Intelligent boat automatic anchoring system and method

Abstract

The application provides an intelligent boat automatic anchoring system and method, which obtains the current position latitude and longitude information and the azimuth angle of the intelligent boat through a positioning device and a sensor, analyzes and compares the latitude and longitude and the azimuth angle of the current position and the anchoring target position, calculates the distance and the deviation angle between the current position of the intelligent boat and the anchoring target position, simultaneously monitors the water flow disturbance information and the wind body disturbance information suffered by the intelligent boat in real time through a disturbance monitoring system, reads the corresponding disturbance compensation scheme through a disturbance compensation system, obtains the corresponding compensation value, adjusts the steering and the rotating speed of the rudder angle and the output power of the tail double hanging machine system in combination with the distance, the deviation angle and the compensation value, so that the intelligent boat moves towards the anchoring target position, the latitude and longitude information and the azimuth angle are updated in real time, the position of the intelligent boat is continuously calculated and adjusted, and the intelligent boat reaches the anchoring target position.

Description

Technical Field

[0001] This invention relates to the field of intelligent boat technology, and in particular to an automatic anchoring system and method for intelligent boats. Background Technology

[0002] As an unmanned intelligent marine transport platform, intelligent vessels can undertake long-term, large-scale, and low-cost marine scientific research and engineering missions, showing broad application prospects. Intelligent vessels need to navigate and operate autonomously in complex marine environments, thus placing more stringent demands on their maneuverability, control performance, and reliability. Among these, motion control technology is a key component for achieving autonomous operation at sea. The complex and ever-changing marine environment and model uncertainties present significant challenges to the motion control of intelligent vessels. Furthermore, if the magnitude of disturbances can be accurately obtained through theoretical analysis, compensation can be provided through input control. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic anchoring system and method for intelligent boats, to solve the problems of low accuracy and susceptibility to disturbances in automatic anchoring. The specific technical solution is as follows:

[0004] An intelligent boat automatic anchoring system includes a positioning system, an orientation sensor, a data processing system, a disturbance monitoring system, a disturbance compensation system, a controller, and a stern twin outboard motor system. The output terminals of the positioning system and the orientation sensor are connected to the data processing system. The output terminal of the data processing system is connected to the controller. The output terminal of the controller is connected to the stern twin outboard motor system. The disturbance monitoring system is connected to the controller through the disturbance compensation system.

[0005] The positioning system is used to obtain the latitude and longitude information of the current position of the intelligent boat in real time;

[0006] The azimuth sensor is used to obtain the azimuth angle of the current position of the intelligent boat in real time;

[0007] The disturbance monitoring system is used to monitor environmental disturbance information at the current location of the intelligent vessel in real time.

[0008] The data processing system is used to receive the latitude and longitude information and azimuth information, and to perform data comparison and calculation analysis to obtain the distance, relative direction and deviation angle between the current position and the target position of the intelligent boat;

[0009] The disturbance compensation system is used to select a reasonable compensation scheme;

[0010] The controller is used to receive data information from the data processing system and the disturbance compensation system and output corresponding control command information;

[0011] The stern twin-engine system is used to move the smart boat toward the anchored target position.

[0012] Furthermore, the output of the controller is also connected to the rudder angle of the smart boat, which is used to steer the smart boat.

[0013] Furthermore, the environmental disturbance information includes the flow velocity and direction of water flow and the wind speed and direction of wind.

[0014] Furthermore, the disturbance monitoring system includes a wind speed sensor, a pressure sensor, and an A / D converter. The wind speed sensor is used to monitor the wind speed and direction of the wind in real time, and the pressure sensor is used to monitor the flow rate and direction of the water flow in real time.

[0015] Furthermore, the pressure sensor is a MIK-DP10 water pressure sensor, and the wind speed sensor is an ultrasonic wind speed sensor.

[0016] Furthermore, the disturbance compensation system includes a compensation database, which stores disturbance compensation schemes corresponding to the environmental disturbance information.

[0017] Furthermore, the disturbance compensation scheme is determined by repeated calculations through digital simulation during the design of the intelligent boat model. The scheme involves calculating the hull disturbance of the intelligent boat model under various underwater current and wind conditions, and then using rudder angle actions and tail-mounted twin outboard motor actions to restore the intelligent boat to the designated course and positioning point.

[0018] Furthermore, the orientation sensor is a gyroscope, a magnetic compass, or a BeiDou RTK positioning system.

[0019] Furthermore, the tail-mounted dual-mount system includes two DC brushless motors.

[0020] The present invention also provides an automatic anchoring method for intelligent boats, which is based on the above-mentioned automatic anchoring system for intelligent boats, and the method specifically includes the following steps:

[0021] S1. The intelligent boat receives the anchored target location information and activates all devices;

[0022] S2, the positioning system, the orientation sensor, and the disturbance monitoring system respectively acquire the latitude and longitude information, azimuth angle, and disturbance information of the current position of the intelligent boat;

[0023] S3. The data processing system analyzes and calculates the deviation angle and distance between the current position of the smart boat and the anchored target position. At the same time, the disturbance compensation system analyzes the disturbance information and selects the corresponding disturbance compensation scheme from the compensation database.

[0024] S4. The controller determines whether the angle difference between the current position of the smart boat and the anchored target position is greater than the set deviation angle threshold. If it is greater than the threshold, the controller adjusts the rudder angle and speed in combination with the deviation angle and compensation value to make the smart boat turn in place until the deviation angle is less than the threshold. If it is less than the threshold, the controller directly proceeds to the next step.

[0025] S5. The controller determines whether the distance between the current position of the smart boat and the anchoring target position is greater than the set distance threshold. If it is greater than the threshold, the controller combines the distance and compensation value to control the tail double outboard motor system to move the smart boat until the smart boat is finally anchored at the target position.

[0026] The intelligent boat automatic anchoring system and method provided by this invention have the following advantages compared with the prior art:

[0027] 1. The present invention provides an intelligent boat automatic anchoring system and method, which continuously calculates and adjusts the position of the intelligent boat based on real-time updated latitude and longitude information and azimuth angle until the target anchoring position is reached.

[0028] 2. The present invention provides an automatic anchoring system and method for intelligent boats, which eliminates anchoring position deviations caused by disturbance information by detecting disturbance information of the intelligent boat and selecting a reasonable disturbance compensation scheme, thereby improving the accuracy of automatic anchoring of the intelligent boat. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of an intelligent boat automatic anchoring system provided by the present invention;

[0030] Figure 2 This is a flowchart illustrating an automatic anchoring method for an intelligent boat provided by the present invention. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the purpose of the embodiments of the present invention.

[0032] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connection" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] In the description of this invention, terms such as "upper," "lower," "left," "right," "front," "back," "center," "horizontal," "vertical," "top," "bottom," "inner," and "outer," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Example 1: See Figure 1 As shown, this embodiment provides an intelligent boat automatic anchoring system. The system includes a positioning system, an orientation sensor, a data processing system, a disturbance monitoring system, a disturbance compensation system, a controller, and a stern dual outboard motor system. The output terminals of the positioning system and the orientation sensor are connected to the data processing system. The output terminal of the data processing system is connected to the controller. The output terminal of the controller is connected to the stern dual outboard motor system. The disturbance monitoring system is connected to the controller through the disturbance compensation system. All devices are installed on the hull of the intelligent boat.

[0035] The system comprises a positioning system for real-time acquisition of the latitude and longitude of the intelligent vessel's current position, an azimuth sensor for real-time acquisition of the azimuth angle of the intelligent vessel's current position, a disturbance monitoring system for real-time monitoring of water flow speed and direction, and wind speed and direction of the intelligent vessel's current position, a data processing system for receiving latitude, longitude, and azimuth information and performing data comparison and analysis, a disturbance compensation system for selecting a reasonable disturbance compensation scheme from a compensation database, a controller for receiving data from the data processing system and the disturbance compensation system and outputting control commands to the stern twin-engine system and the intelligent vessel's rudder angle controller, and the intelligent vessel's rudder angle controller for enabling the intelligent vessel to turn as needed, including turning in place and turning while moving. ， The stern twin-engine system is used to move the smart boat toward the anchored target location.

[0036] Preferably, the positioning system is the GPS global satellite positioning system or the BeiDou navigation and positioning system.

[0037] Preferably, the orientation sensor 2 can be a gyroscope, a magnetic compass, or a BeiDou RTK positioning system.

[0038] Preferably, the data processing system compares the latitude, longitude, and azimuth information of the current position of the intelligent vessel with that of the anchored target position. It calculates the distance and relative direction between the current position of the intelligent vessel and the anchored target position using the latitude and longitude information, and calculates the deviation angle between the current position of the intelligent vessel and the anchored target position using the azimuth information.

[0039] Optionally, the disturbance monitoring system includes a wind speed sensor, a pressure sensor, and an A / D converter. The pressure sensor is used to acquire the water flow speed and direction at the current position of the intelligent boat in real time. The pressure sensor is a MIK-DP10 water pressure sensor, which is installed on both sides of the bow, hull, and stern in the area from the bottom of the hull to the midpoint of the waterline. The water pressure sensor can convert the sensed water pressure signal into a usable electrical signal according to a certain rule. The A / D converter converts the analog electrical signal collected by the water pressure sensor into a digital signal that can be recognized by the disturbance compensation system. The wind speed sensor is installed on an unobstructed part of the bow, hull, stern, or top of the mast to acquire the wind speed and direction experienced by the intelligent boat in real time. The wind speed sensor can be an ultrasonic wind speed sensor, which uses the ultrasonic time difference method to measure wind speed. The speed of sound in the air will be superimposed with the airflow speed in the wind direction. If the direction of ultrasonic wave propagation is the same as the wind direction, its speed will be faster; otherwise, its speed will be slower. The accurate wind speed and direction can be obtained by calculation. At the same time, its structure is lightweight and compact with no moving parts, and its high-strength structural design can accurately detect in harsh weather environments.

[0040] Optionally, the disturbance compensation system includes a compensation database, which stores disturbance compensation schemes for the intelligent boat under various water flow speeds and directions, as well as disturbance compensation schemes under various wind speeds and directions. When the intelligent boat is actually navigating in a lake or river, the water pressure sensor installed on the intelligent boat feeds back the water flow speed and direction relative to the intelligent boat to the disturbance compensation system. The disturbance compensation system reads the compensation scheme that can offset the disturbance from the compensation database as a suggested scheme. At the same time, the disturbances caused by the actual wind speed and direction to the intelligent boat are also handled using the above method.

[0041] Among them, the water flow disturbance compensation scheme is to repeatedly calculate the hull disturbance of the intelligent boat model under various water flow speeds and directions during the design of the intelligent boat model through digital simulation. The scheme is to monitor the overall disturbance through a micro gyroscope and use the steering angle of the intelligent boat's rudder and the output power of the two outboard motors at the stern to restore it to the specified course and positioning point. The various parameters in the above process are recorded to form the corresponding compensation scheme and recorded in the compensation database.

[0042] The above parameters can be represented by a numerical value, including V, D, A, L, R, and P, which respectively represent V - water flow velocity, D - water flow direction, A - intelligent boat model deviation angle, L - intelligent boat model deviation distance, R - rudder angle rotation angle, and P - output power of the two tail engines.

[0043] After multiple experiments, each parameter obtained corresponds to a range interval. The range interval can be divided into multiple data segments on average. The more segments the parameter is divided into, the more precise the parameter control can be. The following example illustrates how to divide the parameter value range into specific segments.

[0044] The water flow velocity is divided into 10 segments in order of magnitude: V1, V2, V3, V4, V5, V6, V7, V8, V9, and V10. The average value of each segment is taken. The water flow direction is divided into 100 segments, with true north as 0° and a clockwise rotation of 360° as the starting point. The water flow direction in the interval of 0° to 3° is the value of group D1, and so on. The water flow direction value in the interval of 357° to 360° is the value of group D120. The average value of each group is taken. The deviation angle and deviation distance generated by the intelligent boat under the average water flow velocity of each segment and the average water flow direction of each group are recorded, totaling 1200 cases. The rudder angle rotation angle and the power output of the two outboard motors at the stern are recorded in 1200 cases to restore the water flow direction, generating 1200 compensation schemes. The first compensation scheme can be denoted as V1, D1, A11, L11, R11, P11, and the second compensation scheme can be denoted as V1, D2, A12, L12, R12, P12, etc. If the water flow velocity value monitored in practice belongs to segment V1 and the water flow direction value is in group D2, then the second compensation scheme is read for compensation.

[0045] The wind disturbance compensation scheme also involves repeated calculations through digital simulation of the intelligent boat model to determine the hull disturbance of the intelligent boat under various wind speeds and directions. The scheme utilizes the steering angle of the intelligent boat's rudder and the output power of the two outboard motors at the stern to restore it to the specified course and positioning point. The wind disturbance information and the corresponding output power scheme of the intelligent boat are recorded in the compensation database. The recording method of the wind disturbance compensation scheme can adopt the same approach as the water flow disturbance compensation scheme mentioned above.

[0046] Optionally, the controller receives information transmitted from the data processing system and the disturbance compensation system, and outputs corresponding control commands to the intelligent boat's rudder angle and stern twin-engine system by combining the two information. The controller first combines the compensation scheme for water flow disturbance with the compensation scheme for wind disturbance to determine the initial angle and speed at which the rudder angle needs to rotate and the output power of the stern twin-engine system. Then, it combines the actual deviation angle and distance to determine the final angle and speed at which the rudder angle rotates and the output power of the stern twin-engine system.

[0047] Optionally, the stern dual-motor system includes a first brushless DC motor and a second brushless DC motor, which converts the control commands transmitted by the controller into controls for the forward and reverse rotation of the two brushless DC motors, thereby controlling the smart boat's course, speed, and gear, so that the smart boat moves toward the anchored target position.

[0048] The system updates the latitude and longitude information and azimuth angle obtained by the positioning system and azimuth sensor, as well as the water flow disturbance information and wind disturbance information monitored by the disturbance monitoring system in real time, continuously calculating and adjusting the position of the intelligent boat until the intelligent boat reaches the anchoring target position.

[0049] Example 2: See Figure 2As shown in the figure, this embodiment provides an automatic anchoring method for intelligent boats. The specific steps of the method are as follows:

[0050] S1. The smart boat receives the anchored target's location information and activates the equipment;

[0051] Specifically, the intelligent boat receives the anchoring target location information, which includes the target's latitude, longitude, and azimuth, and then enters the automatic anchoring working state.

[0052] S2, the positioning system, the orientation sensor, and the disturbance monitoring system respectively acquire the latitude and longitude information, azimuth angle, and disturbance information of the current position of the intelligent boat;

[0053] Specifically, the GPS positioning device obtains the latitude and longitude coordinates of the current location of the intelligent boat in real time, and the azimuth sensor obtains the azimuth angle of the current location of the intelligent boat in real time. The azimuth angle is the angle between the intelligent boat and true north. At the same time, the water pressure sensor and wind speed sensor of the disturbance detection system obtain the water flow speed and direction, as well as the wind speed and direction of the current location of the intelligent boat.

[0054] S3. The data processing system analyzes and calculates the deviation angle and distance between the current position of the smart boat and the anchored target position. At the same time, the disturbance compensation system analyzes the disturbance information and selects the corresponding disturbance compensation scheme from the compensation database.

[0055] Specifically, the data processing system compares the latitude and longitude information of the current position of the smart boat with the latitude and longitude information of the anchored target position to calculate the distance and relative direction between the current position of the smart boat and the anchored target position. It also compares the azimuth angle of the current position of the smart boat with the azimuth angle of the anchored target position to calculate the deviation angle between the current position of the smart boat and the anchored target position.

[0056] The disturbance compensation system receives disturbance information transmitted by the disturbance detection system and, based on the specific water flow velocity and direction, as well as wind speed and direction, reads the corresponding disturbance compensation scheme from the compensation database as a suggested scheme.

[0057] S4. The controller determines whether the angle difference between the current position of the smart boat and the anchored target position is greater than the set deviation angle threshold. If it is greater than the threshold, the controller adjusts the rudder angle and speed in combination with the deviation angle and compensation value to turn the smart boat until the deviation angle is less than the threshold. If it is less than the threshold, the controller proceeds directly to the next step.

[0058] Specifically, if the set deviation angle threshold is 5°, the controller determines whether the deviation angle difference between the current position of the smart boat and the anchored target position is greater than 5°. If the deviation angle is greater than 5°, the controller outputs corresponding control commands to adjust the rudder angle and speed of the smart boat, based on the magnitude of the deviation angle and the disturbance compensation scheme of the disturbance compensation system, so that the smart boat turns in place until the azimuth angle of the smart boat is consistent with the azimuth angle of the anchored target position. If the deviation angle is less than 5°, the next step is directly performed.

[0059] S5. The controller determines whether the distance between the current position of the smart boat and the anchoring target position is greater than the set distance threshold. If it is greater than the threshold, the controller combines the distance and compensation value to control the tail double outboard motor system to move the smart boat until the smart boat is finally anchored at the target position.

[0060] Specifically, if the set distance threshold is 3m, it is determined whether the distance between the current position of the smart boat and the anchoring target position is greater than 3m. If the distance is greater than 3m, the controller combines the distance between the current position of the smart boat and the anchoring target position, the relative direction, and the compensation scheme of the disturbance compensation system. The controller outputs corresponding control commands to the stern twin-engine system, controls the forward and reverse rotation of the two DC brushless motors of the stern twin-engine system, thereby controlling the smart boat's heading, speed, and gear. The stern twin-engine system moves the smart boat toward the anchoring target position until the distance is less than 3m.

[0061] Those skilled in the art should understand that the present invention can be implemented in many other specific forms without departing from the spirit and scope of the invention. Any changes or modifications made by those skilled in the art based on the embodiments of the present invention and the above disclosure shall fall within the protection scope of the claims.

Claims

1. An intelligent boat automatic anchoring system, characterized in that, The system includes: a positioning system, an orientation sensor, a data processing system, a disturbance monitoring system, a disturbance compensation system, a controller, and a tail dual-mounted vehicle system. The output terminals of the positioning system and the orientation sensor are connected to the data processing system. The output terminal of the data processing system is connected to the controller. The output terminal of the controller is connected to the tail dual-mounted vehicle system. The disturbance monitoring system is connected to the controller through the disturbance compensation system. The positioning system is used to obtain the latitude and longitude information of the current position of the intelligent boat in real time; The azimuth sensor is used to obtain the azimuth angle of the current position of the intelligent boat in real time; The disturbance monitoring system is used to monitor environmental disturbance information at the current location of the intelligent vessel in real time. The data processing system is used to receive the latitude and longitude information and azimuth information, and to perform data comparison and calculation analysis to obtain the distance, relative direction and deviation angle between the current position and the target position of the intelligent boat; The disturbance compensation system is used to select a reasonable compensation scheme; The controller is used to receive data information from the data processing system and the disturbance compensation system and output corresponding control command information; The stern dual outboard motor system is used to move the smart boat toward the anchored target position; The disturbance compensation system includes a compensation database, which stores disturbance compensation schemes for the intelligent boat under various water flow speeds and directions, as well as disturbance compensation schemes under various wind speeds and directions. The water flow disturbance compensation scheme is to repeatedly calculate the hull disturbance of the intelligent boat model under various water flow speeds and directions during the design of the intelligent boat model through digital simulation. The scheme monitors the overall disturbance through a micro gyroscope and uses the steering angle of the intelligent boat and the output power of the two outboard motors at the stern to restore it to the specified course and positioning point. The wind disturbance compensation scheme involves repeatedly calculating the hull disturbance of the intelligent boat under various wind speeds and directions through digital simulation of the intelligent boat model. The scheme utilizes the steering angle of the intelligent boat's rudder and the output power of the two outboard motors at the stern to restore the boat to the specified course and positioning point.

2. The intelligent boat automatic anchoring system according to claim 1, characterized in that: The output of the controller is also connected to the rudder angle of the smart boat, which is used to steer the smart boat.

3. The intelligent boat automatic anchoring system according to claim 1, characterized in that: The environmental disturbance information includes the flow velocity and direction of water and the wind speed and direction of wind.

4. The intelligent boat automatic anchoring system according to claim 3, characterized in that: The disturbance monitoring system includes a wind speed sensor, a pressure sensor, and an A / D converter. The wind speed sensor is used to monitor the wind speed and direction of the wind in real time, and the pressure sensor is used to monitor the flow rate and direction of the water flow in real time.

5. The intelligent boat automatic anchoring system according to claim 4, characterized in that: The wind speed sensor is an ultrasonic wind speed sensor.

6. The intelligent boat automatic anchoring system according to claim 1, characterized in that: The orientation sensor is a gyroscope, magnetic compass, or BeiDou RTK positioning system.

7. The intelligent boat automatic anchoring system according to claim 1, characterized in that: The rear dual-mount system includes two DC brushless motors.

8. A method for automatic anchoring of an intelligent boat, characterized in that... The method of the intelligent boat automatic anchoring system according to any one of claims 1-7 specifically includes the following steps: S1. The intelligent boat receives the anchored target location information and activates all devices; S2, the positioning system, the orientation sensor, and the disturbance monitoring system respectively acquire the latitude and longitude information, azimuth angle, and disturbance information of the current position of the intelligent boat; S3. The data processing system analyzes and calculates the deviation angle and distance between the current position of the smart boat and the anchored target position. At the same time, the disturbance compensation system analyzes the disturbance information and selects the corresponding disturbance compensation scheme from the compensation database. S4. The controller determines whether the angle difference between the current position of the smart boat and the anchored target position is greater than the set deviation angle threshold. If it is greater than the threshold, the controller adjusts the rudder angle and speed in combination with the deviation angle and compensation value to make the smart boat turn in place until the deviation angle is less than the threshold. If it is less than the threshold, the controller directly proceeds to the next step. S5. The controller determines whether the distance between the current position of the smart boat and the anchoring target position is greater than the set distance threshold. If it is greater than the threshold, the controller combines the distance and compensation value to control the tail double outboard motor system to move the smart boat until the smart boat is finally anchored at the target position.

Images