Unmanned scientific investigation ship carrying intelligent navigation control system

Abstract

The invention relates to the technical field of unmanned ship navigation control systems, in particular to an unmanned scientific investigation ship carrying an intelligent navigation control system.The unmanned scientific investigation ship comprises an unmanned ship body, the unmanned ship body is sequentially provided with a fore peak, an instrument and equipment compartment, a moon pool compartment, a rear battery compartment, a cabin and a stern compartment from the bow to the stern, and a front battery compartment is arranged below the instrument and equipment compartment; fuel tank cabins are arranged on the two sides of the front battery cabin; the mother ship / shore-based remote control monitoring platform is used for issuing an instruction to the intelligent navigation control system, receiving monitoring data of the bimodal semi-submersible unmanned ship in real time, and displaying and intervening the monitoring data; a safe environment sensing unit is constructed, it is ensured that the integrated carrier platform operates autonomously, safely and stably for a long time under various sea conditions of the deep sea ocean, autonomous avoidance of obstacles on the sea can be achieved, and navigation safety of the unmanned ship is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship navigation control systems, and in particular to an unmanned scientific research vessel equipped with an intelligent navigation control system. Background Art

[0002] With the development of science and technology, the application research of unmanned ships is becoming more and more extensive. Path planning technology and autonomous navigation technology are key issues in the research of unmanned ships, and are also important contents of the research on artificial intelligence of unmanned ships. To a certain extent, they indicate the level of intelligence of unmanned ships. Unmanned ships need to navigate and operate autonomously in complex marine environments, so unmanned ships have put forward more stringent requirements on maneuverability, control performance and reliability. In order to ensure that unmanned ships can complete various complex tasks safely, reliably and autonomously, it is necessary to study more advanced technologies such as navigation control systems.

[0003] CN106444767A discloses a linkage combined autonomous navigation unmanned ship control system based on APM and I7 smart chips, including a ground control center and a shipboard control center, the shipboard control center includes five subsystems: power supply system, communication system, autonomous navigation system, propulsion power system and direction control system; the connection between the ground control center and the shipboard control center is realized through the WIFI wireless network between the directional omnidirectional antenna in the ground control center and the directional omnidirectional antenna in the communication system subsystem, and the 2.4G network between the remote control controlled module in the direction control system subsystem. The above patent utilizes the compatibility of the APM system and the I7 smart chip, the computing power of the I7 smart chip and the compatibility of the port, and effectively realizes the transmission, processing and storage of the autonomous navigation data of the unmanned ship. The data storage capacity of the shipboard control center can reach 512G, and it can support 8G running memory. The unmanned ship can complete a 10-kilometer round-trip autonomous navigation task on a still water surface within 1 hour.

[0004] Currently, the only reference data used for unmanned ship navigation is GPS positioning information. Dynamic obstacles on the route, such as information about other surrounding ships, cannot be accessed. Static obstacles such as coastlines and islands encountered by unmanned ships during navigation are difficult to avoid effectively. These all seriously affect the navigation safety of unmanned ships. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned existing technologies, an unmanned scientific research vessel equipped with an intelligent navigation control system is provided, which constructs a safety environment perception unit to ensure the long-term autonomous, safe and stable operation of the integrated carrier platform under various sea conditions in the deep sea and ocean, and can achieve autonomous avoidance of marine obstacles to ensure the navigation safety of the unmanned ship.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is an unmanned scientific research vessel equipped with an intelligent navigation control system, comprising an unmanned ship body, wherein the unmanned ship body is provided with a bow peak cabin, an instrument and equipment cabin, a moon pool cabin, a rear battery cabin, an engine cabin, and a stern cabin in sequence from the bow to the stern, a front battery cabin is provided below the instrument and equipment cabin, and fuel tank cabins are provided on both sides of the front battery cabin. It also includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data of the dual-mode semi-submersible unmanned vessel in real time for display and intervention; The intelligent flight control system comprises: Communication module: Real-time transmission of commands from the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status; External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors; Intelligent navigation module: receives instructions transmitted by the shipboard control module and generates a navigation system according to the instructions issued; Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module and the intelligent navigation module in real time, and performs real-time control of the dual-mode semi-submersible unmanned ship based on the above data information, and sends the above data information to the shipboard control module.

[0007] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system, the intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module; Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle; Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

[0008] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system, the intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, real-time monitoring is performed to see whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state is maintained unchanged.

[0009] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system, the intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

[0010] For the above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system, the basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

[0011] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system is provided with a passage at the bottom of the moon pool cabin for allowing the passage of turbulence observation equipment, an automatic opening and closing cover for opening and closing the passage is provided in the moon pool cabin, and a lifting mechanism for raising and lowering the turbulence observation equipment is provided above the cabin.

[0012] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system, the lifting mechanism includes a winch seat, a winch body arranged on the winch seat, a cable and two corresponding guide rollers, and also includes a first seat plate arranged on the outside of the moon pool cabin, a first pulley and a first pulley frame are arranged under the first seat plate, a guide rod rotatably connected to the first pulley frame is arranged on the first pulley frame, a guide wheel is arranged on the guide rod, a second seat plate is arranged on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, and a conduit allowing the cable to pass is arranged on the bulkhead of the moon pool cabin.

[0013] The above-mentioned unmanned scientific research vessel equipped with an intelligent navigation control system also includes a detection system for cooperating with the lifting mechanism to keep the turbulence observation equipment in a free state during observation; The detection system includes a high-definition camera arranged directly above the interior of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating applied on the cable, and a cable release control module, wherein the cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module; The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin; Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation; Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed; The working steps of the cable release control module are: S1: (1) Preprocess the image to remove noise; (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable; (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable; (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle; (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle; (6) Add the lengths of all cable segments to obtain the length of the cable in the current image; (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image. Release margin = release length threshold - cable length in the current image; S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation; S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

[0014] The beneficial effect of the unmanned scientific research vessel equipped with an intelligent navigation control system of the present invention is that, by combining communication and navigation technology, the positioning data of the unmanned ship can be uploaded and instructions can be issued to the mother ship / shore-based remote control monitoring platform, and a multi-in-one navigation system with mutual backup is formed with domestic "Beidou" and inertial navigation, and related data parameters such as the positioning, heading, and speed of the unmanned ship are sent to the mother ship / shore-based remote control monitoring platform through Beidou and Tiantong dual-mode communication modules, thereby realizing remote monitoring of the mother ship / shore-based remote control monitoring platform.

[0015] In order to improve the autonomous and safe navigation capability of unmanned ships, the inertial navigation information, radar information, laser information, visual information, AIS information and nautical chart information are integrated to build a safe environment perception unit to ensure the long-term autonomous, safe and stable operation of the integrated carrier platform under various sea conditions in the deep sea and ocean. By setting up a path tracking module, the accuracy of the unmanned ship's heading is guaranteed, and by setting up a path planning module, autonomous avoidance of marine obstacles is achieved to ensure the navigation safety of the unmanned ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a side view of the unmanned ship body; Figure 2 This is a bottom view of the unmanned boat body; Figure 3 It is a side view of the lifting mechanism; Figure 4 This is a schematic diagram of the layout of the various cabins of the unmanned ship; Figure 5 It is a schematic diagram of the working state of the lifting mechanism; Figure 6 It is a structural schematic diagram of an automatic opening and closing cover; Figure 7 This is the circuit structure diagram of the path planning module; Figure 8 This is the circuit structure block diagram of the obstacle avoidance decision module.

[0017] 1. Bow tank; 2. Instrument and equipment compartment; 3. Convex deck; 4. Moon pool; 5. Rear battery compartment; 6. Engine room; 7. Fuel tank compartment; 8. Rear ballast tank; 9. Regulating water pump; 10. Marine diesel engine; 11. Jet pump; 12. Rod body; 13. Hydraulic cylinder; 14. Winch seat; 15. Winch body; 16. Cable; 17. Guide roller; 18. First seat plate; 19. First pulley; 20. First pulley frame; 21. Guide rod; 22. Guide wheel; 23. Second seat plate; 24. Second pulley frame; 25. Guide tube; 26. Camera; 27. Stern cabin; 28. Front ballast tank; 29. ​​Lifting mast; 30. Cover body; 31. Turbulence observation equipment. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1-8As shown, an unmanned scientific research vessel equipped with an intelligent navigation control system includes an unmanned ship body, wherein the unmanned ship body is provided with a bow peak cabin 1, an instrument and equipment cabin 2, a moon pool cabin 4, a rear battery cabin 5, a cabin 6, and a stern cabin 27 in sequence from the bow to the stern, a front battery cabin is provided below the instrument and equipment cabin 2, and fuel tank cabins 7 are provided on both sides of the front battery cabin. The diameter of the moon pool cabin 4 is ≮550mm. A convex deck 3 is provided in the middle of the unmanned ship body, and a wind and rain-tight hatch cover is provided on the convex deck. A navigation radar and an antenna are provided above the instrument and equipment cabin. A lifting mast 29 is used as a carrying method. After the lifting mast 29 is lowered, the equipment above the lifting mast 29 is embedded in the convex deck 3. The hardware equipment and power distribution equipment of the navigation control system are provided in the instrument and equipment cabin. With the help of semi-submersible mode, lifting mast and other technologies, the wind-receiving surface is reduced and stability is enhanced.

[0020] Front ballast tanks 28 are arranged on both sides of the moon pool 4, which can control the ballast to enable the unmanned ship body to switch between surface and semi-submerged dual modes. The two front ballast tanks 28 are respectively provided with a ballast water pump with forward and reverse functions for filling or emptying the two front ballast tanks with seawater, a liquid level sensor for detecting the liquid level in the two front ballast tanks, and a controller; the controller is a PLC.

[0021] It also includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data of the dual-mode semi-submersible unmanned vessel in real time for display and intervention; The intelligent flight control system comprises: Communication module: real-time transmission of commands issued by the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; the communication module can adopt Beidou and Tiantong dual-mode communication modules to send relevant data parameters such as unmanned ship positioning, heading, speed, etc. to the mother ship / shore-based remote control monitoring platform, so as to realize remote monitoring of the mother ship / shore-based remote control monitoring platform.

[0022] Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status; External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors; Intelligent navigation module: receives instructions transmitted by the shipborne control module, and generates a navigation system according to the instructions issued; the navigation system is a multi-in-one navigation system with mutual backup formed by domestic "Beidou" and inertial navigation.

[0023] Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module and the intelligent navigation module in real time, and performs real-time control of the dual-mode semi-submersible unmanned ship based on the above data information, and sends the above data information to the shipboard control module.

[0024] The intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module; Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle; Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

[0025] The intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, it monitors in real time whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged.

[0026] The intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

[0027] The basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

[0028] A rear ballast tank 8 extending rearward for assisting the self-righting of the ship is provided on both sides of the engine room 6 , and also includes two regulating water pumps 9 for regulating the water volume in the rear ballast tank 8 .

[0029] Two marine diesel engines 10 and two marine gear boxes are arranged in the engine room, and two jet pumps 11 with a dynamic positioning function are arranged behind the two marine diesel engines 10 .

[0030] A passage is provided at the bottom of the moon pool cabin 4 for allowing the turbulence observation equipment 31 to pass through, and an automatic opening and closing cover for opening and closing the passage is provided in the moon pool cabin. The automatic opening and closing cover includes two rod bodies 12 whose tops are rotatably connected to the inner wall of the moon pool cabin 4, and a cover body 30 rotatably connected to the two rod bodies is provided at the bottom of the two rod bodies respectively, and a hydraulic cylinder 13 hinged on the inner wall of the moon pool cabin 4 for driving the cover body 30 to operate, which is symmetrical on the left and right.

[0031] A lifting mechanism for lifting and lowering the turbulence observation equipment is provided above the nacelle 6. The lifting mechanism includes a winch seat 14, a winch body 15 provided on the winch seat 14, a cable 16 and two corresponding guide rollers 17, and also includes a first seat plate 18 provided outside the moon pool cabin 4, a first pulley 19 and a first pulley frame 20 are provided below the first seat plate 18, a guide rod 21 rotatably connected to the first pulley frame 20 is provided on the first pulley frame 20, a guide wheel 22 is provided on the guide rod 21, a second seat plate 23 is provided on the inner wall of the moon pool cabin 4, a second pulley and a second pulley frame 24 are provided on the second seat plate 23, and a conduit 25 for allowing the cable 16 to pass is provided on the bulkhead of the moon pool cabin 4.

[0032] It also includes a detection system for cooperating with the lifting mechanism to keep the turbulence observation device in a free state during observation; The detection system includes a high-definition camera arranged directly above the interior of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating applied on the cable, and a cable release control module, wherein the cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module; The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin; Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation; Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed; The working steps of the cable release control module are: S1: (1) Preprocess the image to remove noise; (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared to mark the pixels that meet the brightness characteristics of the cable. The position of the cable can be obtained by splicing all the sub-regions with pixels that meet the brightness characteristics of the cable; (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable; (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle; (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle; (6) Add the lengths of all cable segments to obtain the length of the cable in the current image; (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image. Release margin = release length threshold - cable length in the current image; S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation; S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

[0033] During observation, the turbulence observation equipment needs to remain in a free state, otherwise it will affect the observation accuracy of the turbulence observation equipment. Through intelligent control means such as high-definition camera video acquisition and surplus cable feature extraction, a certain number of cables (such as 2-5 circles) are maintained while floating in the moon pool cabin to ensure that the cables do not exert tension on the observation system and achieve its free lowering. During cyclic observation, it is ensured that when the equipment is lifted close to the bottom of the ship, a new lowering can be started. The winch changes the design speed according to the VMP's underwater lowering speed (acceleration first and then constant speed), and a proper amount of cable is reserved throughout the cable to allow the VMP equipment to be freely lowered to prevent the upward traction from the winch and ensure the observation accuracy of the turbulence observation equipment.

[0034] A ballast water pump with forward and reverse functions and used to fill or empty the two front ballast tanks with seawater, as well as a liquid level sensor, are respectively provided in the two front ballast tanks. The high-speed and semi-submerged navigation modes are quickly switched through the above system. The two ballast water pumps are respectively arranged at the bottom of the two front ballast tanks. The pump flow rate is ≥100L / min, and rapid filling / emptying can be achieved within 20 minutes. The liquid level sensor in the ballast tank can feed back the liquid level status in the tank to the navigation control module. The navigation control module sends a signal to the controller according to the instructions of the ship-borne control module to inject or discharge seawater into the ballast tank to achieve dual-mode switching. There are 2 marine diesel engines, 2 marine gearboxes, and 2 sets of jet pumps in the engine room. The marine diesel engine is a Japanese YANMAR marine diesel engine. The gearbox uses 2 ZF68 marine gearboxes produced by the German ZF company, with a speed ratio of 1.514. The jet pump is a KAMEWA FF240 water jet propulsion device, which can provide dynamic positioning control. The dual-mode semi-submersible unmanned ship has structural features such as a single body, a single deck, and a mid-V-shaped pointed bilge to ensure high-speed navigation on the water surface. When semi-submerged, it is in a low-profile ship (LPV) state. Due to its low profile, the low-profile ship has the function of reducing characteristic signals in infrared, radar, vision, acoustics and spectrum, so it has good stealth. The mid-V-shaped ship design reduces the resistance of high-speed navigation in waves and improves wave resistance. When semi-submerged, the hull is below the water surface, and only part of the hull is above the water surface. It can greatly reduce the interference of wind and waves on the water surface and greatly improve safety and stability. There are rear ballast tanks extending to the rear on both sides of the cabin to assist the ship in self-righting, and also include two regulating water pumps 29 for adjusting the water volume in the rear ballast tank, which increase the water contact area of ​​the bottom of the hull and play the role of anti-roll fins. Improve the stability of the semi-submerged state, thereby providing a stable environment for the precise measurement of turbulence observation equipment. It has the ability to self-right in both modes, becoming a "tumbler" at sea, meeting normal operations in sea conditions of level 3 and safe navigation in sea conditions of level 4. According to the needs of dual-mode operation, taking into account the hull weight, speed and endurance performance, the dual-mode conversion is smooth and time-saving. The length, width and height of the dual-mode semi-submersible unmanned ship are: 8.5×2.5×2.6 meters. It uses high-performance composite materials mainly made of aramid and carbon fiber. The core material is made of Balsa and PVC. The weight is ≯8t, making it light and strong. It can be retracted and released by a single point of the mother ship, and is propelled by dual diesel engines and dual jet pumps. The dual mode is controlled by the ballast water tank and the conversion time is ≮10min. The full load displacement in the high-speed surface state is 7.45t and the speed is 25kn. The full load displacement in the semi-submerged state is 11.69t and the speed is 5kn. Equipped with 2300L of fuel and 80kW·h of lithium batteries, it can meet the requirements of high-speed surface endurance of ≮450m or semi-submerged working endurance of ≮360h.

[0035] Composition and functions of mother ship / shore-based remote monitoring platform: Contains a set of portable handheld control terminals, a set of fixed control consoles and related control system software; supports Android mobile phone systems and WINDOWS systems; Support electronic nautical charts of working sea areas; Supports setting of task points, electronic fence boundaries, and operation time and duration; Support task saving, modification, management and loading; Support unmanned ship system status monitoring and display; You can check the speed, heading, heading, position, battery power, remaining fuel, working status, driving path and observation system operation information of the unmanned ship; It can send out alarm information such as the remaining fuel level of the unmanned ship and the remaining power of all batteries; The measurement data of the instruments carried by the unmanned ship can be displayed in real time; Can display video images captured by the camera of the unmanned ship; It can realize the interactive conversion of control rights of unmanned ships; The display should be no less than 14-inch LED display; The resolution should not be less than 1920*1080; Processor no less than Intel® Core i5-8250U processor 1.8GHz; The memory is not less than 8GB DDR4; the hard disk capacity is not less than SSD 1TB; Based on QGC secondary development, it supports Android and Windows operating systems; Developed based on QT environment, implemented with C++ code, and can run across platforms.

[0036] Composition and functions of the shipboard control module (shipboard controller): Contains dual-layer hardware structure and control software of flight control computer and navigation attitude controller; It has dual working modes of remote control and autonomous navigation; It has the function of real-time data transmission, and sends the basic data information of the unmanned ship (speed, heading, heading, position, battery power, remaining fuel, engine speed, rudder angle, observation system operation data, etc.), video images and other information to the mother ship / shore-based remote control monitoring module in real time, with data delay <500ms; With online storage function, storage capacity ≥ 5TB; It has the function of real-time monitoring of shipboard equipment and can turn on and off designated equipment according to working conditions; The shipboard control module adopts the embedded LINUX system and the open ROS2 architecture, and is located in the instrument and equipment cabin, which can provide users with secondary development functions; the shipboard controller hardware configuration: adopts the Intel Apollo Lake SoC + FPGA processor architecture, onboard ≥4G memory, and no less than the following interfaces, including 2 CAN buses, 2 RS485 buses, and 4 RS232 buses. EMC meets CE / FCC Class B; The software architecture adopts a distributed architecture to reduce the impact of sensor data loss on unmanned ship control.

[0037] Composition and functions of the navigation control module (navigation controller): The navigation controller adopts RTOS embedded operating system, integrated with IMU, GPS board, communication board and other sensors. Provide RS232, RS485, CAN interface. Length, width and height are not more than 20cm.

[0038] The navigation controller and the shipboard controller use Ethernet and CAN for communication control. An external communication module can be installed.

[0039] The heading control accuracy of the navigation controller is no more than 1°, the speed control accuracy is no more than 0.1m / s, and the track tracking accuracy is no more than 0.5m. The heading and speed controller settings support online model identification and self-tuning, and provide inspection reports from provincial and above inspection agencies. The algorithm theory results can provide appraisal reports from relevant societies.

[0040] The decision-making planning software supports the ROS system implemented in C / C++ code; The navigation control software is implemented using C / C++ code.

[0041] The radar information, laser information and AIS information are collected through navigation radar, laser radar and AIS; the maximum detection distance of the navigation radar is ≥12nm; the minimum effective distance is ≤50m; the communication interface adopts RJ45; multiple types of data are provided, including support for radar echo, target track data message, and navigation data forwarding; the transmitter frequency is X-band 9.3~9.4GHz; the maximum scanning bandwidth is 75MHz.

[0042] The detection distance of the laser radar is ≥80m; frame rate is ≥5Hz; number of lines is ≥16; detection blind area is ≤0.4m; detection error is ≤2cm; horizontal field of view is 360°, resolution is 0.1°; vertical field of view is 30°, resolution is 2°; protection level is IP67; Ethernet output rate is ≥100Mbps.

[0043] AIS frequency range: 156.025-162.025MHz; receiving sensitivity: <-107dBm (20%PER); bit rate: 9600bps±50ppm (GMSK); 1200bps±30ppm (FSK); channel bandwidth 25KHz.

[0044] A camera 26 is also provided on the unmanned boat body. Visual information can be transmitted back to the mother ship / shore-based remote control monitoring platform in real time through the camera carried by the boat, and the surface video image can be displayed; the frame rate of the camera is: 50Hz: 25fps (1920×1080, 1280×960, 1280×720), 50fps (1280×960, 1280×720); optical zoom: 23x zoom; digital zoom: 16x zoom; infrared irradiation distance ≥100m; focal length: 4.8-115mm; horizontal viewing angle: 64.5-3.2° (wide angle-telephoto); adjustment range: horizontal 360°, vertical -15°~90°; storage function supports MicroSD / SDHC / SDXC card (256G); video compression standard: H.265 / H.264 / MJPEG.

[0045] The camera carried by the ship can also monitor the surrounding environment of the unmanned ship. When encountering forced salvage and recovery, the information data is sent to the navigation control module, the navigation control module sends the information data to the shipboard control module, the shipboard control module sends the information data to the mother ship / shore-based monitoring platform, and the mother ship / shore-based monitoring platform issues the integrated turbulence observation system recovery command and return command to ensure the safe return of the integrated turbulence observation system.

[0046] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An unmanned scientific research vessel equipped with an intelligent navigation control system, characterized in that: The unmanned boat body comprises a bow peak cabin, an instrument cabin, a moon pool cabin, a rear battery cabin, and an engine cabin arranged in sequence from the bow to the stern, a front battery cabin is arranged below the instrument cabin, and fuel tank cabins are arranged on both sides of the front battery cabin. It also includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data of the dual-mode semi-submersible unmanned vessel in real time for display and intervention; The intelligent flight control system comprises: Communication module: Real-time transmission of commands from the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status; External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors; Intelligent navigation module: receives instructions transmitted by the shipboard control module and generates a navigation system according to the instructions issued; Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module and the intelligent navigation module in real time, and performs real-time control of the dual-mode semi-submersible unmanned ship based on the above data information, and sends the above data information to the shipboard control module.

2. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 1 is characterized in that: The intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module; Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle; Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

3. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 2 is characterized in that: The intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, it monitors in real time whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged.

4. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 3 is characterized in that: The intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

5. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 4 is characterized in that: The basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

6. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 5 is characterized in that A passage is provided at the bottom of the moon pool cabin for allowing the turbulence observation equipment to pass through. An automatic opening and closing cover is provided inside the moon pool cabin for opening and closing the passage. A lifting mechanism for raising and lowering the turbulence observation equipment is provided above the cabin.

7. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 6 is characterized in that: The lifting mechanism includes a winch seat, a winch body arranged on the winch seat, a cable and two corresponding guide rollers, and also includes a first seat plate arranged outside the moon pool cabin, a first pulley and a first pulley frame are arranged below the first seat plate, a guide rod rotatably connected to the first pulley frame is arranged on the first pulley frame, a guide wheel is arranged on the guide rod, a second seat plate is arranged on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, and a conduit allowing the cable to pass is arranged on the wall of the moon pool cabin.

8. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 7 is characterized in that: It also includes a detection system for cooperating with the lifting mechanism to keep the turbulence observation device in a free state during observation; The detection system includes a high-definition camera arranged directly above the interior of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating applied on the cable, and a cable release control module, wherein the cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module; The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin; Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation; Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed; The working steps of the cable release control module are: S1: (1) Preprocess the image to remove noise; (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable; (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable; (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle; (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle; (6) Add the lengths of all cable segments to obtain the length of the cable in the current image; (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image. Release margin = release length threshold - cable length in the current image; S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation; S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

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