Unmanned boat carrying UAV take-off and landing device, take-off and landing control system and control method

Abstract

The invention discloses a semi-submersible unmanned boat carrying a drone take-off and landing device, a take-off and landing control system and a control method. It includes a No. 1 limit mechanism, a No. 2 limit mechanism, a winch winch and a winch motor. A drone is placed above the upper cover of the control cabin. The reconnaissance module of the drone can extend to the lower part of the upper cover of the control cabin and is clamped and fixed by the No. 1 limit mechanism and the No. 2 limit mechanism. The communication rope wound on the winch winch is connected to the reconnaissance module of the drone. The winch motor, the drone controller and the control ends of the No. 1 limit mechanism and the No. 2 limit mechanism are all connected to the take-off and landing control system. Its advantages are: the structural design is ingenious, the installation is convenient, the operation of taking off and landing drones on semi-submersible unmanned boats can be realized, the drone can be fixed after landing, and the reliability is good; the reliability of remote real-time communication with the unmanned boat is guaranteed, the drone body and the on-board reconnaissance data are recovered after the drone loses control, and the safety factor of the drone when performing tasks is greatly improved.

Description

Technical Field

[0001] The present invention relates to an unmanned ship control technology, and in particular to a semi-submersible unmanned boat equipped with an unmanned aerial vehicle (UAV) take-off and landing device, a take-off and landing control system and a control method. Background Art

[0002] The development and utilization of marine resources has become a world trend and a national trend. Limited by the natural conditions of the ocean and the physiological conditions of human beings, it is difficult to fully utilize marine resources by manpower or manned ships alone. As an emerging marine equipment with low maintenance cost and high use efficiency, unmanned boats are an indispensable and important equipment in deepening the development of marine resources and protecting national marine interests. Among them, the semi-submersible unmanned boat adopts a hull structure that combines a single-body cylindrical buoy with a small stealth control cabin. This structure not only ensures the self-righting function of the small boat, but also improves the shaking of the small boat body. Compared with traditional surface unmanned boats, it effectively reduces the radar reflection surface of the boat body and improves the stealth of the unmanned boat when performing reconnaissance missions.

[0003] Generally speaking, conventional semi-submersible unmanned boats are not equipped with shipborne drones. For example, the Chinese utility model (application number CN201920181663.6) discloses a semi-submersible unmanned boat solution suitable for high sea conditions, and proposes a reconnaissance method based on a waterproof electric telescopic rod equipped with an observation device. The Chinese patent (application number 201510760006.3) discloses an unmanned ship-borne drone hybrid system, which includes a surface hull, a ship-borne power device, a ship-borne application device and a drone. The hybrid system can make up for the disadvantage of the surface unmanned ship operating in the vertical direction of the airspace. The Chinese patent (application number 201910144289.7) discloses an unmanned ship-drone collaboration system and control method, and proposes a device design scheme for integrated take-off, landing and charging, using a gimbal to isolate the swaying motion of the hull, using a buffer device to prevent collisions during the landing of the drone, and using a fixing device to coordinate the take-off and landing of the drone.

[0004] The first method mentioned above only involves the introduction of a solution for a traditional semi-submersible unmanned boat. The waterproof electric telescopic rod of the system has a complex structure and a limited extension height, which makes it difficult to fundamentally make up for the disadvantage that the semi-submersible unmanned boat cannot observe distant objects.

[0005] The second and third methods mentioned above both involve a hybrid system of a surface unmanned ship and a UAV. This solution first requires implementation on a surface unmanned ship with a stable platform, and the use of wireless communication or satellite communication equipment between the unmanned ship and the UAV. In severe sea conditions, communication interruption may occur at any time, resulting in the crash of the UAV and the loss of reconnaissance data. In this case, none of the above solutions have a reliable solution for controlling the UAV. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a highly integrated, safe and reliable unmanned boat-mounted UAV take-off and landing device, a take-off and landing control system and a control method.

[0007] In order to solve the above technical problems, the unmanned boat of the present invention carries a UAV take-off and landing device, including a No. 1 limit mechanism and a No. 2 limit mechanism that can move relatively and are arranged at the bottom of the control cabin upper cover of the semi-submersible unmanned boat, and a winch winch arranged in the lower cover of the control cabin and a winch motor that can drive the winch winch to move. A UAV is arranged above the control cabin upper cover, and the reconnaissance module of the UAV can extend to the bottom of the control cabin upper cover and be clamped and fixed by the No. 1 limit mechanism and the No. 2 limit mechanism. The communication rope wrapped around the winch winch is connected to the reconnaissance module of the UAV and can be released or retracted under the drive of the winch winch, and the winch motor, the controller of the UAV, and the control ends of the No. 1 limit mechanism and the No. 2 limit mechanism are all connected to the take-off and landing control system and can operate under the control of the take-off and landing control system.

[0008] The control ends of the No. 1 limiting mechanism and the No. 2 limiting mechanism include a No. 1 linear motor capable of controlling the No. 1 limiting mechanism and a No. 2 linear motor capable of controlling the No. 2 limiting mechanism. The No. 1 limiting mechanism includes a No. 1 screw guide rail arranged at the bottom of the control cabin upper cover and a No. 1 limiting block installed in cooperation with the No. 1 screw guide rail. The No. 2 limiting mechanism includes a No. 2 screw guide rail arranged at the bottom of the control cabin upper cover and a No. 2 limiting block installed in cooperation with the No. 2 screw guide rail. The No. 1 linear motor is connected to the No. 1 screw guide rail, and the No. 2 linear motor is connected to the No. 2 screw guide rail.

[0009] The hoist winch is fixedly mounted on a control cabin mounting tray, and the lowering control system is also fixedly mounted on the mounting tray.

[0010] A take-off and landing control system for a take-off and landing device of a drone carried by an unmanned boat, comprising a control unit, a No. 1 linear motor driver for driving a No. 1 linear motor, a No. 2 linear motor driver for driving a No. 2 linear motor, a No. 1 direction position control module connected to the No. 1 linear motor driver, and a No. 2 direction position control module connected to the No. 2 linear motor driver, wherein the control unit is connected to the No. 1 direction position control module and the No. 2 direction position control module via a communication line, and the control unit is also connected to a micro inertial navigation attitude sensor, a GPS / Beidou position sensor, a winch motor, and a drone controller.

[0011] The control unit is integrated with a PWM output module, a GPIO digital signal input and output module, an analog signal input and output module, a PROT0 serial communication module and a PROT1 serial communication module. The analog signal input and output module is connected to the winch motor through a signal line, and the GPIO digital signal input / output module is connected to the micro-inertial navigation attitude sensor and the GPS / Beidou position sensor through a signal line; the PROT0 serial communication module realizes wired communication with the drone controller through a communication rope.

[0012] The PWR power supply module is connected to a lithium battery, and the lithium battery is connected to a first direction position control module and a second direction position control module.

[0013] The control unit is a S7-200 PLC controller.

[0014] A control method based on a control system of a take-off and landing device of a drone carried by an unmanned boat comprises the following steps:

[0015] Step A: After power-on, the control unit is initialized, the No. 1 linear motor, the No. 2 linear motor, and the winch motor are initialized, and the No. 1 limit mechanism and the No. 2 limit mechanism are reset to zero;

[0016] Step B: receiving the drone take-off reconnaissance command, and transmitting the drone control command target data to the drone controller via the communication rope;

[0017] Step C: The drone controller receives the control command and prepares to take off. The control unit sends action signals to the PWM output modules of the No. 1 motor drive module and the No. 2 motor drive module through the signal line. The No. 1 linear motor and the No. 2 linear motor perform the action, and the No. 1 limit mechanism and the No. 2 limit mechanism release the drone. The drone takes off immediately and starts the reconnaissance mission.

[0018] Step D: When the drone reconnaissance is completed, the control unit sends a return command to the drone through the communication rope, and at the same time sends the current position information and attitude angle information of the unmanned boat to the drone controller. When the return is normal, the drone controller uses the position information and attitude angle information of the semi-submersible unmanned boat as the flight target in real time, corrects the target position and attitude angle errors in real time, and guides the drone to land on the control cabin cover; when the drone reconnaissance module is pressed under the control cabin cover, the control unit sends action signals to the PWM output ports of the No. 1 linear motor drive module and the No. 2 linear motor drive module through the signal line, the No. 1 linear motor and the No. 2 linear motor execute the action, and the No. 1 limit mechanism and the No. 2 limit mechanism fix the drone. Finally, the control unit sends an action command to the winch motor through the analog input and output port, the motor rotates forward, tightens the communication rope, and thus fixes the drone in the vertical direction.

[0019] Step E: When communication is interrupted during the return flight and the UAV loses control, the control unit immediately sends an action command to the winch motor driver and the winch motor through the analog input and output port. The motor rotates forward, tightens the communication rope, directly recovers the UAV, and evacuates to the shore.

[0020] The advantages of the present invention are:

[0021] 1. Its structural design is ingenious and easy to install. It can not only realize the operation of taking off and landing UAVs on semi-submersible unmanned boats, but also the limiting mechanism and communication ropes can fix the UAV well after the UAV lands on the unmanned boat, with good reliability. In addition, since the UAV is equipped with communication ropes when performing tasks, it not only ensures the reliability of remote real-time communication with the semi-submersible unmanned boat, but also can recover the fuselage and onboard reconnaissance data after the UAV loses control in the event of communication failure (loss of control due to signal interference), which greatly improves the safety factor of the UAV when performing tasks.

[0022] 2. In terms of the control system, the take-off and landing control system based on the S7-200 controller adopts a hardware control architecture that combines micro-inertial navigation attitude sensors, GPS / Beidou positioning sensors, linear motors, winch motors and S7-200 controllers, avoiding the major safety hazards that may exist during the traditional manual remote control of the UAV's take-off and landing process.

[0023] 3. Its overall mechanical structure and control system are organically combined and complement each other. It is not only cleverly designed in structure and easy to install, but also has a high degree of automation, realizing the take-off and landing functions of semi-submersible unmanned boats and ship-borne drones. It can meet the take-off and landing control requirements of semi-submersible unmanned boats and ship-borne drones of different sizes and types. It has a high degree of integration and a certain degree of versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the unmanned boat equipped with the take-off and landing device of the unmanned aerial vehicle in the use state of the present invention;

[0025] Figure 2 This is a schematic diagram of the installation status of the control cabin and the UAV in the present invention;

[0026] Figure 3 This is a schematic diagram of the exploded structure of the unmanned boat carrying the UAV take-off and landing device of the present invention;

[0027] Figure 4 This is a principle block diagram of the control system of the unmanned boat equipped with the UAV take-off and landing device in the present invention;

[0028] Figure 5 The figure is a flow chart of the take-off and landing process of the unmanned boat carrying the UAV in the present invention. DETAILED DESCRIPTION

[0029] The following is a further detailed description of the take-off and landing device, take-off and landing control system and control method of the unmanned boat-mounted UAV of the present invention in conjunction with the accompanying drawings and specific implementation methods.

[0030] Embodiment 1:

[0031] like Figure 1 , Figure 2 As shown, a small unmanned stealth electric boat adopts a hull structure combining a single-body cylindrical float and a small stealth control cabin 1 in terms of appearance design; this structure not only ensures the self-righting function of the boat, but also improves the shaking of the small boat body, effectively reduces the radar reflection surface of the boat body, and improves the stealth of the unmanned boat; in order to increase the reconnaissance range of the unmanned boat, the ship-borne UAV 2 can be carried by the unmanned boat of the present invention. The unmanned boat carries a UAV take-off and landing device and a take-off and landing control system to achieve normal take-off and landing on the semi-submersible unmanned boat, the communication rope 3 is an optical fiber communication line inside and a high-strength nylon material outside, which is connected to the bottom of the UAV and can transmit the UAV reconnaissance data and the control instructions issued by the unmanned boat through the optical fiber communication line; when the UAV fails, the UAV body can be recovered through the communication rope.

[0032] like Figure 3 As shown, the unmanned boat carrying UAV take-off and landing device of this embodiment includes a No. 1 limiting mechanism 6 and a No. 2 limiting mechanism 7 which are relatively movable and are arranged at the bottom of the upper cover 4 of the control cabin at the top of the semi-submersible unmanned boat, and a winch winch 10 and a winch motor 13 which can drive the winch winch to move. As can be seen from the figure, the winch winch 10 is fixedly installed on the control cabin mounting tray 11 by bolts and is connected to the winch motor through a coupling. A UAV is arranged above the upper cover 4 of the control cabin. The reconnaissance module 8 of the UAV can extend to the bottom of the upper cover 4 of the control cabin and is clamped and fixed by the No. 1 limiting mechanism 6 and the No. 2 limiting mechanism 7. The communication rope 3 wound on the winch winch 10 is connected to the reconnaissance module 8 of the UAV and can be released or retracted under the drive of the winch winch 10. The winch motor 13, the control unit of the UAV, and the control ends of the No. 1 limiting mechanism 6 and the No. 2 limiting mechanism 7 are all connected to the take-off and landing control system and can be based on S7-200. The PLC controller is used to control the take-off and landing control system. The S7-200 PLC-based landing control system is also fixedly installed on the mounting tray 11. Figure 3It can be seen that the control ends of the No. 1 limiting mechanism 6 and the No. 2 limiting mechanism 7 include a No. 1 linear motor 15 capable of controlling the No. 1 limiting mechanism 6 and a No. 2 linear motor 16 capable of controlling the No. 2 limiting mechanism 7. The No. 1 limiting mechanism includes a No. 1 screw guide rail arranged at the bottom of the control cabin upper cover 4 and a No. 1 limiting block installed in cooperation with the No. 1 screw guide rail. The No. 2 limiting mechanism 7 includes a No. 2 screw guide rail arranged at the bottom of the control cabin upper cover 4 and a No. 2 limiting block installed in cooperation with the No. 2 screw guide rail. The No. 1 linear motor 15 is connected to the No. 1 screw guide rail, and the No. 2 linear motor 16 is connected to the No. 2 screw guide rail. When the No. 1 linear motor 15 and the No. 2 linear motor 16 are working, the No. 1 limiting block and the No. 2 limiting block are pushed to move and horizontally fix the UAV reconnaissance module 8 under the transmission of the screw guide rail. When the UAV takes off, the winch winch 10 reverses, the communication rope 3 is released, and the communication rope is retracted when the winch motor 13 rotates forward.

[0033] Embodiment 2:

[0034] The semi-submersible unmanned boat of this embodiment is equipped with a take-off and landing control system of a drone take-off and landing device, including an S7-200 PLC controller, a No. 1 linear motor driver for driving a No. 1 linear motor, a No. 2 linear motor driver for driving a No. 2 linear motor, a No. 1 EM253 direction position control module connected to the No. 1 linear motor driver, and a No. 2 EM253 direction position control module connected to the No. 2 linear motor driver, wherein the No. 1 linear motor is connected to the No. 1 linear motor driver via a signal line, and the No. 2 linear motor is connected to the No. 2 linear motor driver via a signal line. The S7-200 PLC controller is integrated with a PWR power module, a GPIO digital signal input and output module, an analog signal input and output module, a PROT0 serial communication module, and a PROT1 serial communication module. The GPIO digital signal input / output module is connected to the gimbal for sensing the surrounding environment of the semi-submersible unmanned boat, the micro-inertial navigation attitude sensor for obtaining the attitude angle of the semi-submersible unmanned boat, and the GPS / Beidou position sensor for positioning through signal lines. The analog input and output module port is connected to the driver of the winch motor through a signal line, and the winch motor is connected to the winch motor driver through a signal line; the PROT0 serial port communication module realizes wired communication with the UAV controller through a communication rope 3, so that it can receive real-time reconnaissance data sent by the UAV reconnaissance module and feedback the control instructions issued by the S7-200 PLC controller to the UAV. The S7-200 PLC controller is connected to the No. 1 EM253 motor drive module and the No. 2 EM253 motor drive module through a communication line, and the PWR power supply module is connected to a 24V lithium battery. The 24V lithium battery is connected to the No. 1 direction position control module (No. 1 EM253 motor drive module) and the No. 2 direction position control module (No. 2 EM253 motor drive module). Figure 4It can be seen that the No. 1 EM253 motor drive module and the No. 2 EM253 motor drive module are both integrated with IGBT rectifier inverter modules and PWM pulse output ports, among which the IGBT rectifier inverter modules are connected to the 24V lithium battery through the IGBT rectifier inverter interface, the PWM pulse output interface (port) of the No. 1 EM253 direction position control module is connected to the pulse input interface of the No. 1 linear motor driver through a communication line, and the PWM pulse output interface (port) of the No. 2 EM253 direction position control module is connected to the pulse input interface of the No. 2 linear motor driver through a communication line. The 24V lithium battery supplies power to the S7-200 controller, the No. 1 EM253 direction position control module, the No. 2 EM253 direction position control module, the micro inertial navigation attitude sensor 15 and the GPS / Beidou position sensor through the PWR power supply module. During installation, the S7-200 The PLC controller, No. 1 linear motor driver, No. 2 linear motor driver, No. 1 EM253 direction position control module, No. 2 EM253 direction position control module, micro inertial navigation attitude sensor, and GPS / Beidou position sensor are installed in sequence on the installation tray in the middle of the control cabin.

[0035] Embodiment three:

[0036] The control method of the semi-submersible unmanned boat based on the control system of the drone take-off and landing device of this embodiment includes the following steps:

[0037] Step A: After the entire control system is powered on, the S7-200 PLC controller is initialized, the No. 1 linear motor 15, the No. 2 linear motor 16, and the winch motor 13 are initialized, and the No. 1 limit mechanism and the No. 2 limit mechanism are reset to zero;

[0038] Step B: The control system receives the take-off reconnaissance command of the UAV, and transmits the UAV control command target data to the UAV controller via the communication rope;

[0039] Step C: The UAV controller receives the control command and prepares to take off. The S7-200 PLC controller sends action signals to the PWM output modules of the No. 1 EM253 motor drive module and the No. 2 EM253 motor drive module through the signal line. The No. 1 linear motor and the No. 2 linear motor perform the action, and the No. 1 limit mechanism and the No. 2 limit mechanism release the UAV. The UAV takes off immediately and starts the reconnaissance mission.

[0040] Step D: When the drone reconnaissance is completed, the S7-200 PLC controller sends a return command to the drone through the communication rope, and at the same time sends the current position information and attitude angle information of the unmanned boat to the drone controller. When the return is normal, the drone controller uses the position information and attitude angle information of the semi-submersible unmanned boat as the flight target in real time, corrects the target position and attitude angle errors in real time, and guides the drone to land on the control cabin cover; when the drone reconnaissance module is pressed under the control cabin cover, the S7-200 PLC controller sends action signals to the PWM output ports of the No. 1 EM253 motor drive module and the No. 2 EM253 motor drive module through the signal line, respectively, the No. 1 linear motor and the No. 2 linear motor execute the action, and the No. 1 limit mechanism and the No. 2 limit mechanism fix the drone. Finally, the S7-200 PLC controller sends an action command to the winch motor through the analog input and output port, the motor rotates forward, and the communication rope is tightened, thereby fixing the drone in the vertical direction.

[0041] Step E: When communication is interrupted and the UAV loses control during the return flight, the S7-200 PLC controller immediately sends an action command to the winch motor through the analog input and output port. The motor rotates forward, tightens the communication rope, directly recovers the UAV, and evacuates to the shore, ultimately ensuring the control requirements for the take-off and landing of the semi-submersible unmanned boat carrying the UAV.

Claims

1. A semi-submersible unmanned boat equipped with an unmanned aerial vehicle take-off and landing device, characterized in that: The invention comprises a first limiting mechanism (6) and a second limiting mechanism (7) which are arranged at the bottom of a control cabin upper cover (4) of a semi-submersible unmanned boat and are capable of relatively moving, a winch winch (10) arranged in a lower cover of the control cabin, and a winch motor (13) capable of driving the winch winch to move. An unmanned aerial vehicle is arranged above the control cabin upper cover (4). A reconnaissance module (8) of the unmanned aerial vehicle can extend to the bottom of the control cabin upper cover (4) and is clamped and fixed by the first limiting mechanism (6) and the second limiting mechanism (7). A communication rope (3) wound around the winch winch (10) is connected to the reconnaissance module (8) of the unmanned aerial vehicle and can be released or retracted under the drive of the winch winch (10). The winch motor (13), the controller of the unmanned aerial vehicle, and the control ends of the first limiting mechanism (6) and the second limiting mechanism (7) are all connected to a take-off and landing control system and can operate under the control of the take-off and landing control system. The control ends of the first limiting mechanism (6) and the second limiting mechanism (7) include a first linear motor (15) capable of controlling the first limiting mechanism (6) and a second linear motor (16) capable of controlling the second limiting mechanism (7). The first limiting mechanism comprises a first lead screw guide rail provided at the bottom of the control cabin upper cover (4) and a first limiting block mounted in cooperation with the first lead screw guide rail; the second limiting mechanism (7) comprises a second lead screw guide rail provided at the bottom of the control cabin upper cover (4) and a second limiting block mounted in cooperation with the second lead screw guide rail; the first linear motor (15) is connected to the first lead screw guide rail; the second linear motor (16) is connected to the second lead screw guide rail; the first limiting block and the second limiting block are driven by the first lead screw guide rail and the second lead screw guide rail to move and horizontally fix the UAV reconnaissance module (8); the hoist winch (10) is fixedly mounted on the control cabin mounting tray (11); and the take-off and landing control system is also fixedly mounted on the mounting tray (11); The take-off and landing control system comprises a control unit, a No. 1 linear motor driver for driving a No. 1 linear motor, a No. 2 linear motor driver for driving a No. 2 linear motor, a No. 1 direction position control module connected to the No. 1 linear motor driver, and a No. 2 direction position control module connected to the No. 2 linear motor driver, wherein the control unit is connected to the No. 1 direction position control module and the No. 2 direction position control module via a communication line, and the control unit is also connected to a micro inertial navigation attitude sensor, a GPS / Beidou position sensor, a winch motor, and a UAV controller; The control unit is integrated with a PWM output module, a GPIO digital signal input and output module, an analog signal input and output module, a PROT0 serial communication module and a PROT1 serial communication module. The analog signal input and output module is connected to the winch motor via a signal line, and the GPIO digital signal input and output module is connected to the micro inertial navigation attitude sensor and the GPS / Beidou position sensor via a signal line; the PROT0 serial communication module realizes wired communication with the drone controller via a communication rope (3).

2. The semi-submersible unmanned boat carrying unmanned aerial vehicle take-off and landing device according to claim 1, characterized in that: The control unit is also integrated with a PWR power module, the PWR power module is connected to a lithium battery, and the lithium battery is connected to a first direction position control module and a second direction position control module.

3. The semi-submersible unmanned boat carrying unmanned aerial vehicle take-off and landing device according to claim 1 or 2, characterized in that: The control unit is a S7-200 PLC controller.

4. A control method based on a semi-submersible unmanned boat equipped with an unmanned aerial vehicle take-off and landing device, comprising the following steps: Step A: After power is turned on, the control unit is initialized, the No. 1 linear motor (15), the No. 2 linear motor (16), and the winch motor (13) are initialized, and the No. 1 limit mechanism and the No. 2 limit mechanism are reset to zero; Step B: receiving the drone take-off reconnaissance command, and transmitting the drone control command target data to the drone controller via the communication rope; Step C: The drone controller receives the control command and prepares to take off. The control unit sends action signals to the PWM output modules of the No. 1 motor drive module and the No. 2 motor drive module through the signal line. The No. 1 linear motor and the No. 2 linear motor perform the action, and the No. 1 limit mechanism and the No. 2 limit mechanism release the drone. The drone takes off immediately and starts the reconnaissance mission. Step D: When the drone reconnaissance is completed, the control unit sends a return command to the drone through the communication rope, and at the same time sends the current position information and attitude angle information of the unmanned boat to the drone controller. When the return is normal, the drone controller uses the position information and attitude angle information of the semi-submersible unmanned boat as the flight target in real time, corrects the target position and attitude angle errors in real time, and guides the drone to land on the control cabin cover; when the drone reconnaissance module is pressed under the control cabin cover, the control unit sends action signals to the No. 1 motor drive module and the No. 2 motor drive module PWM output module through the signal line, the No. 1 linear motor and the No. 2 linear motor perform the action, and the No. 1 limit mechanism and the No. 2 limit mechanism fix the drone. Finally, the control unit sends an action command to the winch motor through the analog input and output port, the motor rotates forward, and the communication rope is tightened, thereby fixing the drone in the vertical direction; Step E: When communication is interrupted and the UAV loses control during the return flight, the control unit immediately sends an action command to the winch motor through the analog input and output port, the motor rotates forward, tightens the communication rope, directly recovers the UAV, and evacuates to the shore.

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