Unmanned ship system and method for collaborative operation

Abstract

An embodiment of the present invention provides a collaborative unmanned ship system, comprising a first unmanned ship and a second unmanned ship which are communicatively connected to a shore-based control system, wherein the second unmanned ship comprises a relay module and is configured to move to a first position, activate the relay module at the first position, and relay the communication between the first unmanned ship and the shore-based control system through the relay module when the communication connection between the first unmanned ship and the shore-based control system is interrupted, wherein the first position is a position where the first unmanned ship has a communication connection with the shore-based control system, so that compared with the prior art, on the one hand, the first unmanned ship will not be out of a controlled state, thereby preventing the first unmanned ship from being lost or out of control, and on the other hand, the first unmanned ship can continue to execute and complete the original task, thereby avoiding the situation where the task cannot be completed or the scheduled task cannot be completed again after returning.

Description

Technical Field

[0001] The present invention relates to an unmanned ship system, and in particular to a collaborative operation unmanned ship system and a collaborative operation method. Background Art

[0002] An unmanned boat is a fully automatic surface robot that can navigate on the water according to preset tasks with the help of a positioning system and its own sensors. It has been increasingly widely used in areas such as water surface cleaning, water quality testing and monitoring, and water surface patrols.

[0003] Unmanned boats use wireless communications to receive or transmit signals and data. Usually, a base station or control center is set up on the shore, and the unmanned boat establishes a communication connection with the base station or control center. However, when operating on a large lake or on an unfamiliar lake, the connection between the unmanned boat and the base station or control center is interrupted, making it impossible for the control center to grasp the status of the unmanned boat or control the unmanned boat, which can easily cause the unmanned boat to lose control or be lost. In order to avoid the above situation in the prior art, the unmanned boat is set to return directly when the connection is interrupted, which makes the unmanned boat unable to complete the intended task. Summary of the invention

[0004] To this end, the present invention provides a collaborative unmanned ship system to solve the above technical problems.

[0005] A collaborative unmanned ship system includes a first unmanned ship and a second unmanned ship that are communicatively connected to a shore-based control system. The second unmanned ship includes a relay module and is configured to move to a first position when the communication connection between the first unmanned ship and the shore-based control system is interrupted, turn on the relay module at the first position, and relay the communication between the first unmanned ship and the shore-based control system through the relay module. The first position is the position where the first unmanned ship has a communication connection with the shore-based control system.

[0006] Furthermore, the first unmanned ship is configured to move along a first path, and the first path covers a first position and a second position. When the communication connection between the first unmanned ship and the shore-based control system is interrupted at the second position, the first unmanned ship stays at the second position.

[0007] Furthermore, the first unmanned ship is configured to continue moving along the first path after the first unmanned ship re-establishes a communication connection with the shore-based control system.

[0008] Furthermore, the second unmanned ship is configured to record the current position information of the second unmanned ship before moving to the first position, and the current position information is the third position. After the first unmanned ship re-establishes a direct communication connection with the shore-based control system, the second unmanned ship moves to the third position.

[0009] Furthermore, the unmanned ship system includes multiple unmanned ships, and the shore-based control system is configured to receive position information of each unmanned ship after the communication connection between the first unmanned ship and the shore-based control system is interrupted, and compare the distance between the position of each unmanned ship and the first position, select the unmanned ship closest to the first position, and make the unmanned ship closest to the first position move toward the first position.

[0010] Furthermore, the unmanned ship system includes multiple unmanned ships, and the shore-based control system is configured to receive position information and remaining power information of each unmanned ship after the communication connection between the first unmanned ship and the shore-based control system is interrupted, and calculate the remaining power of each unmanned ship after moving to the first position, select the unmanned ship with the largest remaining power after moving to the first position, and make the selected unmanned ship move to the first position.

[0011] The present invention also provides a collaborative operation method of a collaborative unmanned ship system, comprising:

[0012] Provide an unmanned ship system as described above, wherein a first unmanned ship moves along a first path, and the first unmanned ship is in communication connection with a shore-based control system and sends first information to the shore-based control system at a first time interval;

[0013] If, when the communication connection between the first unmanned boat and the shore-based control system is interrupted, the shore-based control system sends a second control message to the second unmanned boat, the second unmanned boat receives the second control message from the shore-based control system, and moves to the first position, the first position being the position where the first unmanned boat has a communication connection with the shore-based control system;

[0014] The second unmanned ship turns on the relay module at the first position, and relays the communication between the first unmanned ship and the shore-based control system through the relay module.

[0015] Furthermore, the first path covers the first position and the second position. When the communication connection between the first unmanned ship and the shore-based control system is interrupted at the second position until the communication connection between the first unmanned ship and the shore-based control system is re-established, the first unmanned ship stays at the second position.

[0016] Furthermore, if it is assumed that the time point when the communication connection between the first unmanned ship and the shore-based control system is interrupted is T2, and the time point when the first unmanned ship and the shore-based control system re-establish a direct communication connection is T3, the shore-based control system, in the step, records the position information of the first unmanned ship in the time interval from T2 to T3 after the relay module relays the communication between the first unmanned ship and the shore-based control system, and marks the position of the first unmanned ship in the time interval from T2 to T3 on the electronic map.

[0017] Furthermore, the electronic map includes a first area, and the first area is a collection or aggregation of position information of the first unmanned ship in the time interval from T2 to T3. When the first area covers at least a part of the first path, before the first unmanned ship moves to the first area, the shore-based control system sends second control information to the second unmanned ship, and makes the second unmanned ship move to the first position, turns on the relay module, and relays the communication between the first unmanned ship and the shore-based control system through the relay module.

[0018] Beneficial effect: An embodiment of the present invention provides a collaborative unmanned ship system, comprising a first unmanned ship and a second unmanned ship which are communicatively connected to a shore-based control system, the second unmanned ship comprising a relay module, and being configured to move to a first position, activate the relay module at the first position, and relay the communication between the first unmanned ship and the shore-based control system through the relay module when the communication connection between the first unmanned ship and the shore-based control system is interrupted, the first position being a position where the first unmanned ship has a communication connection with the shore-based control system, so that compared with the prior art, on the one hand, the first unmanned ship will not be out of control, thus preventing the first unmanned ship from being lost or out of control, and on the other hand, the first unmanned ship can continue to execute and complete the original task, thus avoiding the situation where the task cannot be completed or the scheduled task cannot be completed again after returning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A diagram showing the composition of a collaborative unmanned ship system provided by an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the motion status of each unmanned ship when the unmanned ship system works in collaboration;

[0021] Figure 3 for Figure 2 Schematic diagram of the second unmanned boat moving to the first position.

[0022] Component Description:

[0023] First unmanned ship 11; first path 110; second unmanned ship 12; second path 120;

[0024] Communication modules 111, 121; positioning modules 112, 122; propulsion modules 113, 123; functional modules 114, 124; relay module 125;

[0025] Shore-based control system 20;

[0026] Lake surface 30; first position 301; second position 302; third position 303. DETAILED DESCRIPTION

[0027] Please refer to Figure 1An embodiment of the present invention provides a collaborative unmanned ship system for preventing an unmanned ship from losing communication connection with a shore-based control system 20. The collaborative unmanned ship system includes a shore-based control system 20 and at least two unmanned ships (11, 12).

[0028] The unmanned ship (11, 12) comprises a communication module (111, 121), a positioning module (112, 122), a propulsion module (113, 123) and a functional module (114, 124). The communication module (111, 121) is used for the unmanned ship (11, 12) to communicate with a shore-based control system 20, such as sending information to the shore-based control system 20 or receiving information sent by the shore-based control system 20 to the unmanned ship (11, 12). The information may include position information, time information, unmanned ship attitude information, power information, operation information of the functional module (114, 124) and control information sent by the shore-based control system 20 to the unmanned ship (11, 12). The communication may adopt wireless communication such as 2G, 3G, 4G, 5G, or WIFI, or other broadband or narrowband wireless communication, which is not limited here. The positioning module (112, 122) is used for The position information of the unmanned boat (11, 12) in space is obtained. The position information may be the latitude and longitude information of the unmanned boat (11, 12). When the unmanned boat (11, 12) uses an electronic map, the position information may also include coordinate information on the electronic map. The propulsion module (113, 123) is used to make the unmanned boat (11, 12) move along a predetermined path. For example, in this embodiment, the first unmanned boat 11 moves along a first path 110, and the second unmanned boat 12 moves along a second path 120. Usually, the propulsion module (113, 123) includes a propeller and a rudder. The functional module (114, 124) is used for the unmanned boat (11, 12) to complete a predetermined function. The predetermined function includes cleaning, water quality detection, monitoring, patrol or mowing. It can be understood that the functional module (114, 124) includes a device for completing the predetermined function, which will not be repeated here.

[0029] The unmanned ship includes a first unmanned ship 11 and a second unmanned ship 12. The first unmanned ship 11 and the second unmanned ship 12 are communicatively connected to the shore-based control system 20. In this embodiment, the first unmanned ship 11 and the second unmanned ship 12 both use a 4G communication module to communicate with a 4G base station arranged in the shore-based control system 20.

[0030] Please refer to Figure 2 and Figure 3 The present invention is further described below in conjunction with a method for collaborative operation of a collaborative unmanned ship system.

[0031] The first unmanned boat 11 and the second unmanned boat 12 are deployed on the lake surface 30, wherein the first unmanned boat 11 is connected to the shore-based control system 20 for communication, and sends first information to the shore-based control system 20 at a first time interval, and the first information includes the position information of the first unmanned boat 11. It can be understood that when the shore-based control system 20 includes a display module, the position information can be displayed by the display module. The first time interval can be 1s, 10s, 20s or can be set according to actual needs. Of course, it can also be a time interval of 0.1s or less. When the first time interval is less than 1s, it can also be determined that the first unmanned boat 11 sends the first information in real time. It can be understood that during the communication connection between the first unmanned boat 11 and the shore-based control system 20, the shore-based control system 20 can send the first control information to the first unmanned boat 11, so that the first unmanned boat 11 completes the predetermined actions, such as starting the function module 114, turning, accelerating, returning, etc.

[0032] The first unmanned boat 11 moves along the first path 110. It can be understood that the first unmanned boat 11 can be remotely controlled by an operator to move along the first path 110, or the first unmanned boat 11 moves autonomously along the first path 110, or the shore-based control system 20 controls the first unmanned boat 11 to move along the first path 110. The first path 110 of the first unmanned boat 11 covers the first position 301 and the second position 302. In the present embodiment, the first unmanned boat 11 moves from the first position 301 to the second position 302. Usually, when the first unmanned boat 11 moves along the first path 110, the first functional module (114, 124) completes the predetermined function.

[0033] If the first unmanned boat 11 moves to the second position 302, the communication connection between the first unmanned boat 11 and the shore-based control system 20 is interrupted, and the interruption of the communication connection means that the shore-based control system 20 cannot receive the first information sent by the first unmanned boat 11, or, at the same time, the first unmanned boat 11 is also unable to receive the first control information sent by the shore-based control system 20, or, the shore-based control system 20 does not receive the first information sent by the first unmanned boat 11 within a predetermined time interval.

[0034] The shore-based control system 20 sends second control information to the second unmanned ship 12, the second unmanned ship 12 receives the second control information from the shore-based control system 20, and moves to the first position 301, the first position 301 is the position where the first unmanned ship 11 has a communication connection. It can be understood that when the first unmanned ship 11 is at the first position 301, the shore-based control system 20 can receive the first information sent by the first unmanned ship 11.

[0035] It can be understood that, if the time point when the first unmanned ship 11 is at the first position 301 is T1, the last time point when the shore-based control system 20 does not receive the first information sent by the first unmanned ship 11 is T2, and the first time interval is T0, then T2-T1=n*T0, n≥1.

[0036] Preferably, when T0≥1min, n≤10, so that when the second unmanned ship 12 moves to the first position 301, effective relay can be provided. When T0<1min, n>10, so as to prevent the second unmanned ship 12 from entering an area where it cannot maintain communication connection with the shore-based control system 20.

[0037] It can be understood that the first position 301 is the position of the first unmanned ship 11 at n T0 before the time point when the communication connection with the shore-based control system 20 is interrupted.

[0038] Furthermore, the first information sent when the first unmanned boat 11 is at the first position 301 includes T1 information.

[0039] The second unmanned boat 12 includes a relay module 125. When the second unmanned boat 12 moves to the first position 301, the relay module 125 is turned on, and the communication between the first unmanned boat 11 and the shore-based control system 20 is relayed through the relay module 125. The relay information includes receiving the first information sent by the first unmanned boat 11 and forwarding the first information to the shore-based control system 20, and / or receiving the first control information sent by the shore-based control system 20 to the first unmanned boat 11 and forwarding it to the first unmanned boat 11. The forwarding includes directly receiving the signal and sending it, or receiving the signal and sending it after amplifying the signal, or processing the signal and sending it. It can be understood that when the maximum relay range of the relay module 125 is m, the first unmanned boat 11 and the shore-based control system 20 are within this maximum range.

[0040] It can be understood that after the first unmanned ship 11 re-establishes the communication connection with the shore-based control system 20, the first unmanned ship 11 can continue to move along the first path 110 to complete the predetermined task. That is, compared with the prior art, on the one hand, the first unmanned ship 11 will not be out of control, preventing the first unmanned ship 11 from being lost or out of control. On the other hand, the first unmanned ship 11 can continue to execute and complete the original task, avoiding the situation where the task cannot be completed or completing the predetermined task again after returning. The re-establishment of the communication connection refers to the first unmanned ship 11 establishing a communication connection through the relay module 125 or the first unmanned ship 11 directly establishing a communication connection with the shore-based control system 20 without going through the relay module 125.

[0041] Furthermore, after the first unmanned boat 11 re-establishes a direct communication connection with the shore-based control system 20, the second unmanned boat 12 can leave the first position 301. If the second unmanned boat 12 performs a second task before moving to the first position 301, it will continue to perform the second task after the first unmanned boat 11 re-establishes a direct communication connection with the shore-based control system 20. The direct communication connection means that the first unmanned boat 11 and the shore-based control system 20 no longer perform relay communication through the relay module 125. In this embodiment, before the second unmanned ship 12 receives the second control information sent by the shore-based control system 20, it moves along the second path 120. Therefore, after the first unmanned ship 11 re-establishes a direct communication connection with the shore-based control system 20, the second unmanned ship can continue to move along the second path 120. Furthermore, after receiving the second control information sent by the shore-based control system 20 and before moving to the first position 301, the second unmanned ship 12 also includes recording the current position information of the second unmanned ship 12. In a specific embodiment, the current position information of the second unmanned ship 12 is the third position 303. Then, after the first unmanned ship 11 re-establishes a direct communication connection with the shore-based control system 20, the second unmanned ship 12 moves to the third position 303 and moves along the second path 12.

[0042] Furthermore, if it is assumed that the time point when the first unmanned boat 11 re-establishes a direct communication connection with the shore-based control system 20 is T3, then the shore-based control system 20 also records the position information of the first unmanned boat 11 in the time interval from T2 to T3. It can be understood that when the shore-based control system 20 also includes an electronic map, the shore-based control system 20 marks the position of the first unmanned boat 11 in the time interval from T2 to T3 on the electronic map.

[0043] Furthermore, the first unmanned ship 11 includes a first recording module, which records the position information of the first unmanned ship 11 in the time interval from T2 to T3, and after the first unmanned ship 11 re-establishes a direct communication connection with the shore-based control system 20, the position information of the first unmanned ship 11 in the time interval from T2 to T3 recorded by the first recording module is sent to the shore-based control system 20, and the shore-based control system 20 marks the position of the first unmanned ship 11 in the time interval from T2 to T3 on the electronic map.

[0044] Furthermore, the electronic map includes a first area, and the first area is a collection or aggregation of position information of the first unmanned ship 11 within the time interval from T2 to T3.

[0045] When the first area covers at least a portion of the first path 110, before the first unmanned ship 11 moves to the first area, the shore-based control system 20 sends control information to the second unmanned ship 12, and makes the second unmanned ship 12 move to the first position 301, and turns on the relay module 125, and relays the communication between the first unmanned ship 11 and the shore-based control system 20 through the relay module 125, so as to prevent the communication connection from being disconnected when the first unmanned ship 11 moves into the first area, so that the first unmanned ship 11 always maintains a communication connection with the shore-based control system 20.

[0046] Furthermore, when the collaborative unmanned ship system includes multiple unmanned ships, such as three, four or more unmanned ships, after the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, the shore-based control system 20 receives the position information of each unmanned ship, and compares the distance between the position of each unmanned ship and the first position 301, selects the unmanned ship closest to the first position 301, and makes the unmanned ship closest to the first position 301 move toward the first position 301.

[0047] Furthermore, after the communication connection between the first unmanned boat 11 and the shore-based control system 20 is interrupted, the shore-based control system 20 receives the position information and remaining power information of each unmanned boat, and calculates the remaining power of each unmanned boat after it moves to the first position 301, selects the unmanned boat with the largest remaining power after moving to the first position 301, and moves the selected unmanned boat toward the first position 301.

[0048] Furthermore, when the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, the first unmanned ship 11 stays at the second position 302 before receiving the relay information from the second unmanned ship 12 or re-establishing the communication connection with the shore-based control system 20, that is, the first unmanned ship 11 suspends the execution of the first task after the communication connection is interrupted.

[0049] Further, when the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, if the first unmanned ship 11 fails to re-establish the communication connection with the shore-based control system 20 within a predetermined time interval, the first unmanned ship 11 performs a return action.

[0050] Furthermore, the first unmanned boat 11 also includes a propulsion module (113, 123) that controls the propulsion module to stay at the second position 302 according to current environmental information, unmanned boat attitude information and position information, wherein the environmental information includes wind speed, wind direction, wave direction and wave speed, so as to prevent the first unmanned boat 11 from drifting away from the second position 302 under the action of wind or waves, thereby causing the second unmanned boat 12 to be lost.

[0051] Furthermore, the first unmanned boat 11 may also include a relay module 125 for providing relay for the second unmanned boat 12 when the communication connection of the second unmanned boat 12 is interrupted.

[0052] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A collaborative unmanned ship system, comprising a first unmanned ship and a second unmanned ship connected to a shore-based control system, characterized in that: The second unmanned ship includes a relay module and is configured to enable the first unmanned ship to communicate with the shore-based control system and send first information to the shore-based control system at a first time interval. When the communication connection between the first unmanned ship and the shore-based control system is interrupted, the shore-based control system sends second control information to the second unmanned ship. The second unmanned ship receives the second control information from the shore-based control system and moves to a first position. The relay module is turned on at the first position, and the communication between the first unmanned ship and the shore-based control system is relayed through the relay module. The first position is a position where the first unmanned ship has a communication connection with the shore-based control system. The first unmanned ship is configured to move along a first path, and the first path covers the first position and the second position. When the communication connection between the first unmanned ship and the shore-based control system is interrupted at the second position, the first unmanned ship stays at the second position and the second unmanned ship stops. The ship is configured to record the current position information of the second unmanned ship before moving to the first position, the current position information being the third position. After the first unmanned ship re-establishes a direct communication connection with the shore-based control system, the second unmanned ship moves to the third position. If the second unmanned ship performs a second task before moving to the first position, then the second unmanned ship continues to perform the second task after the first unmanned ship re-establishes a direct communication connection with the shore-based control system. The communication connection interruption refers to the shore-based control system not receiving the first information sent by the first unmanned ship within a predetermined time interval. If the time point at which the first unmanned ship is at the first position is T1, the most recent time point at which the shore-based control system does not receive the first information sent by the first unmanned ship is T2, and the first time interval is T0, then T2-T1=n*T0, n≥1, when T0≥1min, n≤10, and when T0<1min, n>10.

2. The cooperative unmanned ship system according to claim 1, characterized in that: The first unmanned ship is configured to continue moving along the first path after the first unmanned ship re-establishes a communication connection with the shore-based control system.

3. The cooperative unmanned ship system according to claim 1, characterized in that: The unmanned ship system includes multiple unmanned ships, and the shore-based control system is configured to receive the position information of each unmanned ship after the communication connection between the first unmanned ship and the shore-based control system is interrupted, and compare the distance between the position of each unmanned ship and the first position, select the unmanned ship closest to the first position, and make the unmanned ship closest to the first position move toward the first position.

4. The cooperative unmanned ship system according to claim 1, characterized in that: The unmanned ship system includes multiple unmanned ships, and the shore-based control system is configured to receive the position information and remaining power information of each unmanned ship after the communication connection between the first unmanned ship and the shore-based control system is interrupted, and calculate the remaining power of each unmanned ship after moving to the first position, select the unmanned ship with the largest remaining power after moving to the first position, and make the selected unmanned ship move to the first position.

5. A collaborative operation method of a collaborative unmanned ship system, characterized in that: include: There is provided an unmanned ship system as claimed in claim 1, wherein the first unmanned ship moves along a first path, and the first unmanned ship is in communication connection with a shore-based control system and sends first information to the shore-based control system at a first time interval; When the communication connection between the first unmanned ship and the shore-based control system is interrupted, the shore-based control system sends a second control message to the second unmanned ship, the second unmanned ship receives the second control message from the shore-based control system, and moves to a first position, the first position being a position where the first unmanned ship and the shore-based control system have a communication connection, the communication connection interruption means that the shore-based control system does not receive the first message sent by the first unmanned ship within a predetermined time interval, if the time point when the first unmanned ship is at the first position is T1, the most recent time point when the shore-based control system does not receive the first message sent by the first unmanned ship is T2, and the first time interval is T0, then T2-T1=n*T0, n≥1, when T0≥1min, n≤10, when T0<1min, n>10; The second unmanned ship turns on the relay module at the first position, and relays the communication between the first unmanned ship and the shore-based control system through the relay module.

6. The collaborative operation method according to claim 5, characterized in that: If it is assumed that the time point when the communication connection between the first unmanned ship and the shore-based control system is interrupted is T2, and the time point when the first unmanned ship and the shore-based control system re-establish the direct communication connection is T3, the shore-based control system records the position information of the first unmanned ship in the time interval from T2 to T3 after the relay module relays the communication between the first unmanned ship and the shore-based control system in the step, and marks the position of the first unmanned ship in the time interval from T2 to T3 on the electronic map.

7. The collaborative operation method according to claim 6, characterized in that: The electronic map includes a first area, and the first area is a collection or aggregation of position information of the first unmanned ship in the time interval from T2 to T3. When the first area covers at least a part of the first path, before the first unmanned ship moves to the first area, the shore-based control system sends second control information to the second unmanned ship, and makes the second unmanned ship move to the first position, turns on the relay module, and relays the communication between the first unmanned ship and the shore-based control system through the relay module.

Images