosing whether to retract the airbags or not depending on the damage. The control method enhances the self-righting ability of the capsized unmannedship and improves the survivability under the bad conditions through the special airbag arrangement position and the special airbag opening sequence.

Description

technical field [0001] The invention relates to the technical field of unmanned ship control, in particular to a control method and system for solving the capsized problem of an unmanned ship during navigation. Background technique [0002] The scientific name of unmanned ship is "surface robot". It is a kind of water robot that does not need to be manned to operate, and can sail and perform tasks autonomously through remote control or even without manipulation. It is more suitable for performing dangerous or boring and repetitive military and civilian tasks, such as military strikes, security patrols, landform surveying and mapping, environmental monitoring, emergency rescue and other fields. [0003] With the development of society, in the shipping industry, people are gradually eager for unmanned ships to reduce operational risks, improve operational efficiency, and reduce operating costs. Unmanned ships have gradually become medium-sized or even large-scaled from the or...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63B35/00B63B43/12B63B45/00
CPCB63B35/00B63B43/12B63B45/00B63B2035/008B63B2043/126
Inventor 陈辉陈中祥
Owner WUHAN UNIV OF TECH
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