Sustainable navigation modular wind-driven ocean observation robot and its control method

Abstract

The present invention discloses a modular, wind-driven ocean observation robot capable of sustainable navigation and a control method thereof. The ocean observation robot comprises a support, a buoy, a sail, a solar power generation device, a battery, a main control module, a positioning device, an ultrasonic weather station, an inertial measurement unit, and a water flow sensor. The positioning device is located behind the sail and is used to obtain the position information of the ocean observation robot. The ultrasonic weather station is located in front of the sail and is used to obtain wind speed and direction information of the ocean observation robot. The inertial measurement unit is used to obtain the position information of the ocean observation robot. The water flow sensor is located below the support and is used to obtain water speed and direction information of the ocean observation robot. The present invention configures multiple sensors to obtain information such as position, wind speed, wind direction, position, water speed, and water direction, facilitating the planning and adjustment of navigation routes and facilitating smooth arrival at the destination.

Description

Technical Field

[0001] The present invention relates to the technical field of marine intelligent equipment, and in particular to a modular wind-driven ocean observation robot with sustainable navigation and a control method thereof. Background Art

[0002] Currently, the main types of intelligent devices used at sea are unmanned vessels and unmanned sailboats. Unmanned vessels require propellers, which consume a lot of energy and cannot achieve sustained navigation at sea. Unmanned sailboats are still in the research stage, with very few commercial applications on the market. Unmanned sailboats can directly utilize wind energy as a driving force, supplemented by virtually unlimited energy sources such as solar and wave energy. However, due to the numerous factors that affect the navigation of intelligent maritime devices such as unmanned sailboats at sea, such as wind, waves, other vessels, and obstacles, these devices cannot successfully complete their navigation tasks.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a modular wind-driven ocean observation robot with sustainable navigation and a control method thereof in response to the above-mentioned defects of the prior art, aiming to solve the problem that marine intelligent equipment in the prior art cannot complete navigation tasks smoothly.

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0006] A modular, wind-driven ocean observation robot capable of sustainable navigation, comprising:

[0007] Bracket;

[0008] at least two buoys, disposed below the support;

[0009] A sail body is rotatably arranged above the bracket;

[0010] A solar power generation device is arranged on the bracket;

[0011] a battery, disposed on the bracket and electrically connected to the solar power generation device;

[0012] a main control module, disposed on the bracket and electrically connected to the battery;

[0013] Wherein, the sail body is connected to the main control module; wherein, the ocean observation robot further includes:

[0014] The positioning device, ultrasonic weather station, inertial measurement unit and water flow sensor are all connected to the main control module;

[0015] Wherein, the positioning device is located behind the sail body and is used to obtain the position information of the ocean observation robot;

[0016] The ultrasonic weather station is located in front of the sail body and is used to obtain wind speed information and wind direction information of the ocean observation robot;

[0017] The inertial measurement unit is used to obtain the position information of the ocean observation robot;

[0018] The water flow sensor is located below the bracket and is used to obtain water speed information and water direction information of the ocean observation robot.

[0019] The modular wind-driven ocean observation robot capable of sustainable navigation further comprises:

[0020] AIS module, connected to the main control module;

[0021] A camera is connected to the main control module.

[0022] The sustainable navigation modular wind-driven ocean observation robot, wherein the positioning device includes: a GPS module and a Beidou short message module.

[0023] The modular wind-driven ocean observation robot capable of sustainable navigation further comprises:

[0024] A rudder is provided below the bracket and connected to the main control module;

[0025] A UAV lifting platform connected to the main control module;

[0026] The underwater robot retracting and deploying device is connected to the main control module.

[0027] A control method for a modular wind-driven ocean observation robot capable of sustainable navigation according to any one of the above methods, characterized in that it comprises the following steps:

[0028] obtaining the position information of the ocean observation robot at the first moment through a positioning device, obtaining the wind speed information and wind direction information of the ocean observation robot at the first moment through an ultrasonic weather station, obtaining the posture information of the ocean observation robot at the first moment through an inertial measurement unit, and obtaining the water speed information and water direction information of the ocean observation robot at the first moment through a water flow sensor;

[0029] Simulating and obtaining source power information of the ocean observation robot at a second moment based on the position information at the first moment, the wind speed information at the first moment, and the wind direction information at the first moment;

[0030] Simulating water resistance information of the ocean observation robot at a second moment based on the water speed information at the first moment and the water direction information at the first moment;

[0031] Determining the navigation speed and posture information of the ocean observation robot at the second moment according to the posture information at the first moment, the source power information at the second moment, and the water resistance information at the second moment;

[0032] The navigation route of the ocean observation robot is planned according to the navigation speed and posture information of the plurality of second moments, the position information of the first moment and the position information of the destination.

[0033] The control method further comprises:

[0034] When the sailing speed and posture information at the second moment do not meet the preset requirements, the windward angle of the sail at the second moment is determined based on the wind speed information at the first moment, the wind direction information at the first moment, and the posture information at the first moment, and the sail is controlled to rotate at the second moment to adjust the windward angle of the sail at the second moment.

[0035] The control method, wherein the ocean observation robot further comprises: an AIS module connected to the main control module; a camera connected to the main control module; the control method further comprises:

[0036] Acquiring marine vessel information through the AIS module and acquiring obstacle information through the camera;

[0037] The navigation route is adjusted according to the marine vessel information and the obstacle information.

[0038] The control method, wherein the positioning device includes: a GPS module and a Beidou short message module; the control method further includes:

[0039] The control instruction is received through the Beidou short message module to adjust the navigation route.

[0040] A computer device comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the control methods described above when executing the computer program.

[0041] A computer-readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, the steps of the control method described in any one of the above items are implemented.

[0042] Beneficial effects: The present invention configures multiple sensors to obtain information such as position information, wind speed information, wind direction information, posture information, water speed information and water direction information, which is convenient for planning and adjusting the navigation route and conducive to smoothly reaching the destination. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a first structural diagram of the ocean observation robot in the present invention.

[0044] Figure 2 This is a second structural diagram of the ocean observation robot in the present invention.

[0045] Figure 3 This is the third structural diagram of the ocean observation robot in the present invention.

[0046] Figure 4 This is the fourth structural diagram of the ocean observation robot in the present invention.

[0047] Figure 5 yes Figure 4 Enlarged view of point A in the middle.

[0048] Figure 6 It is a cross-sectional view of the rudder drive device and the mainsail drive device of the present invention.

[0049] Figure 7 It is a principle block diagram of the energy system in the present invention.

[0050] Figure 8 It is a principle block diagram of automatic navigation in the present invention.

[0051] Figure 9 It is a principle block diagram of automatic navigation data processing in the present invention.

[0052] Description of reference numerals:

[0053] 10. Bracket; 11. Buoy; 12. Sail; 20. Solar power generation device; 201. Solar panel; 202. Solar energy management module; 21. Battery; 30. Electrical control box; 31. Main control module; 32. Water cooling device; 331. First drive member; 332. First transmission shaft; 333. Sail rope turntable; 334. Pulley block; 341. Second drive member; 342. Second transmission shaft; 343. Chain transmission structure; 41. GPS module; 42. Beidou short message module; 43. Ultrasonic weather station; 44. Water flow sensor; 51. AIS module; 52. Camera; 60. Rudder. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] Please also see Figures 1-8 The present invention provides some embodiments of a modular wind-driven ocean observation robot that can sail sustainably.

[0056] Unmanned sailboats and other intelligent marine devices sometimes need to complete navigation tasks, sailing from the starting point to the destination. During the navigation process, they must not only choose a suitable sailing route to use sea breeze and sun for driving, but also avoid sea breeze, waves, other ships and obstacles that hinder navigation.

[0057] Furthermore, most unmanned sailboats are primarily monohulls, sharing similarities in structure, motion, and navigation control. Propulsion systems include flexible sails, rigid wing sails, turbines, and towing kites. Capacity to resist rollover and wind and wave action relies primarily on the keel. However, existing technologies hinder the ability of unmanned sailboats to detect underwater fishing nets and cables while at sea. The submerged keel can easily become entangled in nets, leading to stalling and loss of control. Furthermore, a deeper keel also presents the risk of grounding on reefs.

[0058] like Figure 1 、 Figure 2 、 Figure 4 as well as Figure 5 As shown, the present invention provides a modular wind-driven ocean observation robot with sustainable navigation, comprising:

[0059] Bracket 10;

[0060] At least two buoys 11 are disposed below the support 10;

[0061] The sail body 12 is rotatably disposed above the bracket 10;

[0062] A solar power generation device 20 is provided on the bracket 10;

[0063] a battery 21 , mounted on the bracket 10 and electrically connected to the solar power generation device 20 ;

[0064] A main control module 31 is provided on the bracket 10 and electrically connected to the battery 21;

[0065] The positioning device, ultrasonic weather station 43, inertial measurement unit and water flow sensor 44 are all connected to the main control module 31;

[0066] Wherein, the sail body 12 is connected to the main control module 31;

[0067] The positioning device is located behind the sail 12 and is used to obtain the position information of the ocean observation robot;

[0068] The ultrasonic weather station 43 is located in front of the sail body 12 and is used to obtain wind speed information and wind direction information of the ocean observation robot;

[0069] The inertial measurement unit is used to obtain the position information of the ocean observation robot;

[0070] The water flow sensor 44 is located below the bracket 10 and is used to obtain water speed information and water direction information of the ocean observation robot.

[0071] Specifically, the buoy 11 can be an inflatable buoy or a non-inflatable buoy, and the buoy 11 floats on the sea surface. The sail 12 uses wind power to drive the ocean observation robot to move. The solar power generation device 20 is used to convert solar energy into electrical energy to power the ocean observation robot. The battery 21 is used to store the electrical energy converted by the solar power generation device 20 and output it to. The main control module 31 can control the rotation of the sail 12 and adjust the angle of the sail 12. The main control module 31 stores an offline map, which carries the location information of the destination. The positioning device is used to obtain location information, specifically information about the location of the ocean observation robot. The ultrasonic weather station 43 is used to obtain wind speed information and wind direction information, specifically wind speed information and wind direction information near the location of the ocean observation robot, especially wind speed information and wind direction information near the direction of the destination. The inertial measurement unit is used to obtain posture information. The water flow sensor 44 is used to obtain water speed information and water direction information of the seawater at the location of the ocean observation robot.

[0072] like Figure 8 As shown, the present invention configures multiple sensors to obtain information such as position information, wind speed information, wind direction information, posture information, water speed information, and water direction information, which is convenient for planning and adjusting the navigation route and conducive to smoothly reaching the destination.

[0073] like Figure 1 、 Figure 5 as well as Figure 7 As shown, an electrical control box 30 is mounted on the support 10, and a main control module 31 and battery 21 are both located within the electrical control box 30. The solar power generation device 20 includes a solar panel 201 and a solar energy management module 202. The solar panel 201 is mounted on the support 10. Multiple solar panels 201 can be located at different locations on the support 10 to maximize solar exposure. The electrical control box 30 is also equipped with a solar panel 201. The solar energy management module 202 is located within the electrical control box 30, to one side of the main control module 31. A water cooling device 32 is also installed on the side of the main control module 31 to cool the main control module 31.

[0074] like Figure 3 、 Figure 5 as well as Figure 6 As shown, the electrical control box 30 also houses a mainsail drive unit, which is connected to the main control module 31 and is used to drive the sail 12. The mainsail drive unit includes a first drive member 331; a first transmission shaft 332 connected to the output shaft of the first drive member 331; a sail rope turntable 333 mounted on the first transmission shaft 332; a pulley assembly 334 mounted on the bracket 10; and two ends of the sail rope connected to the sail rope turntable 333 and the sail 12, respectively.

[0075] like Figure 3 、 Figure 5 as well as Figure 6 As shown, the ocean observation robot also includes: a rudder 60, which is arranged below the bracket 10 and is connected to the main control module 31. The rudder 60 is used to adjust the navigation direction of the ocean observation robot. A rudder drive device is also provided in the electrical control box 30, which is connected to the main control module 31. The rudder drive device includes: a second drive member 341; a second transmission shaft 342, which is connected to the output shaft of the first drive member 331; a chain transmission structure 343, which is respectively connected to the second transmission shaft 342 and the rudder 60. The chain transmission mechanism includes: a driving wheel, which is provided on the second transmission shaft 342; a driven wheel, which is rotatably provided in the electrical control box 30; and a chain, which surrounds the driving wheel and the driven wheel. The first driving member and the second driving member can adopt a reduction motor.

[0076] In a preferred embodiment of the present invention, Figure 5 As shown, the ocean observation robot further includes: an AIS module 51 connected to the main control module 31 .

[0077] Specifically, the navigation information of other ships can be obtained through the AIS module 51 to avoid collision with other ships. The AIS module 51 is arranged in the electrical control box 30.

[0078] In a preferred embodiment of the present invention, Figure 1 and Figure 5 As shown, the ocean observation robot further includes: a camera 52 connected to the main control module 31 .

[0079] Specifically, the camera 52 captures images of the ocean observation robot's surroundings to determine whether there are any obstacles. The camera 52 can be a spherical camera 52 to capture images over a wider range. The camera 52 can also be an infrared camera 52 to determine whether there are any obstacles at night or in unclear visual conditions.

[0080] In a preferred embodiment of the present invention, Figure 1 and Figure 3As shown, the positioning device includes: a GPS module 41 and a Beidou short message module 42.

[0081] Specifically, GPS or Beidou can be used for positioning. Control instructions can also be obtained through the Beidou short message module 42 to control the ocean observation robot.

[0082] In a preferred embodiment of the present invention, the ocean observation robot further includes: a drone lifting platform connected to the main control module 31 .

[0083] Specifically, the ocean observation robot is equipped with a drone lifting platform, which can be used to lift, park, and power the drone. The drone can then fly away from the ocean observation robot to collect more data on the sea surface.

[0084] In a preferred embodiment of the present invention, the ocean observation robot further includes: an underwater robot retracting and deploying device connected to the main control module 31 .

[0085] Specifically, the ocean observation robot is equipped with an underwater robot retraction and deployment device, which not only provides parking for the underwater robot but also provides power to the underwater robot. The underwater robot can dive underwater and collect more data below the sea surface.

[0086] like Figure 8 and Figure 9 As shown, a method of the present invention comprises the following steps:

[0087] Step S100: obtain the position information of the ocean observation robot at the first moment through a positioning device, obtain the wind speed information and wind direction information of the ocean observation robot at the first moment through an ultrasonic weather station, obtain the posture information of the ocean observation robot at the first moment through an inertial measurement unit, and obtain the water speed information and water direction information of the ocean observation robot at the first moment through a water flow sensor.

[0088] Specifically, corresponding sensing data information is acquired through each sensor.

[0089] Step S200: Simulate and obtain source power information of the ocean observation robot at the second moment based on the position information at the first moment, the wind speed information at the first moment, and the wind direction information at the first moment.

[0090] Specifically, the first moment can be the starting moment, i.e., the moment when the voyage begins, or it can be a certain moment during the voyage. After obtaining the wind speed information and wind direction information at the first moment, the wind speed information and wind direction information at the first moment are pre-processed and input into the sail-shaped power simulation system SMSS to obtain the source power information at the second moment. The sail-shaped power simulation system SMSS is established by collecting the wind direction, wind speed, and corresponding sail body shape values ​​at sea (the sail body shape values ​​include: windward angle, angle with the sailing direction). The wind speed information and wind direction information at the first moment are pre-processed and input into the sail-shaped power simulation system SMSS, and the output result is converted into the source power information at the second moment.

[0091] Step S300: According to the water speed information at the first moment and the water direction information at the first moment, simulate and obtain the water resistance information of the ocean observation robot at the second moment.

[0092] Specifically, after obtaining the water speed and direction information at the first moment, this information is pre-processed and input into the water resistance simulation system (WDSS) to obtain the water resistance information at the second moment. The water resistance simulation system (WDSS) is established through the following steps: First, a motion coordinate system for the robot's navigation is established. Wind pressure and wave forces are calculated based on this coordinate system, and the water resistance simulation system (WDSS) is constructed based on the current wind pressure and wave force values.

[0093] Step S400: Determine the navigation speed and posture information of the ocean observation robot at the second moment based on the posture information at the first moment, the source power information at the second moment, and the water resistance information at the second moment.

[0094] Specifically, the navigation trajectory planning system (RPS) calculates the navigation speed and posture information at the second moment based on the posture information at the first moment, the source power information at the second moment, and the water resistance information at the second moment. The RPS separates the route planning and velocity planning of the robot's trajectory. Through decomposition and sequential calculation, it transforms a high-dimensional trajectory planning problem into two low-dimensional trajectory planning problems. It then constructs constraints based on the smoothness of the route, the lateral offset distance between the route and the reference line, and the risk of collision with obstacles. The robot's trajectory planning is achieved by constructing and solving an optimized constraint function.

[0095] Step S500: planning a navigation route of the ocean observation robot according to the plurality of navigation speeds and posture information at the second moment, the position information at the first moment, and the position information of the destination.

[0096] Specifically, the second moment is the moment after the first moment. At the first moment, the navigation speed and posture information of multiple second moments can be simulated, and then the navigation route is planned between the position at the first moment and the destination through the navigation speed and posture information of multiple second moments.

[0097] Step S600: When the navigation speed and posture information at the second moment do not meet the preset requirements, the windward angle of the sail at the second moment is determined according to the wind speed information at the first moment, the wind direction information at the first moment, and the posture information at the first moment, and the sail is controlled to rotate at the second moment to adjust the windward angle of the sail at the second moment.

[0098] Specifically, to increase the speed of the ocean observation robot and ensure it reaches its destination safely and quickly, the speed at each moment must be within a certain speed range, and the position information at each moment must conform to the planned navigation route. The windward angle at the second moment is calculated by reverse engineering (using the inverse solver BFS) using the wind speed, wind direction, and position information at the first moment, the planned navigation route, and the speed range. This allows the sail to adjust its windward angle at the second moment.

[0099] Step S700: Obtain marine vessel information through the AIS module and obtain obstacle information through the camera; and adjust the navigation route according to the marine vessel information and the obstacle information.

[0100] Specifically, in order to avoid collisions, groundings, and being caught in fishing nets, the AIS module is used to obtain information about ships at sea around the ocean observation robot, and the camera is used to obtain photos of the sea around the ocean observation robot, and to identify obstacle information (an AI intelligent module can be formed to identify obstacle size, direction, distance, and other information), and the navigation route is adjusted based on the information about ships at sea and obstacles. Usually, ships at sea are moving, and the information about ships at sea includes: location information of the intersection with the planned route, entry and exit times within the preset range of the planned route,

[0101] Step S800: Receive control instructions through the Beidou short message module and adjust the navigation route.

[0102] When the present invention is implemented, the land command center can also send control instructions to the Beidou short message module through the Beidou satellite and adjust the navigation route.

[0103] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A control method for a modular wind-driven ocean observation robot based on sustainable navigation, characterized in that: The ocean observation robot comprises: Bracket; at least two buoys, disposed below the support; A sail body is rotatably arranged above the bracket; A solar power generation device is arranged on the bracket; a battery, disposed on the bracket and electrically connected to the solar power generation device; a main control module, disposed on the bracket and electrically connected to the battery; The positioning device, ultrasonic weather station, inertial measurement unit and water flow sensor are all connected to the main control module; Wherein, the sail body is connected to the main control module; The positioning device is located behind the sail body and is used to obtain the position information of the ocean observation robot; The ultrasonic weather station is located in front of the sail body and is used to obtain wind speed information and wind direction information of the ocean observation robot; The inertial measurement unit is used to obtain the position information of the ocean observation robot; The water flow sensor is located below the bracket and is used to obtain water speed information and water direction information of the ocean observation robot; the control method includes the steps of: obtaining the position information of the ocean observation robot at the first moment through a positioning device, obtaining the wind speed information and wind direction information of the ocean observation robot at the first moment through an ultrasonic weather station, obtaining the posture information of the ocean observation robot at the first moment through an inertial measurement unit, and obtaining the water speed information and water direction information of the ocean observation robot at the first moment through a water flow sensor; Simulating and obtaining source power information of the ocean observation robot at a second moment based on the position information at the first moment, the wind speed information at the first moment, and the wind direction information at the first moment; Simulating water resistance information of the ocean observation robot at a second moment based on the water speed information at the first moment and the water direction information at the first moment; Determining the navigation speed and posture information of the ocean observation robot at the second moment according to the posture information at the first moment, the source power information at the second moment, and the water resistance information at the second moment; planning a navigation route of the ocean observation robot based on the plurality of navigation speeds and posture information at the second moment, the position information at the first moment, and the position information of the destination; The control method further includes: When the sailing speed and the position information at the second moment do not meet the preset requirements, determining the windward angle of the sail at the second moment based on the wind speed information at the first moment, the wind direction information at the first moment, and the position information at the first moment, and controlling the sail to rotate at the second moment to adjust the windward angle of the sail at the second moment; The ocean observation robot further includes: an AIS module connected to the main control module; a camera connected to the main control module; and the control method further includes: Acquiring marine vessel information through the AIS module and acquiring obstacle information through the camera; The navigation route is adjusted according to the marine vessel information and the obstacle information.

2. The control method according to claim 1, characterized in that: The positioning device includes: a GPS module and a Beidou short message module; the control method also includes: The control instruction is received through the Beidou short message module to adjust the navigation route.

3. The control method according to claim 1, wherein: The ocean observation robot also includes: A rudder is provided below the bracket and connected to the main control module; A UAV lifting platform connected to the main control module; The underwater robot retracting and deploying device is connected to the main control module.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the control method according to any one of claims 1 to 3 are implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 3 are implemented.

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