Navigation control method for unmanned boat, computer-readable storage medium and unmanned boat

Abstract

The present application is applicable to the field of unmanned navigation control technology, and provides a navigation control method for an unmanned boat, a computer-readable storage medium, and an unmanned boat. The navigation control method for the unmanned boat includes: confirming the motion stage of the unmanned boat; sensing the attitude information of the unmanned boat; calculating the control information of the unmanned boat in the corresponding motion stage based on the attitude information and the attitude reference information; controlling the action of the unmanned boat according to the control information, including controlling the rotation of a hydrofoil according to the control information, and controlling the action of the unmanned boat and reducing pitching through the rotation of the hydrofoil, which can effectively reduce the pitching angle of the unmanned boat in different stages, ensure the overall stability of the navigation process, and have low energy consumption during the control process.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned navigation control, and in particular to a navigation control method for an unmanned boat, a computer-readable storage medium, and an unmanned boat. Background Art

[0002] In recent years, with the rapid development of autonomous control technology for unmanned boats, the research and development and application of unmanned boats at home and abroad have gradually shown explosive growth. Unmanned boats are mainly used for marine surveys, reconnaissance patrols and other tasks, which have strict requirements on the stability and speed of unmanned boat platforms. At present, the mainstream measures at home and abroad are to reduce the roll angle through active anti-roll gyro, but the effect of active anti-roll gyro on longitudinal anti-roll is not obvious; moreover, the anti-roll gyro occupies valuable layout space in the cabin and requires continuous energy consumption; in addition, the anti-roll gyro increases the displacement of the hull, which is not conducive to the navigation speed of the unmanned boat. Therefore, it is necessary to provide a solution that can effectively reduce the pitch angle of the unmanned boat on the basis of low energy consumption. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a navigation control method for an unmanned boat, aiming to provide a solution that can effectively solve the pitch angle of the unmanned boat and reduce energy consumption.

[0004] The embodiment of the present application is implemented as follows: a navigation control method for an unmanned boat, comprising:

[0005] confirming the movement phase of the unmanned boat;

[0006] sensing the posture information of the unmanned boat;

[0007] Calculating control information of the unmanned boat corresponding to the motion phase based on the posture information and the posture reference information; and

[0008] Controlling the movement of the unmanned boat according to the control information includes: controlling the rotation of a hydrofoil plate according to the control information, and controlling the hull of the unmanned boat through the rotation of the hydrofoil plate.

[0009] In one embodiment, the motion phase includes at least one of a start-up phase, a high-speed gliding phase, and a wave phase;

[0010] The attitude reference information includes a first reference angle corresponding to the start-up stage, the attitude reference information includes a second reference angle corresponding to the high-speed gliding stage, and the attitude reference information includes a third reference angle corresponding to the wave stage;

[0011] The attitude information includes the inclination angle of the unmanned boat;

[0012] Calculating the control information of the unmanned boat includes: obtaining the attitude reference information, and calculating the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information.

[0013] In one embodiment, controlling the hydrofoil to rotate includes: the control component controls the drive component according to the control information, the drive component acts and controls the hydrofoil to rotate.

[0014] In one embodiment, confirming the motion stage of the unmanned boat includes: obtaining the sailing speed of the unmanned boat, and comparing the sailing speed with the reference speed.

[0015] In one embodiment, in the take-off stage, when the stern inclination angle of the unmanned boat is greater than the first reference angle, the control component controls the drive component according to the first control information, and the drive component controls the hydrofoil to rotate and makes the bow tilt downward.

[0016] In one embodiment, in the high-speed gliding stage, when the stern inclination angle of the unmanned boat is greater than the second reference angle, the control component controls the drive component according to the second control information, and the drive component controls the hydrofoil to rotate and makes the bow tilt downward; when the bow inclination angle of the unmanned boat is greater than the second reference angle, the control component controls the drive component according to the third control information, and the drive component controls the hydrofoil to rotate and makes the bow tilt upward.

[0017] In one embodiment, in the wave stage, when the stern inclination angle of the unmanned boat gradually decreases to the third reference angle, the control component controls the drive component according to the fourth control information, and the drive component controls the hydrofoil and makes the bow tilt upward; when the stern inclination angle of the unmanned boat gradually increases to the third reference angle, the control component controls the drive component according to the fifth control information, and the drive component controls the hydrofoil to rotate and makes the bow tilt downward.

[0018] In one embodiment, the attitude reference information corresponding to the wave stage further includes a fourth reference angle, and the fourth reference angle includes the periodic change information of the inclination angle of the unmanned boat with the waves; when the attitude information of the unmanned boat is consistent with the fourth reference angle, the control component confirms that the unmanned boat is in the wave stage.

[0019] Another object of the present application is to provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the control method described in the above embodiments is implemented.

[0020] Another object of the present application is to provide an unmanned boat, which includes a computer-readable storage medium as described in the above embodiments and is controlled by the control methods described in the above embodiments. The unmanned boat includes a hull and a hydrofoil device provided on the hull; the hydrofoil device includes:

[0021] A hydrofoil board;

[0022] A driving component; and

[0023] A control component, including a solving module and an inertial navigation module connected by wire or wirelessly. The inertial navigation module is used to sense the attitude information of the unmanned boat, the solving module is used to receive the attitude information, compare the attitude information with the attitude reference information, and control the driving component according to the comparison result. The driving component is used to drive the hydrofoil board to rotate according to the control information of the solving module.

[0024] The beneficial effects of the navigation control method, computer-readable storage medium and unmanned boat provided by the embodiments of the present application are as follows:

[0025] The navigation control method provided by the embodiments of the present application includes confirming the motion stage of the unmanned boat, sensing the attitude information of the unmanned boat, calculating the control information of the unmanned boat in the corresponding motion stage based on the attitude information and the attitude reference information, and controlling the action of the unmanned boat according to the control information, including controlling the rotation of the hydrofoil board according to the control information, controlling the action of the unmanned boat through the rotation of the hydrofoil board and reducing the pitching, which can effectively reduce the pitching angle of the unmanned boat in different stages, ensure the overall stability of the navigation process, and have low energy consumption. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 is a schematic structural diagram of the hydrofoil device provided by the embodiments of the present application;

[0028] Figure 2 is a schematic structural diagram of the unmanned boat provided by the embodiments of the present application;

[0029] Figure 3 is Figure 2 a schematic control path diagram of the unmanned boat shown;

[0030] Figure 4 is a schematic step diagram of the control method of the unmanned boat provided by the embodiments of the present application;

[0031] Figure 5 It is a control schematic diagram for the first stage of the unmanned boat's navigation in the control method of the unmanned boat provided by the embodiment of the present application;

[0032] Figure 6 It is a control schematic diagram for the second stage of the unmanned boat's navigation in the control method of the unmanned boat provided by the embodiment of the present application;

[0033] Figure 7 It is a control schematic diagram for the third stage of the unmanned boat's navigation in the control method of the unmanned boat provided by the embodiment of the present application.

[0034] The meanings of the marks in the figure are as follows:

[0035] 200 - unmanned boat, 9 - hull, 90 - channel, 91 - boat body, 92 - central controller;

[0036] 100 - hydrofoil device;

[0037] 1 - hydrofoil plate;

[0038] 2 - transmission member, 21 - first transmission shaft, 22 - second transmission shaft, 23 - third transmission shaft;

[0039] 3 - power member, 31 - hydraulic pump station, 32 - solenoid valve, 33 - hydraulic cylinder;

[0040] 4 - drive assembly;

[0041] 5 - control assembly, 51 - resolution module, 52 - inertial navigation module;

[0042] 6 - angle sensor. Detailed implementation manners

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when a component is referred to as "fixed to" or "arranged on" another component, it can be directly or indirectly fixed or arranged on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this patent. The terms "first" and "second" are only for convenience of description purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0045] Please refer to Figure 1 and Figure 2 In the embodiments of the present application, first, a hydrofoil device 100 is provided, which is used in an unmanned navigation device, such as an unmanned boat 200, etc., and is used to assist the unmanned boat 200 in adjusting the pitching angle of the hull 9. Specifically, please refer to Figure 1 and Figure 3 together. The hydrofoil device 100 includes a hydrofoil plate 1, a driving component 4, and a control component 5. Among them, the control component 5 includes a calculation module 51 and an inertial navigation module 52 that are communicatively connected in a wired or wireless connection manner. The inertial navigation module 52 is used to sense the attitude information of the unmanned boat 200 ( Figure 3 The dotted arrow between the inertial navigation module 52 and the hull 9 in the figure indicates that the inertial navigation module 52 obtains the attitude information of the hull 9, and the other solid arrows indicate the information transfer direction). The calculation module 51 is used to receive the attitude information from the inertial navigation module 52. The attitude reference information of the unmanned boat 200 is pre-stored in the calculation module 51. The calculation module 51 compares the received attitude information with the attitude reference information, and controls the driving component 4 according to the comparison result. The driving component 4 is used to drive the hydrofoil plate 1 to rotate according to the control information of the calculation module 51.

[0046] After the hydrofoil plate 1 rotates, a corresponding angle is formed between it and the oncoming flow (usually water flow) direction of the unmanned boat 200, and this angle is the angle of attack of the hydrofoil plate 1. According to different angles of attack, the magnitude and direction of the force exerted by the water flow on the hydrofoil plate 1 are different, so that the pitching angle of the unmanned boat 200 can be changed accordingly. For example, after the hydrofoil plate 1 rotates, it has a positive angle of attack and a negative angle of attack. Among them, when the angle of attack is negative, the water flow acts on the upper surface of the hydrofoil plate 1, generating a downward force on the hydrofoil plate 1; when the angle of attack is positive, the oncoming flow acts on the lower surface of the hydrofoil plate 1 and generates an upward force on the hydrofoil plate 1.

[0047] In the hydrofoil device 100 provided by the embodiment of the present application, the inertial navigation module 52 is used to sense the attitude information of the unmanned boat 200. The solution module 51 is used to receive the attitude information, compare the attitude information with the attitude reference information, and control the driving component 4 according to the comparison result. The driving component 4 further drives the hydrofoil plate 1 to rotate according to the control information of the solution module 51, so as to reduce the pitching angle of the unmanned boat 200 and keep the unmanned boat 200 stable during navigation. Moreover, the hydrofoil plate 1 and the like are arranged outside the hull 9 and do not occupy the space inside the cabin. The power consumption of the unmanned boat 200 is also low.

[0048] Please refer to Figure 1 , one side of the hydrofoil plate 1 facing the oncoming water flow is in a tapered shape that gradually shrinks. The purpose of this setting is to reduce the resistance between the hydrofoil plate 1 and the water flow (forces other than the force acting on the surface of the hydrofoil plate 1 by the water flow), and it is also beneficial to the conversion between the positive angle of attack and the negative angle of attack of the hydrofoil plate 1.

[0049] Please continue to refer to Figure 1 and Figure 3 , in one embodiment, the driving component 4 includes a power member 3 and a transmission member 2 connected to each other. The power member 3 is connected to the solution module 51, and the transmission member 2 is connected to the hydrofoil plate 1. The power member 3 is used to output power under the control of the solution module 51, and the transmission member 2 converts the direction of the power and transmits it to the hydrofoil plate 1.

[0050] Specifically, in this embodiment, as Figure 1 shown, the power member 3 includes a hydraulic pump station 31, a solenoid valve 32, and a hydraulic cylinder 33 connected in sequence. Both the solenoid valve 32 and the hydraulic cylinder 33 are connected to the solution module 51, and the hydraulic cylinder 33 is also connected to the transmission member 2. When the solenoid valve 32 and the hydraulic cylinder 33 receive a control signal from the solution module 51, the solenoid valve 32 opens, and the hydraulic oil provided by the hydraulic pump station 31 enters the hydraulic cylinder 33 through the solenoid valve 32. The hydraulic oil acts on the hydraulic cylinder 33, and the output shaft of the hydraulic cylinder 33 outputs power to the transmission member 2. Conversely, when the solenoid valve 32 and the hydraulic cylinder 33 receive another control signal from the solution module 51, the hydraulic cylinder 33 acts in the reverse direction, its output shaft outputs reverse power, and the hydraulic oil of the hydraulic cylinder 33 enters the hydraulic pump station 31 through the solenoid valve 32.

[0051] Of course, it is not limited to this. In other alternative embodiments, the power member 3 can also have other forms. For example, the power member 3 can be an electric power structural member or an air power structural member, etc.

[0052] Please continue to refer to Figure 1, in one embodiment, the transmission member 2 includes a first transmission shaft 21 and a second transmission shaft 22 connected to each other. The first transmission shaft 21 is connected to the hydrofoil 1, the second transmission shaft 22 is connected to the first transmission shaft 21, and the first transmission shaft 21 and the second transmission shaft 22 have the same rotational central axis. The hydraulic cylinder 33 is connected to the second transmission shaft 22 and is used to drive the second transmission shaft 22 to rotate. The second transmission shaft 22 drives the first transmission shaft 21 to rotate, and thus, the hydrofoil 1 is driven to rotate.

[0053] In practical applications, the first transmission shaft 21 and / or the second transmission shaft 22 are rotatably mounted on the hull 9 of the unmanned boat 200. While allowing the first transmission shaft 21 and the second transmission shaft 22 to rotate, the hull 9 also plays a role in generally fixing the positions of the first transmission shaft 21 and the second transmission shaft 22.

[0054] As Figure 1 shown, according to the specific positional relationship between the hydraulic cylinder 33 and the second transmission shaft 22, the transmission member 2 may further include a third transmission shaft 23 connected between the second transmission shaft 22 and the hydraulic cylinder 33.

[0055] In one embodiment, as Figure 3 shown, the hydrofoil device 100 further includes an angle sensor 6, which is disposed on the hydrofoil 1 and is connected to the calculation module 51. The angle sensor 6 is used to monitor the angle of the hydrofoil 1 ( Figure 3 The dashed arrow between the hydrofoil 1 and the angle sensor 6 in the figure indicates that the angle sensor 6 acquires the angle information of the hydrofoil 1), and transmits the angle information of the hydrofoil 1 to the calculation module 51. In this way, a closed loop is formed for the calculation module 51 to control the hydrofoil 1, and the angle of the hydrofoil 1 can be controlled more accurately. Thus, the navigation stability of the unmanned boat 200 is further ensured.

[0056] As Figure 2 shown, an embodiment of the present application further provides an unmanned boat 200, including a hull 9 and a hydrofoil device 100 provided on the hull 9 as described in the above embodiments. The features of the hydrofoil device 100 can be combined with reference to Figure 1 , Figure 3 and described with reference to the above embodiments, and will not be elaborated here.

[0057] In the unmanned boat 200 provided by the embodiment of the present application, in its hydrofoil device 100, the inertial navigation module 52 is used to sense the attitude information of the unmanned boat 200, and the solution module 51 is used to receive the attitude information, compare the attitude information with the attitude reference information, and control the driving component 4 according to the comparison result. The driving component 4 further drives the hydrofoil 1 to rotate according to the control information of the solution module 51, so as to reduce the pitching angle of the unmanned boat 200 and keep the unmanned boat 200 stable during navigation; moreover, the hydrofoil 1 and the like are arranged outside the hull 9, which will not occupy the space inside the cabin and has low power consumption.

[0058] The above-mentioned unmanned boat 200 can be any form of boat. In this embodiment, as Figure 2 shown, the unmanned boat 200 is a channel boat, that is, a catamaran, with a channel 90 at the bottom, and there is a unit hull 91 on each side of the channel 90.

[0059] In this unmanned boat 200, at least the hydrofoil 1 is arranged in the channel 90. The control component 5 can be arranged inside the hull 9, that is, inside the cabin. The driving component 4 can also be at least partially arranged in the channel 90 to be directly connected to the hydrofoil 1. Of course, according to needs, the hydrofoil 1 and the driving component 4 can also be arranged on the side of the hull 9, such as on opposite sides.

[0060] In other alternative embodiments, the above-mentioned unmanned boat 200 can be a single-hull boat, a trimaran, etc.

[0061] In one embodiment, at least multiple hydrofoil devices 100 are arranged in the channel 90 of the unmanned boat 200, and the multiple hydrofoil devices 100 are arranged at intervals along the extension direction of the channel 90 (from the bow to the stern direction).

[0062] For example, in this embodiment, as Figure 2 shown, two hydrofoil devices 100 are arranged in the channel 90, one hydrofoil device 100 is relatively close to the bow, and the other hydrofoil device 100 is relatively close to the stern.

[0063] Please refer to Figure 3 shown, the unmanned boat 200 includes a central controller 92 arranged inside its hull 9. The control component 5 of the hydrofoil device 100 can be communicatively connected to the central controller 92 to obtain corresponding navigation information from the central controller 92, such as the navigation speed, etc., so as to further control the navigation process of the unmanned boat 200 (which will be specifically described below).

[0064] Optionally, the control component 5 can also feedback the information it receives and the control information of the driving component 4, etc. to the central controller 92 at the same time for corresponding information storage or further feedback to the server, etc. for the operator to view, which will not be elaborated here.

[0065] Among them, the control component 5 can be set independently of the central controller 92 or integrated with the central controller 92.

[0066] Please refer to Figure 3 and Figure 4 , the embodiment of the present application also provides a navigation control method for the above-mentioned unmanned boat 200, including:

[0067] Step S1, confirm the motion stage of the unmanned boat 200;

[0068] Step S2, sense the attitude information of the unmanned boat 200;

[0069] Step S3, calculate the control information for the unmanned boat 200 in the corresponding motion stage based on the attitude information and the attitude reference information;

[0070] Step S4, control the action of the unmanned boat 200 according to the above control information, including controlling the rotation of the hydrofoil 1 according to the control information, controlling the hull 9 of the unmanned boat 200 through the rotation of the hydrofoil 1, and reducing the pitching.

[0071] Specifically, in combination with its hydrofoil device 100, the control method is specifically: the control component 5 confirms the motion stage of the unmanned boat 200; the inertial navigation module 52 senses the attitude of the hull 9 of the unmanned boat 200, and the inertial navigation module 52 transmits the sensed attitude information to the solution module 51. The solution module 51 compares the attitude information with the attitude reference information, calculates according to the comparison result, and obtains the control information for the unmanned boat 200 in the corresponding motion stage. Then, the solution module 51 controls the drive component 4, and the drive component 4 drives the hydrofoil 1 to rotate in a manner that reduces the pitching of the hull 9 of the unmanned boat 200 according to the control of the solution module 51.

[0072] The navigation control method of the unmanned boat 200 provided by the embodiment of the present application senses the attitude information of the unmanned boat 200 through the inertial navigation module 52, receives the attitude information through the solution module 51, compares the attitude information with the attitude reference information, controls the drive component 4 according to the comparison result, and the drive component 4 further drives the hydrofoil 1 to rotate according to the control information of the solution module 51, so that the pitching angle of the unmanned boat 200 is reduced, the navigation stability is improved, the power consumption of the unmanned boat 200 is low, and since a part of the structure such as the hydrofoil 1 is arranged outside the hull 9, the occupation of the space inside the cabin is also reduced.

[0073] As described above, according to the navigation stability requirements of the unmanned boat 200 at different navigation stages during navigation, the navigation control method also has different control stages. Among them, the said motion stages include at least one of a take-off stage, a high-speed planing stage, and a wave stage. The said attitude reference information includes a first reference angle corresponding to the take-off stage, a second reference angle corresponding to the high-speed planing stage, and a third reference angle corresponding to the wave stage. The said attitude information includes the inclination angle of the unmanned boat 200. The above-mentioned calculation of the control information of the unmanned boat 200 includes: obtaining the attitude reference information, and calculating the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information sensed in real time.

[0074] Here, it is also necessary to make the following description of the inclination angle of the hull 9 of the unmanned boat 200.

[0075] The inclination angle of the hull 9 of the unmanned boat 200 is described by bow trim and stern trim. Among them, bow trim means that the bow is inclined downward relative to the stern and the stern is lifted upward relative to the bow, and stern trim means that the stern is inclined downward relative to the bow and the bow is lifted upward relative to the stern. When the stern enters the water (the stern draft is deep), it is defined as stern trim, and when the bow enters the water (the bow draft is deep), it is defined as bow trim. Of course, the whole of the unmanned boat 200 is a rigid device, and while the inclination angle of the bow relative to the water surface changes, the angle of the stern relative to the water surface also changes simultaneously.

[0076] In one embodiment, the above-mentioned confirmation of the motion stage of the unmanned boat 200 includes: obtaining the navigation speed of the unmanned boat 200 and comparing the navigation speed with the reference speed information. That is, at different navigation stages, the unmanned boat 200 has different characteristics of navigation speed, such as numerical range, change range, change trend, etc., and the motion stage of the unmanned boat 200 is judged by the navigation speed.

[0077] Hereinafter, an example will be given with the unmanned boat 200 including two hydrofoil devices 100. One of the hydrofoil devices 100 is relatively close to the bow, and the other hydrofoil device 100 is relatively close to the stern.

[0078] In the first stage, the take-off stage of the unmanned boat 200. In this take-off stage, the hull 9 of the unmanned boat 200 is in a stern trim state under the action of the oncoming water flow, and it needs to maintain the stern trim state to quickly reach the required speed. The above-mentioned attitude reference information includes a first reference angle, and the first reference angle is from stern trim A to 0°, where A>0. As Figure 5 shown, in this take-off stage, the control method includes:

[0079] Step S51, the control component 5 confirms that the unmanned boat 200 is in the take-off stage, and the resolution module 51 compares the stern inclination angle of the unmanned boat 200 sensed by the inertial navigation module 52 with the first reference angle;

[0080] Step S52, when the stern inclination angle of the unmanned boat 200 is greater than the first reference angle, the solving module 51 obtains the first control information for the sliding stage;

[0081] In step S53 , the solving module 51 controls the driving assembly 4 according to the first control information, thereby controlling the hydrofoil plate 1 .

[0082] That is, when the control component 5 confirms that the unmanned boat 200 is in the sliding stage, and when the inertial navigation module 52 senses that the stern trim angle of the unmanned boat 200 is greater than the first reference angle, the solution module 51 controls the drive component 4, and the drive component 4 controls the hydrofoil plate 1 to rotate and tilt the bow downward until the stern trim angle of the hull 9 is reduced and reaches the first reference angle.

[0083] Specifically, when the trim angle is greater than A, the solution module 51 controls the electromagnetic valve 32 to open and controls the hydraulic cylinder 33 to work, and the hydrofoil device 100 at the bow controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 near the bow generates a negative angle of attack, and generates a downward force in front of the center of gravity of the hull 9; and / or, the hydrofoil device 100 at the stern controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 at the stern generates a positive angle of attack, and generates an upward force behind the center of gravity of the hull 9. The downward force acting on the bow and the upward force acting on the stern form a rotation torque (bow burying torque), which reduces the trim angle of the hull 9.

[0084] The angle sensor 6 arranged on the hydrofoil board 1 monitors the change of the angle of attack of the hydrofoil board 1 in real time, and feeds back the angle information of the hydrofoil board 1 to the solving module 51. The solving module 51 receives the angle information, and the solving module 51 further decides whether to further control the hydrofoil board 1 according to the angle information and the inclination angle information of the hull 9 fed back by the inertial navigation module 52. In this way, the control of the hydrofoil board 1 in the navigation control method forms a closed loop.

[0085] Through the above control, the stern trim angle of the hull 9 is kept within A° (stern trim A° to 0°). This can improve the gliding efficiency of the hull 9 and reduce the over-peak resistance, so that the unmanned boat 200 can cross the resistance peak in the sliding stage and slide smoothly.

[0086] In one embodiment, A = 2.5, and the first reference angle is from 2.5° of stern trim to 0°. Of course, according to specific needs, A can also be a numerical range. For example, A is greater than 0° and less than or equal to 4°, and the first reference angle is from 4° of stern trim to 0°. That is, when the stern trim angle of the unmanned boat 200 is greater than 4°, the solution module 51 performs the above control on the hydrofoil 1 until the stern trim angle of the unmanned boat 200 is between 0° and 4°. Optionally, A is greater than 1° and less than 2°, and the first reference angle is from 1° of stern trim to 2°. That is, when the stern trim angle of the unmanned boat 200 is greater than 2°, the solution module 51 performs the above control on the hydrofoil 1 until the stern trim angle of the unmanned boat 200 is between 1° and 2°.

[0087] In this embodiment, confirming that the unmanned boat 200 is in the take-off stage through the speed of the unmanned boat 200 specifically includes: the solution module 51 obtains the current navigation speed of the unmanned boat 200 from the central controller 92, and compares the navigation speed with the speed reference information. When the solution module 51 confirms that the navigation speed is the first reference speed, it can be confirmed that the unmanned boat 200 is in the take-off stage at this time.

[0088] For example, the first reference speed can be from 0 to X. When the solution module 51 confirms that the obtained and received sliding speed of the unmanned boat 200 gradually increases from 0 and increases to X, it can be considered that the unmanned boat 200 is in the take-off stage at this time. Thus, the solution module 51 can perform the above control on the hull 9. The specific value of X is not particularly limited here and is specifically limited according to the type and practical scenario of the unmanned boat 200, etc.

[0089] The second stage is the high-speed sliding stage of the unmanned boat 200. In this high-speed sliding stage, the hull 9 of the unmanned boat 200 also needs to maintain a stern trim state to stably perform high-speed sliding. The above attitude reference information includes a second reference angle, and the first reference angle is from B° of stern trim to 0° (B > 0).

[0090] As Figure 6 shown, in this high-speed navigation stage, the control method includes:

[0091] Step S61, the control component 5 confirms that the unmanned boat 200 is in the high-speed navigation stage, and the solution module 51 compares the stern trim angle of the unmanned boat 200 sensed by the inertial navigation module 52 with the second reference angle;

[0092] Step S62, when the stern trim angle of the unmanned boat 200 is greater than the second reference angle, the solution module 51 obtains the second control information for this high-speed navigation stage; or, when the stern trim angle of the unmanned boat 200 is less than the second reference angle, the solution module 51 obtains the third control information for this high-speed navigation stage;

[0093] Step S63: The solving module 51 controls the driving assembly 4 according to the second control information or the third control information, and further controls the hydrofoil board 1.

[0094] That is, when the control assembly 5 confirms that the unmanned boat 200 is in the high-speed planing stage, and when the stern inclination angle of the unmanned boat 200 sensed by the inertial navigation module 52 is greater than the second reference angle, the solving module 51 controls the driving assembly 4, and the driving assembly 4 controls the hydrofoil board 1 to rotate, and the bow of the boat is tilted downward. When the control assembly 5 confirms that the unmanned boat 200 is in the high-speed planing stage, and when the bow inclination angle of the unmanned boat 200 sensed by the inertial navigation module 52 is greater than the second reference angle, the solving module 51 controls the driving assembly 4, and the driving assembly 4 controls the hydrofoil board 1 to rotate, and the stern of the boat is tilted downward until it is restored to a stern inclination of B° to 0°.

[0095] Specifically, when the stern inclination angle is greater than the second reference angle (the stern inclination is greater than B°), the solving module 51 controls the solenoid valve 32 to open and controls the hydraulic cylinder 33 to work. The hydrofoil device 100 at the bow controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 at the bow generates a negative angle of attack, and a downward force is generated in front of the center of gravity of the hull 9; and / or, the hydrofoil device 100 at the stern controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 at the stern generates a positive angle of attack, and an upward force is generated behind the center of gravity of the hull 9. The downward force acting on the bow and the upward force acting on the stern form a rotational torque (diving torque), which reduces the stern inclination angle of the hull 9.

[0096] Specifically, when the stern inclination angle is less than the second reference angle (when the stern inclination is less than 0, it means the hull 9 is bow-heavy, or the bow inclination angle is greater than the second reference angle (the bow inclination is greater than 0°)), the solving module 51 controls the solenoid valve 32 to open and controls the hydraulic cylinder 33 to work. The hydrofoil device 100 at the bow controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 at the bow generates a positive angle of attack, and an upward force is generated in front of the center of gravity of the hull 9; the hydrofoil device 100 at the stern controls the hydrofoil board 1 to rotate through the output shaft of the hydraulic cylinder 33 and the transmission member 2, so that the hydrofoil board 1 at the stern generates a negative angle of attack, and a downward force is generated behind the center of gravity of the hull 9. The upward force acting on the bow and the downward force acting on the stern form a rotational torque (lifting torque), which increases the stern inclination angle of the hull 9 and / or reduces the bow inclination angle.

[0097] Meanwhile, the angle sensor 6 provided on the hydrofoil 1 monitors the change in the angle of attack of the hydrofoil 1 in real time, and feeds back the angle information of the hydrofoil 1 to the calculation module 51. The calculation module 51 receives this angle information, and further determines whether to further control the hydrofoil 1 based on this angle information and the inclination angle information of the hull 9 fed back by the inertial navigation module 52. In this way, the control of the hydrofoil 1 in this navigation control method forms a closed loop.

[0098] Through the above control, the stern tilt angle of the hull 9 is maintained within B° to 0°. This can improve the taxiing stability of the hull 9 at this stage, and enable the unmanned boat 200 to maintain a stable navigation speed.

[0099] In one embodiment, B is 4°, and the first reference angle is a stern tilt of 4° to 0°. Further, of course, according to specific needs, B can also be a numerical range or other specific value, which will not be particularly limited.

[0100] In this embodiment, confirming that the unmanned boat 200 is in this high-speed taxiing stage based on the speed of the unmanned boat 200 specifically includes: the calculation module 51 obtains the current navigation speed of the unmanned boat 200 from the central controller 92, and compares this navigation speed with the speed reference information. When the calculation module 51 confirms that this navigation speed is at the second reference speed, it can be confirmed that the unmanned boat 200 is in the high-speed taxiing stage at this time.

[0101] For example, the second reference speed can be from Y to Z. When the calculation module 51 confirms that the taxiing speed of the unmanned boat 200 obtained and received is between Y and Z, it can be considered that the unmanned boat 200 is in the high-speed navigation stage at this time. Thus, the calculation module 51 can perform the above control on the hull 9. The specific values of Y and Z are not particularly limited here, and are specifically limited according to the type of the unmanned boat 200 and the practical scenario, etc.

[0102] The third stage is the wave stage. This stage indicates that the unmanned boat 200 is encountering waves. Of course, it can be understood that this stage is a stage that the unmanned boat 200 may encounter under different sea conditions.

[0103] In this wave stage, the hull 9 rises and falls with the shape of the waves, and its hull 9 continuously and gradually changes between stern tilt and bow tilt, that is, the inclination angle of the hull 9 also generally changes periodically. However, to ensure the navigation stability of the unmanned boat 200, its hull 9 preferably needs to be in a stern tilt state. It is also okay that the line connecting the bow and the stern is flush with the horizontal line, but at least the bow cannot be tilted downward. In this wave stage, the above-mentioned attitude reference information includes a third reference angle. The third reference angle is a stern tilt of C1 to C2, C1 is greater than C2, and C2 is greater than or equal to 0; or, C1 = C2 ≥ 0 so that the third reference angle is a definite value is also okay. Optionally, C2 > 0.

[0104] As Figure 7 shown, during this wave stage, the control method includes:

[0105] Step S71, the control component 5 confirms that the unmanned boat 200 is in the wave stage, and the calculation module 51 compares the stern inclination angle of the unmanned boat 200 sensed by the inertial navigation module 52 with a third reference angle;

[0106] Step S72, before the stern inclination angle of the unmanned boat 200 gradually increases and becomes greater than the third reference angle, the calculation module 51 obtains fourth control information for this wave stage; or, before the stern inclination angle of the unmanned boat 200 gradually decreases and becomes less than the third reference angle, the calculation module 51 obtains fifth control information for this wave stage;

[0107] Step S73, the calculation module 51 controls the drive component 4 according to the fourth control information or the fifth control information, and further controls the hydrofoil 1.

[0108] That is, when the control component 5 confirms that the unmanned boat 200 is in the high-speed planing stage, and the calculation module 51 analyzes the attitude change information of the unmanned boat 200 input by the inertial navigation module 52, and controls the inclination angle of the hull 9 in the next stage in advance according to the current inclination angle of the hull 9. That is, when the control component 5 confirms that the unmanned boat 200 is in the wave stage, and before the inertial navigation module 52 senses that the stern inclination angle of the hull 9 gradually decreases and becomes less than the third reference angle (it can be understood that if C1 is greater than C2, then it refers to less than C2 at this time), the hydrofoil device 100 is started to control the hull 9 to generate a bow-up, so that the stern inclination of the hull 9 in the next stage increases to the third reference angle; before the stern inclination angle of the hull 9 gradually increases and becomes greater than the third reference angle (it can be understood that if C1 is greater than C2, then it refers to greater than C1 at this time), the hydrofoil device 100 is started to control the hull 9 to generate a bow-down, so that the stern inclination of the hull 9 in the next stage decreases to the third reference angle. The stern inclinations C1 and C2 are the time nodes when the control component 5 starts to implement this advance control strategy during this wave stage.

[0109] Specifically, before the stern tilt angle of the hull 9 of the unmanned boat 200 gradually increases and exceeds the third reference angle, by pre-controlling the solenoid valve 32 and the hydraulic cylinder 33 in advance and controlling the hydrofoil plate 1, a bow-down torque is generated by the hydrofoil device 100 located at the bow and / or the stern, reducing the bow-up, so that in the next stage, the stern tilt angle of the hull 9 increases and remains within the third reference angle; before the stern tilt angle of the hull 9 of the unmanned boat 200 gradually decreases and is less than the third reference angle, by pre-controlling the solenoid valve 32 and the hydraulic cylinder 33 in advance and controlling the hydrofoil plate 1, a bow-up torque is generated by the hydrofoil device 100 located at the bow and / or the stern, reducing the amplitude of the bow-immersion, so that in the next stage, the hull 9 can maintain the stern tilt and remain within the third reference angle. In this way, the pitching angle of the hull 9 can be kept within a certain range; at the same time, through this control, the heave amplitude of the hull 9 in this wave stage can also be reduced, the hull 9 can be lifted, the wetted surface area of the hull 9 and the bow slamming can be reduced, the drag can be reduced and the efficiency can be increased, and the navigation efficiency can be improved.

[0110] When the inertial navigation module 52 senses that the stern tilt angle of the hull 9 is gradually decreasing, the solution module 51 starts to pre-control the drive assembly 4 in advance so that the hydrofoil device 100 rotates in advance.

[0111] In an alternative embodiment, when the inertial navigation module 52 senses that the stern tilt angle of the hull 9 is gradually decreasing and the stern tilt angle is C2, the solution module 51 controls the drive assembly 4, and the drive assembly 4 starts to control the hydrofoil plate 1 to rotate and makes the bow tilt up and the stern tilt down; in this way, in the next stage, the hull 9 can maintain an appropriate stern tilt angle.

[0112] When the inertial navigation module 52 senses that the stern tilt angle of the hull 9 is gradually increasing, the solution module 51 starts to pre-control the drive assembly 4 in advance so that the hydrofoil device 100 rotates in advance.

[0113] In an alternative embodiment, when the inertial navigation module 52 senses that the bow tilt angle of the hull 9 is gradually increasing and the stern tilt angle is C1, the solution module 51 starts to control the drive assembly 4, and the drive assembly 4 starts to control the hydrofoil plate 1 to rotate and makes the bow tilt down and the stern tilt up; in this way, in the next stage, the hull 9 can maintain an appropriate stern tilt angle.

[0114] In an alternative embodiment, the above-mentioned third reference angle is a stern tilt of 3° to 2.5°; in other alternative embodiments, the above-mentioned third reference angle can be specific values such as 3° or 2.5°. Without limitation, in other alternative embodiments, the value or range of the above-mentioned third reference angle can also be set according to actual needs.

[0115] Optionally, in this embodiment, during the wave stage, the navigation stage of the unmanned boat 200 described above can also be combined with the inclination angle change information of the unmanned boat 200. That is to say, the attitude reference information stored in the solution module 51 can also include a fourth reference angle, which is the periodic change information of the inclination angle of the unmanned boat 200 when it encounters waves. That is to say, during the wave stage, the inertial navigation module 52 senses that the hull 9 continuously changes periodically between stern trim and bow trim, and feeds back the periodic change information of the inclination angle of the hull 9 to the solution module 51, and the solution module 51 receives the periodic change information of the inclination angle. When the solution module 51 compares and obtains that the inclination angle change information of the hull 9 at this time is consistent with the fourth reference angle, it can confirm that the unmanned boat 200 is in the wave stage. Then, the solution module 51 can control the inclination angle of the hull 9 through the above-mentioned advance control strategy to make the hydrofoil device 100 pre-rotate. It can be understood that the above-mentioned "consistent" can include that both the received information and the period and amplitude (the value of the inclination angle) in the fourth reference angle are exactly the same, and it also includes that the received information and the period and / or amplitude in the fourth reference angle allow a certain deviation range and tend to be consistent.

[0116] Optionally, when the solution module 51 receives the change information of one period of the inclination angle of the unmanned boat 200, it can confirm that the unmanned boat 200 is in the wave stage; or, when the solution module 51 receives the change information of two periods of the inclination angle of the unmanned boat 200, it can confirm that the unmanned boat 200 is in the wave stage. Of course, in other alternative embodiments, when the solution module 51 receives the change information of more periods of the inclination angle of the unmanned boat 200, it can confirm that the unmanned boat 200 is in the wave stage. Specifically, it can be determined according to actual needs

[0117] In this embodiment, confirming that the unmanned boat 200 is in the wave stage through the speed of the unmanned boat 200 specifically includes: the solution module 51 obtains the current navigation speed of the unmanned boat 200 from the controller 92, and compares the navigation speed with the speed reference information. When the solution module 51 confirms that the navigation speed is at the third reference speed, it can confirm that the unmanned boat 200 is in the wave stage at this time.

[0118] For example, the third reference speed is that the speed value of the unmanned boat 200 changes periodically within a certain period range and amplitude range. When the solution module 51 receives that the navigation speed of the unmanned boat 200 also changes periodically, that is, when it tends to be consistent with the third reference speed (the "tends to be consistent" here can refer to the above description), it can be considered that the unmanned boat 200 is in the wave stage at this time. Thus, the solution module 51 can perform the above-mentioned control on the hull 9. The specific periodic change values and ranges of the navigation speed are not particularly limited here, and are specifically limited according to the type and practical scenario of the unmanned boat 200, etc.

[0119] An embodiment of the present application further provides a computer-readable storage medium, which is applied to the above-mentioned unmanned boat 200. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method described in the above embodiments, so as to control the navigation of the unmanned boat 200 through the control method.

[0120] The foregoing is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A navigation control method for an unmanned boat, characterized in that, Including: Confirming the motion stage of the unmanned boat; Sensing the attitude information of the unmanned boat; Calculating the control information of the unmanned boat in the corresponding motion stage based on the attitude information and attitude reference information; And Controlling the action of the unmanned boat according to the control information, including: controlling the rotation of the hydrofoil according to the control information, and controlling the hull of the unmanned boat through the rotation of the hydrofoil; The motion stage includes at least one of a take-off stage, a high-speed gliding stage, and a wave stage; The attitude reference information corresponding to the take-off stage includes a first reference angle, the attitude reference information corresponding to the high-speed gliding stage includes a second reference angle, and the attitude reference information corresponding to the wave stage includes a third reference angle; The attitude information includes the inclination angle of the unmanned boat; Calculating the control information of the unmanned boat includes: obtaining the attitude reference information, and calculating the control information by comparing the attitude reference information corresponding to the motion stage with the attitude information.

2. The navigation control method of the unmanned boat according to claim 1, characterized in that Controlling the rotation of the hydrofoil includes: the control component controls the drive component according to the control information, and the drive component acts to control the rotation of the hydrofoil.

3. The navigation control method of the unmanned boat according to claim 1, characterized in that, Confirming the motion stage of the unmanned boat includes: obtaining the navigation speed of the unmanned boat, and comparing the navigation speed with a reference speed.

4. The navigation control method of the unmanned boat according to claim 2, characterized in that, In the take-off stage, when the stern inclination angle of the unmanned boat is greater than the first reference angle, the control component controls the drive component according to the first control information, and the drive component controls the rotation of the hydrofoil to make the bow dip.

5. The navigation control method according to claim 2, characterized in that In the high-speed gliding stage, when the stern inclination angle of the unmanned boat is greater than the second reference angle, the control component controls the drive component according to the second control information, and the drive component controls the rotation of the hydrofoil to make the bow dip; when the bow inclination angle of the unmanned boat is greater than the second reference angle, the control component controls the drive component according to the third control information, and the drive component controls the rotation of the hydrofoil to make the bow tilt up.

6. The navigation control method according to claim 2, wherein In the wave stage, when the stern inclination angle of the unmanned boat gradually decreases to the third reference angle, the control component controls the drive component according to the fourth control information, and the drive component controls the hydrofoil to make the bow tilt up; when the stern inclination angle of the unmanned boat gradually increases to the third reference angle, the control component controls the drive component according to the fifth control information, and the drive component controls the rotation of the hydrofoil to make the bow dip.

7. The navigation control method of the unmanned boat according to claim 6, characterized in that, The attitude reference information corresponding to the wave stage further includes a fourth reference angle, and the fourth reference angle includes the periodic change information of the inclination angle of the unmanned boat with the wave; when the attitude information of the unmanned boat is consistent with the fourth reference angle, the control component confirms that the unmanned boat is in the wave stage.

8. A computer-readable storage medium, characterized in that, A computer program is stored, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 7 is implemented.

9. An unmanned boat, characterized in that, Including a computer-readable storage medium according to claim 8, and controlled by the control method according to any one of claims 1 to 7, including a hull and a hydrofoil device provided on the hull; the hydrofoil device includes: A hydrofoil; A drive component; and A control component, including a solution module and an inertial navigation module connected by wire or wirelessly. The inertial navigation module is used to sense the attitude information of the unmanned boat, the solution module is used to receive the attitude information, compare the attitude information with the attitude reference information, and control the drive component according to the comparison result. The drive component is used to drive the hydrofoil to rotate according to the control information of the solution module.

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