Automatic sailing operation driving system of sailing boat

Abstract

The invention, which relates to the technical field of sailboat automatic sail operation driving, discloses a sailboat automatic sail operation driving system comprising a data acquisition module, a data analysis module, an intelligent control module and an execution control module. For sailing boats mainly powered by sails, only autorudders with locked course sail along a preset course all the time at present, and the problems that the course cannot be changed autonomously, the direction cannot be changed, the sailing speed cannot be controlled, the course cannot be predicted and the arrival time cannot be calculated under the condition of no human intervention are solved. The data analysis module and the intelligent control module are used for analyzing and generating instructions and signals, and the sailboat is controlled to automatically drive; the sailing performance is improved to the maximum extent and the time consumption is reduced to the maximum extent in different environments, the optimal sailing state can be kept under different wind conditions, and the sailing safety and comfort are improved; the controllability of the sailing boat is improved, human intervention is reduced, the sailing boat can sail efficiently and stably, and it is ensured that the expected sailing target is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic sailing driving of sailboats, and in particular to an automatic sailing driving system for sailboats. Background Art

[0002] At present, the automatic driving technology of general power boats has matured. The destination can be set on the navigator, the heading can be automatically calculated, and the rudder angle and propeller power output can be adjusted to navigate (automatic driving level L3). For sailboats mainly powered by sails, there is currently only an automatic rudder that locks the heading and always sails along a preset heading. Without human intervention, it cannot autonomously change the heading, cannot change direction (change side), cannot control the sailing speed, cannot predict the route and calculate the arrival time (automatic driving level L1);

[0003] Given that the above-mentioned sailboats powered mainly by sails can only reach level L1 by fine-tuning the ∠R rudder angle: assisted driving means that the vessel has partial automation functions, including cruise control and heading keeping assistance, but the driver still needs to be ready to take over control at any time. Summary of the invention

[0004] The purpose of the present invention is to solve the problems mentioned in the above background technology and to provide an automatic sailing and driving system for a sailboat.

[0005] The object of the present invention can be achieved by the following technical solutions: An automatic sailing and driving system for a sailboat, comprising a data analysis module and an intelligent control module;

[0006] The data analysis module is used to analyze environmental data and sailboat data, specifically:

[0007] Standardize the collected environmental data: standardize the real-time wind direction θs and wind speed Vs to obtain the wind direction factor; standardize the weather information to obtain the weather factor; standardize the sea condition information to obtain the resistance coefficient caused by waves, combine the resistance coefficient with the environmental data, standardize the wave resistance to obtain the standardized resistance factor; standardize the terrain information to obtain the terrain factor, and then comprehensively calculate the wind direction factor, wind speed factor, weather factor, standardized resistance factor and terrain factor to obtain the sail power environmental coefficient;

[0008] Comprehensive analysis of sailing data and environmental data to obtain the best sailing route and estimated time;

[0009] The intelligent control module is used to control the rudder angle, sail angle and sail area of ​​the sailboat to sail within the optimal sailing route for the expected time, specifically:

[0010] Set the target heading angle on the best sailing route and use it as the ideal heading angle. According to the estimated sailing time Ty and the total distance of the route LJ, determine the ideal average speed V0; then initialize the rudder angle R, sail angle S and sail area Q to put the sailboat into the best sailing state;

[0011] The wind speed and direction changes are monitored in real time to calculate the sail dynamic environment coefficient and update the relative angle between the wind direction and the hull. The deviation between the current ship speed and heading and the ideal speed and heading is detected to generate a rudder angle adjustment amplitude command and a heading deviation alarm signal. The inclination angle and stability of the hull are then monitored through sensors to generate a sail angle adjustment amplitude command, a sudden sail angle adjustment signal and a sail area adjustment command.

[0012] As a preferred embodiment of the present invention, it also includes a data acquisition module and an execution control module;

[0013] The data acquisition module is used to collect environmental data and sailboat data, wherein the environmental data includes real-time wind direction, real-time wind speed, weather information, sea condition information, chart data and target position; the sailboat data includes real-time rudder angle R, real-time sail angle S, sail area Q, speed, heading and hull status;

[0014] The execution control module is used to execute the instructions and signals generated by the intelligent control module, specifically:

[0015] When a rudder angle adjustment amplitude command is received, the rudder angle amplitude is adjusted according to the current wind speed and wind direction information; when a heading deviation alarm signal is received, an alarm is issued to remind the driver to manually intervene or re-evaluate the heading; when a sail angle adjustment amplitude command is received, the sail angle is adjusted immediately; when a sudden sail angle adjustment signal is received, the sail angle is adjusted; when a sail area adjustment command is received, the current sail area is adjusted to the ideal sail area.

[0016] As a preferred embodiment of the present invention, the specific process of comprehensively analyzing the sailing boat data and the environmental data to obtain the best sailing route is:

[0017] The sailboat driver inputs the destination coordinate position, takes the location of the sailboat as the starting point, and randomly generates several sailing routes. The distance between the destination coordinate position and the starting point, weather data, sea condition data and terrain data in the sailing routes are obtained for analysis to obtain several sail power environment coefficients in the corresponding sailing routes. If there are n sail power environment coefficients in the corresponding sailing route, i = 1, 2, ..., n, then the formula is: Output the corresponding navigation route selection value YXZ, where LJ is the distance of the corresponding navigation route; then match the navigation route selection values ​​YXZ corresponding to the randomly generated navigation routes with the preset navigation route selection value interval, and count the navigation routes that belong to the preset navigation route selection value interval and mark them as optional routes;

[0018] The sailboat driver then inputs the maximum sail speed FVmax of the sailboat, obtains the sail power environment coefficient within each optional route, and counts the distance that meets the maximum sail speed FVmax, symbolized by ML; ML is divided by LJ to obtain the time selection coefficient MJ, the time selection coefficients MJ corresponding to each optional route are compared one by one to obtain the maximum time selection coefficient MJmax, and the optional route corresponding to the maximum time selection coefficient MJmax is used as the best sailing route; if the sailboat driver does not input the maximum sail speed FVmax of the sailboat; then the corresponding sailing route selection values ​​YXZ in the optional routes are compared to obtain the maximum sailing route selection value YXZmax, and the maximum sailing route selection value YXZmax is used as the best sailing route.

[0019] As a preferred embodiment of the present invention, the estimated time of the best sailing route is obtained by comprehensively analyzing the sailing boat data and the environmental data, and the specific process is as follows:

[0020] The best sailing route is determined. If there are n sail power environment coefficients on the route, each sail power environment coefficient FCDZi is converted into the sailing speed Vi of the sailboat on the section through a preset function. Specifically, the set function is a mapping relationship, Vi = f (FCDZi); then the average speed is calculated: Assuming that each distance is di: through the formula: Output the average driving speed Vp; then the estimated navigation time Ty is obtained by dividing the total distance LJ by the average driving speed Vp.

[0021] As a preferred embodiment of the present invention, the specific process of detecting the deviation between the current ship speed and heading and the ideal speed and heading, and generating the rudder angle adjustment amplitude instruction and the heading deviation alarm signal is as follows:

[0022] Control the rudder angle R: obtain the current actual heading θ1 of the sailboat in real time, compare it with the predetermined ideal heading θ0, calculate the deviation angle Δθ, Δθ=θ0-θ1, and indicate the adjustment direction according to the positive or negative value of the deviation Δθ. If the deviation Δθ is a positive value, it needs to be adjusted to the right, and if the deviation Δθ is a negative value, it needs to be adjusted to the left. Then, according to the size and direction of the deviation Δθ, determine the amplitude of the initial rudder angle adjustment, and output the adjustment amplitude Rt through the formula: Rt=Kp×Δθ. Kp is a preset proportional factor used to control the sensitivity of the rudder angle adjustment and generate a rudder angle adjustment amplitude instruction. Set a deviation safety range. If the heading deviation exceeds the safety range, generate a heading deviation alarm signal.

[0023] As a preferred embodiment of the present invention, the specific process of monitoring the tilt angle and stability of the hull by sensors and generating the sail angle adjustment amplitude instruction, the sudden sail angle adjustment signal and the sail area adjustment instruction is as follows:

[0024] Control the sail angle: obtain the angle between the wind direction and the ship's heading, and mark it as the relative wind angle θj, then calculate the optimal sail angle θFj based on the relative wind angle, and substitute the relative wind angle θj into the preset ideal function f: θFj=f(θj) to output the optimal sail angle θFj, and monitor the wind speed and wind direction changes in real time through sensors; when the wind direction or wind speed changes, recalculate the current relative wind angle, and dynamically adjust the sail angle based on the new data, specifically: calculate the new optimal sail angle θFj1 through the new relative wind angle θj1, and compare it with the current sail angle Sd to obtain ΔS, and generate a sail angle adjustment amplitude instruction;

[0025] If it is detected that the wind speed suddenly increases, and the wind speed increase exceeds the preset fine-tuning wind angle range, the sail angle S is controlled to increase; the current ideal sail angle is S0, and the actual sail angle is S1, then the formula: S1 = S0-ΔS1 = S1-S0 is used to output the adjusted sail angle ΔS1, ΔS1 is the sail angle reduction amount adjusted according to the degree of wind speed increase, and a sudden sail angle adjustment signal is generated;

[0026] Control the sail area: When the sail angle is at the optimal angle and the ideal average speed is not reached, obtain the current sail area Q1 and calculate the sail area Q0 to maintain the ideal speed. Specifically, the formula is: Output the ideal sail area Q0 for the speed, where V1 is the current speed and Qmax is the maximum sail area of ​​the sailboat; compare the current speed V1 and the ideal speed V0, and calculate the speed difference ΔV, ΔV=V0-V1; if the speed difference exceeds the preset speed threshold, the sail area Q will be dynamically adjusted according to the difference, and if ΔV>0, a sail area adjustment instruction will be generated.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention optimizes the sailing path and performance of a sailboat through comprehensive analysis of environmental data, meteorological data, sea condition data, terrain information and sail power. By standardizing and processing various types of data (such as wind speed, wind direction, air pressure, humidity, temperature, waves, etc.), and combining thrust factors, weather factors, resistance factors, terrain factors, etc., the sail power environmental coefficient of the sailboat can be accurately calculated, so as to adjust the sailing strategy according to the actual sailing conditions and select the optimal sailing route. In addition, the system can further optimize the sailing time and efficiency according to the input maximum sail speed of the sailboat, ensuring that the sailing performance is maximized and the time consumption is reduced in different environments.

[0029] 2. The present invention monitors wind speed, wind direction, heading, sail angle and sail area in real time through an intelligent control module, dynamically adjusts the rudder angle, sail angle and sail area, and ensures that the sailboat sails at an ideal speed within the optimal sailing route, thereby maximizing sailing efficiency and reducing sailing time; through precise adjustment of the deviation angle, relative wind angle and sail area, the intelligent control module can respond to various environmental changes in real time, optimize the power output and stability of the sailboat, and avoid imbalance or instability caused by sudden changes in wind speed or improper adjustment. The system can also automatically adjust the rudder angle and sail angle according to wind changes to ensure that the ship can maintain the best sailing state under different wind conditions, thereby improving sailing safety and comfort. This intelligent control not only improves the maneuverability of the sailboat, but also reduces the need for human intervention, allowing the sailboat to sail efficiently and stably, ensuring that the expected sailing goals are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0031] Figure 1 It is a schematic diagram of the position structure of the present invention;

[0032] Figure 2 It is the control principle block diagram of the present invention;

[0033] Figure 3 For the course of the present invention;

[0034] Figure 4 is a flow chart of the present invention;

[0035] Figure 5 It is a principle block diagram of the present invention.

[0036] Figure numerals: 1. wind speed and direction meter, 2. sail furling mechanical controller, 3. intelligent control system host, 4. chartplotter, 5. automatic rudder mechanical controller, 6. rudder, 7. sail rail mechanical controller, 8. sail control rope mechanical controller, 9. sail angle rope mechanical controller, 10. sail. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be understood that the terms “include” and “comprising” used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0039] It should also be understood that the terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. As used in this disclosure and claims, the singular forms of "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this disclosure and claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations.

[0040] Example 1:

[0041] See also Figure 1-4 As shown, an automatic sailing driving system for a sailboat comprises an intelligent control system host 3, an automatic rudder mechanical controller 5, a sail control rope mechanical controller 8, a sail rail mechanical controller 7, a sail angle rope mechanical controller 9 and a sail furling mechanical controller 2;

[0042] The chart plotter 4 provides chart data; the wind direction and speed meter 1 detects the current wind direction and wind speed in real time; the weather forecast information obtains real-time information through the wireless network / satellite network; the intelligent control system host 3 takes data and calculates and gives a control signal according to the above-mentioned principle steps; the automatic rudder mechanical controller 5 obtains the signal to control the rudder angle R, which can change the true heading A; the sail control rope mechanical controller 8 and the sail slide rail mechanical controller 7 obtain the signal to control the sail angle S, which can affect the true heading A, the heading, and the navigation state (the stability of the ship); the sail angle rope mechanical controller 9 and the sail furling mechanical controller 2 obtain the signal to control the sail area Q, which can control the speed.

[0043] Principle: Adjusting the ∠R rudder angle can change the bow and stern direction of ship B and thus affect the true direction of travel of ship A; adjusting the ∠S sail angle can affect the true direction of travel of ship A, the ship speed, and the ship's navigation state (stability of left and right balance); adjusting the wind-receiving area of ​​the Q sail can change the navigation speed; the M wind vane direction and wind speed are data measured with the ship as the origin of the coordinate system, which are relative direction and relative wind speed. Combined with the current true direction of travel and true navigation speed (GPS) of the ship, the true wind direction and wind speed of W can be calculated; given the true wind direction, wind speed and overall heading, the computer can calculate the current optimal navigation state; after further obtaining weather information, the computer can further calculate the route and port change point, thereby obtaining the estimated arrival time and true navigation path.

[0044] Principle implementation process: Automatically obtain data such as wind vane wind direction angle, and the intelligent control system host calculates the actual wind speed and direction W; the driver gives the destination coordinates on the chartplotter, and determines the current optimal course A and speed based on the destination coordinates, which are achieved by adjusting R, S, and Q; calculates the route and change of side point based on the nautical chart and weather forecast data; predicts the arrival time and actual route distance; and executes automatic driving according to the predicted course and change of side point.

[0045] Example 2:

[0046] See also Figure 2-5 As shown, an automatic sailing and driving system for a sailboat includes a data acquisition module, a data analysis module, an intelligent control module and an execution control module;

[0047] The data acquisition module is used to collect environmental data and sailboat data, wherein the environmental data (environmental data mainly relates to the external environment of the sailboat) includes real-time wind direction, real-time wind speed, weather information, sea condition information, chart data and target position; the sailboat data (sailboat data is the state data of the sailboat itself) includes real-time rudder angle R, real-time sail angle S, sail area Q, speed, heading and hull state;

[0048] The data analysis module is used to analyze environmental data and sailboat data, specifically:

[0049] Standardize the collected environmental data:

[0050] The real-time wind direction θs and wind speed Vs are standardized, the wind direction data is converted into relative angles (relative heading), and the angle range is standardized, for example, the wind direction angle is mapped to the interval [0,1]; the wind speed data can be standardized by using a piecewise function to divide the wind speed value into grades according to the wind force level, or normalized by the formula Vs = Vs / Vmax, where Vmax is the maximum wind speed in the historical data; according to the angle between the wind direction and the ship's heading, θj = |θs-θh|, where θj is the angle between the wind direction and the ship's heading, and θh is the ship's heading, it is converted into a thrust efficiency factor, through the formula: FX1 = cos(θj), FX1 is the wind direction factor; when the wind is approximately perpendicular to the heading, the lateral thrust generated is the largest; when the wind blows from the front or rear, the direct thrust generated is the largest; then, based on the nonlinear relationship between wind speed and sail power, the square or cubic relationship is used to convert it into thrust, through the formula: Output wind speed factor FS1;

[0051] The weather information is standardized, including air pressure P, humidity H, and temperature T. The air pressure fluctuation is converted into the expected weight of wind strength increase or decrease. It should be noted that a rapid drop in air pressure often indicates an increase in wind speed; in a high temperature and high humidity environment, the air density decreases, and the force on the sail will decrease; it should be noted that humidity and temperature affect air density, which in turn affects wind strength; the wind speed growth rate is calculated by the rate of change of air pressure, using the formula: Get the weather factor TQ1, is the rate of change of air pressure, κ is an adjustment coefficient, which controls the influence of the rate of change of air pressure on weather factors;

[0052] The sea condition information is standardized, where the sea condition information includes wave height hw, wave period Tw, current speed Vc and direction; the wave height and period are calculated by empirical formulas, which include the wave resistance calculation formula: Output wave resistance coefficient R L , where C w is the coefficient of interaction between the hull and the waves, obtained through experiments or historical data, and depends on the shape of the ship, the frequency of the waves, etc.; ρ w is the density of water, Vu is the ship speed, and Lc is the length of the hull. It should be noted that the influence of wave period Tw on resistance is usually reflected by the frequency of waves. When the ship speed is close to the propagation speed of waves, the interaction between the hull and the waves will increase, causing greater resistance. The wave period affects the frequency of waves fw = 1 / Tw. Under certain conditions, resonance may occur when the ship speed and wave frequency match, increasing resistance. In order to quantify this influence, a correction factor is used for correction, which is given by the formula: Output wave resistance coefficient R L, where Vw is the wave propagation velocity calculated from the wave period and wavelength: C R It is a coefficient related to the resonance effect, obtained through experiments or historical data; when Vu is close to Vw, the interaction between the hull and the waves will intensify, resulting in greater wave resistance; the wave resistance coefficient is combined with environmental data such as wind speed and wind direction to standardize the wave resistance, which is given by the formula: Output the standardized resistance factor, where Rw,max is the maximum wave resistance recorded in the historical data or the maximum wave resistance in the model, ensuring that the wave resistance coefficient fluctuates within a certain range (between [0,1]);

[0053] The terrain information is standardized and the terrain complexity is converted into a terrain factor according to the sea area where the ship is located. The formula is: Output terrain factor DX1, where g is the acceleration of gravity, Ac is the sum of the areas of complex terrain (such as islands, shoals, reefs, etc.) within a certain range around the ship, At is the total area of ​​the ship's navigation area, λ is an adjustment coefficient used to control the influence of terrain complexity on the sail power environmental coefficient (adjusted by experimental data or historical navigation data), d is the distance between the ship and the complex terrain (such as islands, reefs, etc.). The closer the distance, the greater the influence of the terrain on wind and water flow. Therefore, the exp(-k×d) term controls the weakening of the influence, k is an attenuation coefficient, which indicates the degree of reduction of the influence with increasing distance, Vc is the water flow velocity in the area, and Vmax is the maximum water flow velocity;

[0054] Then, the wind direction factor, wind speed factor, weather factor, standardized resistance factor and terrain factor are comprehensively calculated to obtain the sail power environment coefficient FCDZ, which is obtained by the formula: FCDZ = FX1 × a1 + FS1 × a2 + TQ1 × a3 + (1-BZ1) × a4 + DX1 × a5, wherein a1, a2, a3, a4 and a5 are the weights of each factor, which are adjusted according to the actual sailing conditions; for example, the weather factor weight can be increased in bad weather, and 1 = a1 + a2 + a3 + a4 + a5; the sail power environment coefficient FCDZ is matched with the preset sail power environment interval, which includes sail power environment interval one, sail power environment interval two, sail power environment interval three and sail power environment interval four, and the median in each interval is The median of interval one < the median of interval two < the median of interval three < the median of interval four; if the sail power environment coefficient FCDZ belongs to the power environment interval one, the environment does not have the ability to use sail power, and the generated environment does not have a sail instruction; if the sail power environment coefficient FCDZ belongs to the power environment interval one, the environment has the ability to use sail power, and a sail power low-speed instruction is generated; if the sail power environment coefficient FCDZ belongs to the power environment interval two, the environment has the ability to use sail power, and a sail power low-speed instruction is generated; if the sail power environment coefficient FCDZ belongs to the power environment interval three, the environment has the ability to use sail power, and a sail power medium-speed instruction is generated; if the sail power environment coefficient FCDZ belongs to the power environment interval four, the environment has the ability to use sail power, and a sail power high-speed instruction is generated;

[0055] The optimal sailing route and estimated time are obtained by comprehensive analysis of the sailing ship data and environmental data, specifically:

[0056] The sailboat driver inputs the destination coordinate position, takes the location of the sailboat as the starting point, and randomly generates several sailing routes. The distance between the destination coordinate position and the starting point, weather data, sea condition data and terrain data in the sailing routes are obtained for analysis to obtain several sail power environment coefficients in the corresponding sailing routes. Assuming that there are n sail power environment coefficients in the corresponding sailing route, i = 1, 2, ..., n, then the formula is: Output the corresponding navigation route selection value YXZ, where LJ is the distance of the corresponding navigation route; then randomly generate a number of navigation routes, each corresponding to the navigation route selection value YXZ, match it with the preset navigation route selection value interval, and count the navigation routes that belong to the preset navigation route selection value interval, marking them as optional routes;

[0057] Then the sailboat driver inputs the maximum sail speed FVmax of the sailboat, obtains the sail power environment coefficient in each optional route, and counts the distance that meets the maximum sail speed FVmax, marked as ML; ML is divided by LJ to obtain the time selection coefficient MJ, and then the time selection coefficients MJ corresponding to each optional route are compared one by one to obtain the maximum time selection coefficient MJmax, and the optional route corresponding to the maximum time selection coefficient MJmax is used as the best sailing route; if the sailboat driver does not input the maximum sail speed FVmax of the sailboat; then the corresponding sailing route selection values ​​YXZ in the optional routes are compared to obtain the maximum sailing route selection value YXZmax, and the maximum sailing route selection value YXZmax is used as the best sailing route;

[0058] If the best sailing route is determined, and there are n sail power environment coefficients on the route; for each sail power environment coefficient FCDZi, it is converted into the sailing speed Vi of the sailboat on the section through a preset function, specifically: the set function is a mapping relationship, Vi=f(FCDZi); then the average speed is calculated: assuming that each distance is di: through the formula: Output the average driving speed Vp; then the estimated sailing time Ty is obtained by dividing the total distance LJ by the average driving speed Vp;

[0059] The specific process of the intelligent control module for controlling the rudder angle, sail angle, and sail area of ​​a sailboat to achieve the expected time within the optimal sailing route is as follows:

[0060] Set the target heading angle on the best sailing route and use it as the ideal heading angle. According to the estimated sailing time Ty and the total distance of the route LJ, determine the ideal average speed V0; then initialize the rudder angle R, sail angle S, and sail area Q to put the sailboat into the best sailing state;

[0061] Monitor wind speed and direction changes in real time, calculate the sail dynamic environment coefficient FCDZ, update the relative angle between wind direction and hull; detect the deviation between current ship speed and heading and ideal speed and heading, and then monitor the tilt angle and stability of the hull through sensors to prevent hull imbalance due to sail area or angle adjustment;

[0062] Control the rudder angle R: obtain the actual heading θ1 of the sailboat in real time, compare it with the predetermined ideal heading θ0, calculate the deviation angle Δθ, Δθ=θ0-θ1, and indicate the adjustment direction according to the positive or negative value of the deviation Δθ. If the deviation Δθ is positive, it needs to be adjusted to the right, and if the deviation Δθ is negative, it needs to be adjusted to the left. Then, according to the size and direction of the deviation Δθ, determine the amplitude of the initial rudder angle adjustment, and output the adjustment amplitude Rt through the formula: Rt=Kp×Δθ. Kp is a preset proportional factor used to control the sensitivity of the rudder angle adjustment and generate a rudder angle adjustment amplitude instruction. Set a deviation safety range. If the heading deviation exceeds the safety range, generate a heading deviation alarm signal.

[0063] Control the sail angle: obtain θj, where θj is the angle between the wind direction and the heading of the ship, and is marked as the relative wind angle θj. Then, based on the relative wind angle, calculate the optimal sail angle θFj (usually, the optimal sail angle is ideal when the relative wind angle is between 45° and 90° (depending on the specific design and performance of the sailboat)), and substitute the relative wind angle θj into the preset ideal function f: θFj=f(θj) to output the optimal sail angle θFj. The function f is adjusted according to the wind force and the hull design. The wind speed and wind direction are monitored in real time through sensors. When the wind direction or wind speed changes, the current relative wind angle is recalculated, and the sail angle is dynamically adjusted based on the new data, specifically: the new optimal sail angle θFj1 is obtained by performing function f calculation through the new relative wind angle θj1, and compared with the current sail angle Sd to obtain ΔS, and a sail angle adjustment amplitude instruction is generated.

[0064] If it is detected that the wind speed suddenly increases, and the wind speed increase exceeds the preset fine-tuning wind angle range, the sail angle S is controlled to increase; assuming that the current ideal sail angle is S0 and the actual sail angle is S1, the formula: S1 = S0-ΔS1 = S1-S0 is used to output the adjusted sail angle ΔS1, where ΔS1 is the sail angle increase adjusted according to the degree of wind speed increase to generate a sudden sail angle adjustment signal;

[0065] Control the sail area: When the sail angle is at the optimal angle and the ideal average speed is not reached, obtain the current sail area Q1 and calculate the sail area Q0 to maintain the ideal speed. Specifically, the formula is: Output the sail area Q0 of the ideal speed, where V1 is the current speed and Qmax is the maximum sail area of ​​the sailboat (the maximum sail area will provide the maximum thrust); compare the current speed V1 and the ideal speed V0, and calculate the speed difference ΔV, ΔV = V0-V1; if the speed difference exceeds the preset speed threshold (that is, the current speed is lower than the ideal speed), the sail area Q will be dynamically adjusted according to the difference, and if ΔV>0 (the current speed is lower than the ideal speed), a sail area adjustment instruction will be generated;

[0066] The execution control module is used to execute the instructions and signals generated by the intelligent control module, specifically:

[0067] When receiving the command of the rudder angle adjustment amplitude, the amplitude of the rudder angle is adjusted according to the information of the current wind speed and wind direction to offset the influence of the wind on the heading; for example, when the wind speed is high and comes from the side wind, the rudder angle adjustment amount is increased to offset the lateral thrust brought by the wind; conversely, when the wind speed is low, the rudder angle adjustment amount is reduced to avoid over-adjustment; after the initial adjustment is completed, the heading deviation Δθ is monitored in real time. If the deviation still exists and exceeds the preset tolerance value, the fine-tuning stage is entered: according to the change trend of the deviation, the rudder angle adjustment amplitude is gradually reduced to gradually stabilize the hull on the ideal heading;

[0068] When a heading deviation alarm signal is received, an alarm is issued to remind the pilot to manually intervene or re-evaluate the heading;

[0069] When receiving the sail angle adjustment amplitude instruction, the sail angle is adjusted immediately to improve the sail efficiency; if the wind speed is lower than the preset wind speed threshold 1 (preset wind speed threshold 1 < preset wind speed threshold 2), the sail angle may be increased to capture more wind power; if the wind speed is higher than the preset wind speed threshold 2, the sail angle is reduced to avoid excessive tilt or instability;

[0070] When receiving a sudden sail angle adjustment signal, the sail angle is adjusted by adjusting the sail angle ΔS1 to avoid excessive tilt or hull instability caused by a sudden increase in wind speed; when the sail angle increases to a fixed preset degree, the sail angle is adjusted in real time according to the tilt angle θq of the hull to prevent instability or capsizing caused by excessive tilt. If the tilt angle is too large, the sail angle will automatically decrease;

[0071] When a sail area adjustment instruction is received, the current sail area is adjusted to the ideal sail area; when the wind speed Vs changes, the ideal sail area is recalculated and adjusted.

[0072] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic sailing system for a sailboat, comprising an intelligent control system host (3), an automatic rudder mechanical controller (5), a sail control rope mechanical controller (8), a sail rail mechanical controller (7), a sail angle rope mechanical controller (9) and a sail furling mechanical controller (2); characterized in that: The intelligent control system host (3) automatically obtains the wind vane wind angle data, and the intelligent control system host (3) calculates the actual wind speed and direction W; the driver gives the destination coordinate position on the chart plotter (4), and determines the current optimal course A and speed according to the destination coordinate, and achieves it by adjusting R, S, and Q; then the route and the turning point are calculated through the chart and weather forecast data, the arrival time and the actual route distance are predicted, and the automatic driving is performed according to the predicted course and turning point; The automatic rudder mechanical controller (5) obtains the signal to control the rudder angle R, which can change the real heading A; The sail control rope mechanical controller (8) and the sail rail mechanical controller (7) obtain signals to control the sail angle S; The sail angle rope mechanical controller (9) and the sail furling device mechanical controller (2) obtain signals to control the sail area Q and the ship speed.

2. The automatic sailing system for a sailboat according to claim 1, characterized in that: It also includes a chart plotter (4), a wind direction and speed meter (1) and weather forecast information; A chart plotter (4) provides chart data; Wind direction and speed meter (1) detects the current wind direction and speed in real time; Weather forecast information is obtained in real time via wireless network or satellite network.

3. The automatic sailing system for a sailboat according to claim 1, characterized in that: It also includes a data analysis module and an intelligent control module; The data analysis module is used to analyze environmental data and sailboat data, specifically: Standardize the collected environmental data: standardize the real-time wind direction θs and wind speed Vs to obtain the wind direction factor; standardize the weather information to obtain the weather factor; standardize the sea condition information to obtain the resistance coefficient caused by waves, combine the resistance coefficient with the environmental data, and standardize the wave resistance to obtain the standardized resistance factor; The terrain information is standardized to obtain the terrain factor, and then the wind direction factor, wind speed factor, weather factor, standardized resistance factor and terrain factor are comprehensively calculated to obtain the sail power environment coefficient; Comprehensive analysis of sailing data and environmental data to obtain the best sailing route and estimated time; The intelligent control module is used to control the rudder angle, sail angle and sail area of ​​the sailboat to sail within the optimal sailing route for the expected time, specifically: Set the target heading angle on the best sailing route and use it as the ideal heading angle. According to the estimated sailing time Ty and the total distance of the route LJ, determine the ideal average speed V0; then initialize the rudder angle R, sail angle S and sail area Q to put the sailboat into the best sailing state; The wind speed and direction changes are monitored in real time to calculate the sail dynamic environment coefficient and update the relative angle between the wind direction and the hull. The deviation between the current ship speed and heading and the ideal speed and heading is detected to generate a rudder angle adjustment amplitude command and a heading deviation alarm signal. The inclination angle and stability of the hull are then monitored through sensors to generate a sail angle adjustment amplitude command, a sudden sail angle adjustment signal and a sail area adjustment command.

4. The automatic sailing system for sailboats according to claim 3, characterized in that: It also includes a data acquisition module and an execution control module; The data acquisition module is used to collect environmental data and sailboat data, wherein the environmental data includes real-time wind direction, real-time wind speed, weather information, sea condition information, chart data and target position; the sailboat data includes real-time rudder angle R, real-time sail angle S, sail area Q, speed, heading and hull status; The execution control module is used to execute the instructions and signals generated by the intelligent control module, specifically: When a rudder angle adjustment amplitude command is received, the rudder angle amplitude is adjusted according to the current wind speed and wind direction information; when a heading deviation alarm signal is received, an alarm is issued to remind the driver to manually intervene or re-evaluate the heading; when a sail angle adjustment amplitude command is received, the sail angle is adjusted immediately; when a sudden sail angle adjustment signal is received, the sail angle is adjusted; when a sail area adjustment command is received, the current sail area is adjusted to the ideal sail area.

5. The automatic sailing system for sailboats according to claim 3, characterized in that: The specific process of comprehensively analyzing the sailing ship data and environmental data to obtain the best sailing route is as follows: The sailboat driver inputs the destination coordinate position, takes the location of the sailboat as the starting point, and randomly generates several sailing routes. The distance between the destination coordinate position and the starting point, weather data, sea condition data and terrain data in the sailing routes are obtained for analysis to obtain several sail power environment coefficients in the corresponding sailing routes. If there are n sail power environment coefficients in the corresponding sailing route, i = 1, 2, ..., n, then the formula is: Output the corresponding navigation route selection value YXZ, where LJ is the distance of the corresponding navigation route; then match the navigation route selection values ​​YXZ corresponding to the randomly generated navigation routes with the preset navigation route selection value interval, and count the navigation routes that belong to the preset navigation route selection value interval and mark them as optional routes; The sailboat driver then inputs the maximum sail speed FVmax of the sailboat, obtains the sail power environment coefficient within each optional route, and counts the distance that meets the maximum sail speed FVmax, symbolized by ML; ML is divided by LJ to obtain the time selection coefficient MJ, the time selection coefficients MJ corresponding to each optional route are compared one by one to obtain the maximum time selection coefficient MJmax, and the optional route corresponding to the maximum time selection coefficient MJmax is used as the best sailing route; if the sailboat driver does not input the maximum sail speed FVmax of the sailboat; then the corresponding sailing route selection values ​​YXZ in the optional routes are compared to obtain the maximum sailing route selection value YXZmax, and the maximum sailing route selection value YXZmax is used as the best sailing route.

6. The automatic sailing system for sailboats according to claim 3, characterized in that: The estimated time of the best sailing route is obtained by comprehensive analysis of the sailing data and environmental data. The specific process is as follows: The best sailing route is determined. If there are n sail power environment coefficients on the route, each sail power environment coefficient FCDZi is converted into the sailing speed Vi of the sailboat on the section through a preset function. Specifically, the set function is a mapping relationship, Vi = f (FCDZi); then the average speed is calculated: Assuming that each distance is di: through the formula: Output the average driving speed Vp; then the estimated navigation time Ty is obtained by dividing the total distance LJ by the average driving speed Vp.

7. The automatic sailing system for sailboats according to claim 3, characterized in that: The specific process of detecting the deviation between the current ship speed and heading and the ideal speed and heading, and generating the rudder angle adjustment amplitude instruction and the heading deviation alarm signal is as follows: Control the rudder angle R: obtain the current actual heading θ1 of the sailboat in real time, compare it with the predetermined ideal heading θ0, calculate the deviation angle Δθ, Δθ=θ0-θ1, and indicate the adjustment direction according to the positive or negative value of the deviation Δθ. If the deviation Δθ is a positive value, it needs to be adjusted to the right, and if the deviation Δθ is a negative value, it needs to be adjusted to the left. Then, according to the size and direction of the deviation Δθ, determine the amplitude of the initial rudder angle adjustment, and output the adjustment amplitude Rt through the formula: Rt=Kp×Δθ. Kp is a preset proportional factor used to control the sensitivity of the rudder angle adjustment and generate a rudder angle adjustment amplitude instruction. Set a deviation safety range. If the heading deviation exceeds the safety range, generate a heading deviation alarm signal.

8. The automatic sailing system for sailboats according to claim 3, characterized in that: The specific process of monitoring the tilt angle and stability of the hull by sensors and generating sail angle adjustment amplitude instructions, sudden sail angle adjustment signals and sail area adjustment instructions is as follows: Control the sail angle: obtain the angle between the wind direction and the ship's heading, and mark it as the relative wind angle θj, then calculate the optimal sail angle θFj based on the relative wind angle, and substitute the relative wind angle θj into the preset ideal function f: θFj=f(θj) to output the optimal sail angle θFj, and monitor the wind speed and wind direction changes in real time through sensors; when the wind direction or wind speed changes, recalculate the current relative wind angle, and dynamically adjust the sail angle based on the new data, specifically: calculate the new optimal sail angle θFj1 through the new relative wind angle θj1, and compare it with the current sail angle Sd to obtain ΔS, and generate a sail angle adjustment amplitude instruction; If it is detected that the wind speed suddenly increases, and the wind speed increase exceeds the preset fine-tuning wind angle range, the sail angle S is controlled to increase; the current ideal sail angle is S0, and the actual sail angle is S1, then the formula: S1 = S0-ΔS1 = S1-S0 is used to output the adjusted sail angle ΔS1, ΔS1 is the sail angle reduction amount adjusted according to the degree of wind speed increase, and a sudden sail angle adjustment signal is generated; Control the sail area: When the sail angle is at the optimal angle and the ideal average speed is not reached, obtain the current sail area Q1 and calculate the sail area Q0 to maintain the ideal speed. Specifically, the formula is: Output the ideal sail area Q0 for the speed, where V1 is the current speed and Qmax is the maximum sail area of ​​the sailboat; compare the current speed V1 and the ideal speed V0, and calculate the speed difference ΔV, ΔV=V0-V1; if the speed difference exceeds the preset speed threshold, the sail area Q will be dynamically adjusted according to the difference, and if ΔV>0, a sail area adjustment instruction will be generated.

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