An unmanned ship control system and automatic cruising control method

Abstract

The application provides an unmanned ship control system and an automatic cruising control method, the system comprises a control module, a processing module, an execution module and an encryption network module, the control module is used for inputting route information, the processing module is used for analyzing the route information, the execution module performs navigation operation on the unmanned ship based on the analysis result, and the encryption network module is used for transmitting information between the control module, the processing module and the execution module; the system only needs to plan a route and can automatically control the unmanned ship to navigate in a sea area, when the route is a closed route, the automatic cruising of the unmanned ship can be completed, human operation is reduced, and the automation degree is improved.

Description

Technical Field

[0001] This invention relates to the field of two-dimensional position or waterway control, and more specifically to an unmanned vessel control system and an automatic cruise control method. Background Technology

[0002] Unmanned vessels are vessels operated without human intervention. They mainly include unmanned surface vessels and unmanned underwater vehicles. They are primarily used to perform dangerous tasks or missions that are unsuitable for manned vessels. Unmanned vessels are usually controlled through wireless command systems. However, existing control systems involve too much human intervention, resulting in high labor costs. There is also a limit to the number of unmanned vessels that can be controlled at the same time, and the level of automation needs to be improved.

[0003] The foregoing description of the background art is intended only to facilitate understanding of the invention. This description does not endorse or acknowledge any common general knowledge in the materials mentioned.

[0004] Many navigation control systems have been developed. Through extensive research and reference, we found existing control systems such as the one disclosed in publication number CN112925324B. These systems generally include a remote control unit for issuing remote control signals. The remote control unit includes a remote controller and a network mobile terminal. The remote controller includes a predetermined cruise route selection switch. An information processing unit, connected to the remote controller and network mobile terminal, receives, processes, and generates execution control signals from these signals. An execution unit receives the execution control signals from the information processing unit or the remote control signals from the remote controller and controls the vessel's movement based on the received control signals. However, this system still relies heavily on manual operation and cannot control unmanned vessels on a large scale; its automation level needs improvement. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings by proposing an unmanned vessel control system and an automatic cruise control method.

[0006] The present invention adopts the following technical solution:

[0007] An unmanned surface vessel control system includes a control module, a processing module, an execution module, and an encrypted network module. The control module is used to input route information, the processing module is used to parse the route information, the execution module performs navigation operations on the unmanned surface vessel based on the parsing results, and the encrypted network module is used to transmit information between the control module, the processing module, and the execution module.

[0008] The processing module includes a location processing unit, a route processing unit, and a command sending unit. The location processing unit converts the route information into a set of actual route coordinates. The route processing unit processes the actual route coordinate set into one or more routes and generates a route instruction based on each route. The instruction sending unit sends the corresponding route instruction based on the real-time position of the unmanned vessel.

[0009] The instruction sending unit includes a second register and a second computing processor. The second register is used to store instruction set information, and the instruction format in the instruction set is as follows: ,in, For the judgment point, The execution angle is denoted by i, and the segment number is denoted by i. The second calculation processor is used to calculate and compare the real-time coordinates of the unmanned vessel with the judgment point. When the requirements are met, the execution angle is sent to the execution module through the encrypted network module.

[0010] Furthermore, the location processing unit includes a first register and a first computing processor. The first register is used to store the starting coordinate information of the sea area map, and the first computing processor calculates the actual coordinate information of the route based on the starting coordinate information of the sea area map and the relative coordinate information of the route.

[0011] Furthermore, the route processing unit includes a coordinate analysis processor and an instruction generation processor, wherein the coordinate analysis processor determines the instruction generation processor based on a coordinate set. The route is divided into multiple segments, and the instruction generation processor generates an instruction for each segment.

[0012] Furthermore, the process by which the coordinate analysis processor divides the flight route into multiple segments includes the following steps:

[0013] S1, in the coordinate set Find a point as the starting point. ;

[0014] S2. Set the point-finding pointer, which will acquire the starting point in sequence. The dots after it;

[0015] S3. Use the point-finding pointer in the coordinate set Obtain a point from the data and use that point as the analysis point. If the coordinate set If all points in the selection have been taken, the process ends.

[0016] S4. Calculate the offset distance :

[0017] ;

[0018] in, Based on the offset distance, For remote coefficients, This represents the x-coordinate of point P. Let P represent the ordinate of point P, where P is... or ;

[0019] S5. Determine all points. With point Points between , If the distance between the connecting lines is less than the offset distance, then proceed to step S3; otherwise, proceed to step S6.

[0020] S6, will and The connection is taken as a flight segment, coordinate replacement The coordinates of the new point are obtained Skip to step S3;

[0021] Furthermore, the second register processes the instructions according to the segment number. The instructions are sorted, and after the instruction sending unit sends the execution corner of the first instruction information in the second register to the execution module, the first instruction information is deleted from the second register.

[0022] An automatic cruise control method for unmanned surface vessels includes the following steps:

[0023] S21. Establish closed air routes;

[0024] S22. Divide the route into at least three segments, and generate an instruction for each segment. And sort the instructions based on the flight segment order;

[0025] S23. Obtain the real-time coordinates of the unmanned vessel and compare them with the coordinates of the first command. When comparing, if the comparison is consistent, it is based on the corresponding... Adjust course;

[0026] S24. Move the first instruction to the end of the sequence;

[0027] S25. Repeat steps S23 and S24 continuously to achieve automatic cruise on a closed route.

[0028] The beneficial effects achieved by this invention are:

[0029] This system only needs to plan the route, then automatically analyze and process the route to obtain the instruction set, and combine it with the real-time location information uploaded by the unmanned vessel to send the corresponding instructions at the appropriate time, so that the unmanned vessel can navigate automatically on the planned route. When the route is a closed route, the system can continuously cruise on the closed route by cyclically processing the instructions in the instruction set. This system can bind different routes with different unmanned vessels and control multiple unmanned vessels to navigate in the sea area at the same time.

[0030] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structural framework of the present invention;

[0032] Figure 2 This is a schematic diagram of the control module structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the processing module of the present invention;

[0034] Figure 4 This is a schematic diagram illustrating the structure and operating logic of the position processing unit of the present invention;

[0035] Figure 5 This is a schematic diagram illustrating the structure and operation logic of the instruction sending unit of the present invention. Detailed Implementation

[0036] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0037] Example 1: This example provides an unmanned surface vessel control system, combined with... Figure 1 It includes a control module, a processing module, an execution module, and an encrypted network module. The control module is used to input route information, the processing module is used to parse the route information, the execution module performs navigation operations on the unmanned vessel based on the parsing results, and the encrypted network module is used to transmit information between the control module, the processing module, and the execution module.

[0038] The processing module includes a location processing unit, a route processing unit, and a command sending unit. The location processing unit converts the route information into a set of actual route coordinates. The route processing unit processes the actual route coordinate set into one or more routes and generates a route instruction based on each route. The instruction sending unit sends the corresponding route instruction based on the real-time position of the unmanned vessel.

[0039] The instruction sending unit includes a second register and a second computing processor. The second register is used to store instruction set information, and the instruction format in the instruction set is as follows: ,in, For the judgment point, The execution angle is denoted by i, and the segment number is denoted by i. The second calculation processor is used to calculate and compare the real-time coordinates of the unmanned vessel with the judgment point. When the requirements are met, the execution angle is sent to the execution module through the encrypted network module.

[0040] The location processing unit includes a first register and a first computing processor. The first register is used to store the starting coordinate information of the sea area map, and the first computing processor calculates the actual coordinate information of the route based on the starting coordinate information of the sea area map and the relative coordinate information of the route.

[0041] The route processing unit includes a coordinate analysis processor and an instruction generation processor. The coordinate analysis processor, based on a coordinate set... The route is divided into multiple segments, and the instruction generation processor generates an instruction for each segment.

[0042] The process by which the coordinate analysis processor divides the flight route into multiple segments includes the following steps:

[0043] S1, in the coordinate set Find a point as the starting point. ;

[0044] S2. Set the point-finding pointer, which will acquire the starting point in sequence. The dots after it;

[0045] S3. Use the point-finding pointer in the coordinate set Obtain a point from the data and use that point as the analysis point. If the coordinate set If all points in the selection have been taken, the process ends.

[0046] S4. Calculate the offset distance :

[0047] ;

[0048] in, Based on the offset distance, For remote coefficients, This represents the x-coordinate of point P. Let P represent the ordinate of point P, where P is... or ;

[0049] S5. Determine all points. With point Points between , If the distance between the connecting lines is less than the offset distance, then proceed to step S3; otherwise, proceed to step S6.

[0050] S6, will and The connection is taken as a flight segment, coordinate replacement The coordinates of the new point are obtained Skip to step S3;

[0051] The second register registers instructions based on the segment number. The instructions are sorted, and after the instruction sending unit sends the execution corner of the first instruction information in the second register to the execution module, the first instruction information is deleted from the second register.

[0052] An automatic cruise control method for unmanned surface vessels includes the following steps:

[0053] S21. Establish closed air routes;

[0054] S22. Divide the route into at least three segments, and generate an instruction for each segment. And sort the instructions based on the flight segment order;

[0055] S23. Obtain the real-time coordinates of the unmanned vessel and compare them with the coordinates of the first command. When comparing, if the comparison is consistent, it is based on the corresponding... Adjust course;

[0056] S24. Move the first instruction to the end of the sequence;

[0057] S25. Repeat steps S23 and S24 continuously to achieve automatic cruise on a closed route.

[0058] Example 2: This example includes all the contents of Example 1 and provides an unmanned surface vessel control system, including a control module, a processing module, an execution module, and an encrypted network module. The control module is used to input route information, the processing module is used to parse the route information, the execution module performs navigation operations on the unmanned surface vessel based on the parsing results, and the encrypted network module is used to transmit information between the control module, the processing module, and the execution module.

[0059] Combination Figure 2 The control module includes a database, a call and display unit, and an operation unit. The database stores ship data information, sea area map information, and route information. The call and display unit can call information from the database and display it. The operation unit is used to set routes in the displayed sea area map information.

[0060] After the call display unit retrieves the sea area map information from the database, a map will be displayed on the display device. The call display unit can perform operations such as zooming in, zooming out, and panning on the map. After the call display unit retrieves the ship data information from the database, a ship icon will be displayed on the map. The operation unit can place the ship icon at any sea area position on the map. The operation unit can start and end route design. When route design is started, the movement of the ship icon will leave a trace on the map. When route design is ended, the trace information will be converted into route information. The control module will package all relevant information and send it to the processing module. After the call display unit retrieves the route information from the database, the corresponding route will be displayed on the map, and the ship icon will automatically move to the route. At this time, the route design can be ended directly, or the route can be modified through the operation unit before ending the route design. It should be noted that when the route information is retrieved, the route design cannot be started by the operation unit to design the route independently; it can only be modified based on the retrieved route.

[0061] After designing a flight route using the aforementioned operation unit, the designed route can be saved to the database for easy retrieval next time.

[0062] The database stores route information including actual routes and graphical routes. The actual routes are bound to the corresponding sea area maps and fixed at specific locations on the sea area maps. The graphical routes can be displayed at any location on any sea area map, and the graphical routes can be zoomed in, zoomed out, and panned by the operation unit. The operation that can be performed on both the actual routes and the graphical routes by the operation unit is a modification operation. The modification operation involves selecting a portion of the actual routes and graphical routes, and then manually designing a route to replace the selected portion.

[0063] The call display unit also includes an alarm unit. The alarm unit will detect whether the route passes through non-navigation areas such as islands and reefs. If so, the route design cannot be directly ended by the operation unit, and the part of the route that passes through the non-navigation area will be specially displayed.

[0064] The information packaged and sent by the control module includes ship information, sea area map information, and the relative position information of the route on the sea area map.

[0065] Combination Figure 3 The processing module includes a location processing unit, a route processing unit, and an instruction sending unit. The location processing unit processes the sea area map information and the relative position information of the route to obtain the actual position information of the route. The route processing unit generates a route instruction set based on the actual position information of the route. The instruction sending unit sends the instructions in the route instruction set to the execution module in sequence.

[0066] The location processing unit calculates the coordinates of points on the actual flight path according to the following formula. :

[0067] ;

[0068] in, The coordinates of the starting point on the sea area map. These are the relative coordinates of points on the shipping route on the sea map. The scale factor for the sea area map;

[0069] Combination Figure 4 The location processing unit includes a first register and a first computing processor. The first register is used to store the starting coordinates of each sea area map and the actual point coordinates of the route. The first computing processor is used to perform the calculation task of calculating the actual point coordinates. The location processing unit sets the point coordinates... After being sent to the route processing unit, the actual point coordinate information is deleted from the first register;

[0070] The route processing unit includes a coordinate analysis processor and an instruction generation processor. The coordinate analysis processor is used to divide the route into multiple segments, and the instruction generation processor generates an instruction for each segment.

[0071] The process by which the coordinate analysis processor divides the flight route into multiple segments includes the following steps:

[0072] S1, in the coordinate set Find a point as the starting point. ;

[0073] S2. Set the point-finding pointer, which will acquire the starting point in sequence. The dots after it;

[0074] S3. Use the point-finding pointer in the coordinate set Obtain a point from the data and use that point as the analysis point. If the coordinate set If all points in the selection have been taken, the process ends.

[0075] S4. Calculate the offset distance :

[0076] ;

[0077] in, Based on the offset distance, For remote coefficients, This represents the x-coordinate of point P. Let P represent the ordinate of point P, where P is... or ;

[0078] S5. Determine all points. With point Points between , If the distance between the connecting lines is less than the offset distance, then proceed to step S3; otherwise, proceed to step S6.

[0079] S6, will and The connection is taken as a flight segment, coordinate replacement The coordinates of the new point are obtained Skip to step S3;

[0080] The coordinate analysis processor obtains the flight segment information for use This indicates that i represents the sequence number of the flight segment;

[0081] The instruction generation processor will generate flight segment information. Converted into instruction information :

[0082] ;

[0083] In the instruction information, point As a judgment point As the execution angle;

[0084] Combination Figure 5The instruction sending unit includes a second register and a second computing processor. The second register is used to store instruction set information, and the second computing processor is used to calculate and compare the real-time coordinates of the unmanned vessel with the judgment point.

[0085] The instruction information in the second register is sorted according to the segment number. Then, the decision point of the first instruction information is sent to the second computing processor. The second computing processor determines the timing of sending the execution angle according to the following formula:

[0086] ;

[0087] when When the value is less than the threshold and starts to increase, the instruction sending unit sends the execution corner of the first instruction information in the second register to the execution module through the encryption network module, and then deletes the first instruction information from the second register.

[0088] The execution module includes a positioning unit and an execution unit. The positioning unit is used to detect the coordinate information of the unmanned vessel, and the execution unit is used to control the speed and heading of the unmanned vessel.

[0089] This system enables automatic cruise control of unmanned vessels. The automatic cruise is a closed-loop cruise. During closed-loop cruise, after sending the execution angle, the second register moves the first instruction information to the end of the sequence.

[0090] The encrypted network module sends the execution angle to the corresponding ship based on the ship information.

[0091] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. An unmanned surface vessel control system, characterized in that, It includes a control module, a processing module, an execution module, and an encrypted network module. The control module is used to input route information, the processing module is used to parse the route information, the execution module performs navigation operations on the unmanned vessel based on the parsing results, and the encrypted network module is used to transmit information between the control module, the processing module, and the execution module. The processing module includes a location processing unit, a route processing unit, and a command sending unit. The location processing unit converts the route information into a set of actual route coordinates. The route processing unit processes the actual route coordinate set into one or more routes and generates a route instruction based on each route. The instruction sending unit sends the corresponding route instruction based on the real-time position of the unmanned vessel. The instruction sending unit includes a second register and a second computing processor. The second register is used to store instruction set information, and the instruction format in the instruction set is as follows: ,in, For the judgment point, The execution angle is denoted by 'i', where 'i' is the segment number. The second computational processor calculates and compares the real-time coordinates of the unmanned vessel with the judgment point. When the requirements are met, the execution angle is sent to the execution module via the encrypted network module. The position processing unit includes a first register and a first computational processor. The first register stores the starting coordinate information of the sea area map. The first computational processor calculates the actual coordinate information of the route based on the starting coordinate information of the sea area map and the relative coordinate information of the route. The route processing unit includes a coordinate analysis processor and an instruction generation processor. The coordinate analysis processor calculates the actual coordinate information of the route based on the coordinate set... The route is divided into multiple segments, and the instruction generation processor generates one instruction for each segment; the process by which the coordinate analysis processor divides the route into multiple segments includes the following steps: S1, in the coordinate set Find a point as the starting point. ; S2. Set the point-finding pointer, which will acquire the starting point in sequence. The dots after it; S3. Use the point-finding pointer in the coordinate set Obtain a point from the data and use that point as the analysis point. If the coordinate set If all points in the selection have been taken, the process ends. S4. Calculate the offset distance : ； in, Based on the offset distance, For remote coefficients, This represents the x-coordinate of point P. Let P represent the ordinate of point P, where P is... or ; S5. Determine all points. With point Points between , If the distance between the connecting lines is less than the offset distance, then proceed to step S3; otherwise, proceed to step S6. S6, will and The connection is taken as a flight segment, coordinate replacement The coordinates of the new point are obtained Proceed to step S3; the second register registers the instruction according to the segment number. The instruction is sorted, and after the instruction sending unit sends the execution corner of the first instruction information in the second register to the execution module, the first instruction information is deleted from the second register.

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