A near-shallow sea monitoring unmanned ship power drive control system

Abstract

The application discloses a power driving control system for a near-shallow sea monitoring unmanned ship, which comprises a remote control receiver, an analog signal selector, an STM32 master control board, an electronic speed regulator, a signal processor and a power module; the remote control receiver receives signals of a wireless remote controller; three PWM signals are output from two-way control output ends of the remote control receiver signal interface output end of the remote control receiver, one of which is converted into a switching signal by the signal processor; two-way PWM signals are output from the STM32 master control board signal interface output end of the STM32 master control board and transmitted to the analog signal selector; the analog signal selector processes the received four-way PWM signals and the switching signal, and then outputs two-way voltage speed regulation signals through the electronic speed regulator signal interface and transmits the signals to two motors respectively; and the power module is connected with the signal processor, the STM32 master control board, the analog signal selector and the remote control receiver signal interface respectively. The electronic speed regulator can interact with the analog signal selector by using various communication protocols, so that the flexibility of output interaction is greatly improved.

Description

Technical Field

[0001] This invention pertains to navigation control technology for unmanned surface vessels used for monitoring in near-shallow waters, specifically a power drive control system for such vessels. Background Technology

[0002] Currently, when unmanned surface vessels (USVs) used for near-shore and shallow-water monitoring missions, occasional battery depletion leads to unstable control board output signals, resulting in degraded maneuverability. This degraded maneuverability can cause collisions in obstacle-filled environments, damaging high-precision monitoring equipment and causing economic losses. However, using PWM waves to drive an electronic speed controller (ESC) to control the motor offers advantages such as strong noise immunity. Furthermore, during the development of USVs, the voltage generated by the control board typically has a threshold value. If the voltage required by the ESC is too high, it cannot drive the ESC to control the motor, hindering continuous testing of various motor types to ensure compatibility with the USV. Moreover, when motors fail to drive during missions, researchers must recover the affected vehicles using other methods, which often impacts the development schedule. Therefore, a drive control scheme applicable to large, medium and small motors is of great significance for the development of unmanned surface vessels (USVs) for near-shallow sea monitoring and for the USVs to perform their missions.

[0003] Typically, unmanned surface vessels (USVs) used for near-shore and shallow-water monitoring utilize small electric motors to power them. The control method for these small motors, switching between autonomous and remote control, involves connecting a lithium battery and a remote control receiver to a control board. The control board then selects between a voltage signal converted from the PWM wave received by the receiver and a voltage signal generated through algorithms. The control board outputs two voltage signals to control the two motors, achieving motor control. However, this method is not suitable for near-shore and shallow-water monitoring USVs that require medium to large electric motors for power.

[0004] This near-shallow water monitoring unmanned surface vessel is a catamaran and is controlled by two motors. The two motors are classified as medium-sized motors by power and large motors by weight. The output voltage of the existing small near-shallow water monitoring unmanned surface vessel control board cannot meet the requirements of motor drive, and the control scheme using PWM waves cannot achieve the switching between the two functions. Summary of the Invention

[0005] To solve the above problems, the technical solution adopted by the present invention is: a power drive control system for unmanned surface vessels used for monitoring in near-shallow waters, including a remote control receiver, an analog signal selector, an STM32 main control board, an electronic speed controller, a signal processor, and a power module;

[0006] The remote control receiver receives signals from the wireless remote control;

[0007] The output terminal of the remote control receiver outputs three PWM signals through the signal interface output terminal of the remote control receiver. One of the PWM signals is converted into a switching signal by the signal processor and output to the selection terminal of the analog signal selector. The other two PWM signals are directly input to the input terminal of the analog signal selector.

[0008] The analog signal selector processes the four PWM signals and the switching signal it receives. The switching signal, after passing through the signal processor, outputs an analog signal 0 or 1, which is then input to the analog signal selector. The selector selects the four PWM waves input to the analog signal selector and outputs two of them.

[0009] Then, two voltage speed control signals are output through the electronic speed controller signal interface and transmitted to the two motors respectively;

[0010] The power module is connected to the signal processor, STM32 main control board, analog signal selector and remote control receiver signal interface respectively.

[0011] Furthermore: the output terminal of the remote control receiver outputs three PWM signals through the two control output terminals of the remote control receiver signal interface. Two of these PWM signals are PWM signals with the same frequency and pulse width that changes according to the joystick control of the wireless remote control. The other PWM signal is a high-low level signal output by the signal processor, which determines whether the PWM signal is generated by the STM32 main control board or the PWM signal received by the remote control receiver and is output to the electronic speed controller, and then converted into a voltage signal to control the first motor and the second motor.

[0012] Furthermore, the analog signal selector processes the received four PWM signals and switching signals as follows: The analog signal selector sends the PWM signal to the wireless remote control selection channel CH7 through the signal processor, and the remote control receiver detects the received PWM signal in real time; when the pulse width of the PWM signal changes, the signal processor makes a judgment and sends a high-level or low-level set signal to determine the output of the analog signal selector, thereby determining whether to use the remote control mode or the autonomous cruise mode for the catamaran near-shallow sea monitoring unmanned surface vessel; the electronic speed controller receives the PWM signal output from the analog signal selector through the electronic speed controller interface, processes it through its internal structure and converts it into a voltage signal, and then controls the two motors respectively.

[0013] Furthermore, the analog signal selector is formed by cascading two 8-to-1 analog signal selectors CD4051 to form a 4-to-2 analog signal selector.

[0014] Furthermore: the generation of PWM signals based on instructions given by the host computer through a guidance control algorithm is as follows:

[0015] Furthermore: The analog signal selector processes the received four PWM signals and the switching signal. The switching signal, after passing through the signal processor, outputs an analog signal of 0 or 1, which is then input to the analog signal selector. The selector selects from the four PWM waves input to the analog signal selector and outputs two PWM signals. Then, two voltage speed control signals are output through the electronic speed controller signal interface and transmitted to the two motors respectively. The process is as follows:

[0016] The control signal is calculated using the existing guidance and control algorithm. The control signals for the two motors are obtained by adding and subtracting the control signal under the actual test state. The control signals are then converted into PWM wave duty cycles according to the mathematical relationship obtained from the actual test. Maximum and minimum thresholds are set for the duty cycles of the PWM waves. The two PWM signals output from the STM32 main control board and the two PWM signals received by the remote control receiver are simultaneously connected to the analog signal selector. The pulse width of the PWM signal is adjusted by controlling the CH7 control switch on the wireless remote control.

[0017] Furthermore, the process of adjusting the pulse width of the PWM signal by controlling the CH7 control switch on the wireless remote control is as follows: When the CH7 control joystick is at its maximum pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 10% is output. When the CH7 control joystick is at its midpoint pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 7.5% is output. When the CH7 control joystick is at its minimum pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 5% is output.

[0018] When the analog signal selector captures the PWM wave from the control channel CH7 of the wireless remote controller, the signal processor sets the signal processor to a high level when the duty cycle of the PWM is detected to be greater than 7.5%, and sets the signal processor to a low level when the duty cycle of the PWM wave is detected to be less than or equal to 7.5%.

[0019] When the control channel of the analog signal processor is high, the analog signal selector receives the control signal from the STM32 main control board and outputs a PWM wave with the same frequency and duty cycle. At this time, even if the wireless remote control turns on the joystick, the output of the analog signal selector is still the output of the STM32 main control board. When the control channel of the analog signal processor is low, the analog signal selector receives the control signal from the remote control receiver and outputs a PWM wave with the same frequency and duty cycle. At this time, manipulating the joystick can realize the forward, backward, left and right turns of the unmanned surface vessel for monitoring near shallow waters. The output of the analog signal selector is connected to the electronic speed controller. After the PWM waves with different duty cycles are input to the electronic speed controller, the electronic speed controller will output different voltage signals, and the voltage signals are positively correlated with the magnitude of the PWM duty cycle.

[0020] A near-shallow sea monitoring unmanned surface vessel includes a host computer, a first communication module, a second communication module, a power drive control system, a wireless remote controller, a first motor, and a second motor.

[0021] The host computer is connected to one end of the first communication module;

[0022] The other end of the first communication module is connected to one end of the second communication module;

[0023] The second communication module is connected to the power drive control system;

[0024] The power drive control system is connected to a wireless remote control via a remote control receiver;

[0025] The power drive control system is connected to the first motor and the second motor respectively.

[0026] The present invention provides a power drive control system for unmanned surface vessels used for near-shallow sea monitoring, which has the following advantages:

[0027] 1. This invention enables switching between autonomous and remote control modes for controlling a near-shore shallow-water monitoring unmanned surface vessel (USV). In the event of an emergency during mission execution, the dual-mode operation allows personnel to switch the control function to the other mode, minimizing damage to critical equipment and enhancing the USV's operational capabilities and system reliability. Furthermore, when the USV's power supply is insufficient, a small-amplitude PWM signal with the same pulse width can be generated to provide power. Additionally, this invention includes a braking function. In the event of a collision, the pressure sensor onboard the USV sends a signal to the STM32 main control board and the STM32 minimum system, causing all outputs to disappear for rapid braking, preventing further damage from residual power after a collision.

[0028] 2. This invention cascades two analog signal selectors, meeting the power switching requirements of modern catamarans and also enabling the selection and switching of PWM signals. Furthermore, given that the control signal for the motor of the unmanned surface vessel (USV) in near-shallow waters is a voltage signal, but PWM signals are less affected by noise, an electronic speed controller is used as a conversion device. This converts the PWM control signal into a voltage signal to control the motor speed. The PWM signal received by the remote control receiver cannot achieve the switching output purpose; therefore, a signal processor is used to process it to enable the switching between autonomous and remote-controlled navigation.

[0029] 3. This invention uses a solar-powered mobile power supply, which can extend the working time of the power drive module of the unmanned surface vessel for near-shallow sea monitoring, making the operation of the unmanned surface vessel for near-shallow sea monitoring more reliable and durable.

[0030] 4. This invention abandons the hardware circuit and uses a signal processing module to capture the pulse width change information of the switching signal, and then converts it into high and low level signals to be sent to the analog signal selector. This method is not limited by hardware circuits, which makes the selection of wireless remote controllers and wireless remote controller receivers more flexible. At the same time, the signal processing module can also be replaced by other devices with the same function, which greatly increases the replaceability of the entire power drive control module.

[0031] 5. This invention uses an electronic speed controller to convert PWM signals into voltage signals. The electronic speed controller can interact with analog signal selectors using various communication protocols, greatly increasing the flexibility of output interaction. Simultaneously, the electronic speed controller can drive various motors, so replacing different motors has no impact on the module. This helps in finding matching motors during the research and development phase, and the module can still be used for power drive for different near-shallow sea monitoring unmanned surface vessels.

[0032] 6. This invention uses an analog signal selector CD4051 to select PWM signals. This selector has strong real-time performance and high sensitivity, effectively overcoming the limitation of traditional selectors that cannot select PWM signals.

[0033] 7. This invention employs separate power supplies for autonomous and remote control, ensuring that even if one part loses power, it can still be controlled through the other. The power drive control module of this invention is simple and practical, allowing switching between different models of wireless remote controllers and receivers. The entire module only requires adjustments to the programs on the STM32 main control board and signal processing module. This module can also be applied to the power drive control of drones, unmanned vehicles, and other unmanned surface vessels used for near-shore and shallow-sea monitoring.

[0034] 8. The power drive control used in this invention does not have specific requirements for the guidance control algorithm. After changing the algorithm, only the conversion part of the program needs to be adjusted for use.

[0035] 9. In most cases during transmission, the present invention uses a PWM signal. Noise has a smaller impact on the PWM signal than on the voltage signal, thus increasing the stability of motor control.

[0036] 10. This invention adds a complementary PWM generation part, which can detect the generation of PWM waves in real time without affecting the power drive.

[0037] 11. This invention adds a braking function, which, when combined with a pressure sensor or other sensors (such as a visual sensor), can enable the unmanned surface vessel (USV) used for monitoring near-shallow waters to brake after a collision or before a collision with an obstacle.

[0038] 12. Capable of generating PWM control signals required for autonomous navigation using an STM32 minimum system. Capable of capturing the PWM signals from the remote control receiver via a signal processing module, and then converting them into selection signals required by the signal selector. Capable of selecting whether the output signal is an autonomous navigation control signal or a remote control control signal.

[0039] 13. It can use an electronic speed controller to convert the output PWM control signal into a voltage signal to meet the voltage signal requirements of medium and large motors.

[0040] 14. This invention adopts a scheme of autonomous navigation and remote control navigation in parallel, which enhances the operational flexibility and reliability of unmanned surface vessels (USVs) for near-shallow sea monitoring. At the same time, it can reduce the economic losses caused by the loss of some functions of USVs in the face of emergencies. In near-shallow sea monitoring missions, the power drive control system of USVs is more reliable and effective. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the composition of the present invention and the entire system;

[0043] Figure 2 This is a flowchart of the main program for the signal processor of this invention to capture PWM waves;

[0044] Figure 3Flowchart for selecting control channel interrupt for signal selection;

[0045] Figure 4 Flowchart for generating PWM waves for the STM32 main control board. Detailed Implementation

[0046] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0049] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0051] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0052] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0053] Figure 1 This is a schematic diagram of the composition of the present invention and the entire system;

[0054] like Figure 1This invention provides a power drive control module for a near-shallow water monitoring unmanned surface vessel (USV). During autonomous or remote-controlled navigation, the USV may encounter issues such as STM32 main control board program failure, communication failure between the host and slave computers, remote controller battery depletion, and interference with the remote control signal. Switching between the two drive schemes in a timely manner can reduce unnecessary losses. This invention connects a wireless remote controller, a host computer, a first motor, and a second motor. The STM32 main control board can receive command signals from the host computer or, during autonomous navigation, calculate and issue control signals internally. These signals are output to the electronic speed controller via an analog signal selector to control the motors. The analog signal selector has a control selection switch (PORT5), and the high / low level signal received determines whether the output comes from the STM32 main control board or the remote controller receiver. The power module supplies power to the signal processor, analog signal selector, STM32 main control board, and remote control receiver. The power module can use different power supplies to power these devices, ensuring that the motors of the near-shore shallow-water monitoring unmanned surface vessel (USV) can still receive power drive control signals after a power outage. The STM32 main control board is equipped with brake protection to minimize economic losses for the USV in emergency situations.

[0055] A power drive control system for a near-shallow sea monitoring unmanned surface vessel is characterized by comprising a remote control receiver, an analog signal selector, an STM32 main control board, an electronic speed controller, a signal processor, and a power module.

[0056] The remote control receiver receives signals from the wireless remote control;

[0057] The output terminal of the remote control receiver outputs three PWM signals through the two control output terminals of the remote control receiver signal interface. One of the PWM signals is converted into a switching signal by the signal processor.

[0058] The STM32 main control board outputs two PMW signals via its signal interface to the analog signal selector.

[0059] The analog signal selector processes the four PWM signals and the switching signal it receives. The switching signal, after passing through the signal processor, outputs an analog signal 0 or 1, which is then input to the analog signal selector. The selector selects the four PWM waves input to the analog signal selector and outputs two of them.

[0060] Then, two voltage speed control signals are output through the electronic speed controller signal interface and transmitted to the two motors respectively;

[0061] The power module is connected to the signal processor, STM32 main control board, analog signal selector and remote control receiver signal interface respectively.

[0062] Furthermore: the output terminal of the remote control receiver outputs three PWM signals through the two control output terminals of the remote control receiver signal interface. Two of these PWM signals are PWM signals with the same frequency and pulse width that changes according to the joystick control of the wireless remote control. The other PWM signal is a high-low level signal output by the signal processor, which determines whether the PWM signal is generated by the STM32 main control board or the PWM signal received by the remote control receiver and output to the electronic speed controller, which then converts it into a voltage signal to control the two motors, namely the first motor and the second motor.

[0063] Furthermore, the analog signal selector processes the received four PWM signals and switching signals as follows: The analog signal selector sends the PWM signal to the wireless remote control selection channel CH7 through the signal processor, and the remote control receiver detects the received PWM signal in real time; when the pulse width of the PWM signal changes, the signal processor makes a judgment and sends a high-level or low-level set signal to determine the output of the analog signal selector, thereby determining whether to use the remote control mode or the autonomous cruise mode for the catamaran near-shallow sea monitoring unmanned surface vessel; the electronic speed controller receives the PWM signal output from the analog signal selector through the electronic speed controller interface, processes it through its internal structure and converts it into a voltage signal, and then controls the two motors respectively.

[0064] Furthermore: the analog signal selector is formed by cascading two 8-to-1 analog signal selectors CD4051 to form a 4-to-2 analog signal selector, or it can be replaced by an analog signal selector with the same function.

[0065] The analog signal selector has 5 output terminals and 2 input terminals. Input terminals PORT1 and PORT2 are connected to the STM32 main control board. Input terminals PORT3 and PORT4 are connected to CH1 and CH6 of the wireless remote control received by the remote control receiver, respectively. PORT5 is connected to the output of the signal processor.

[0066] The power module uses a 5V solar-powered portable power supply.

[0067] Furthermore, the analog signal processor uses an STM32 minimum system to capture the PWM signal from channel CH7 of the remote control receiver, and then outputs a voltage signal to achieve the selection function of the analog signal selector. The signal processor can be replaced with a module with the same function.

[0068] Figure 2 This is a flowchart of the main program for the signal processor of this invention to capture PWM waves;

[0069] Figure 3 The process of the signal converter of the present invention is illustrated. Figure 3 The selection control channel of the signal converter of the present invention is shown.

[0070] Furthermore, the electronic speed controller can receive signals from various communication methods. In this invention, a PPM interface is used to convert the PWM wave into a voltage signal to regulate the speed of the motor.

[0071] Furthermore, the STM32 main control board receives information from the host computer, processes it through a series of guidance and control algorithms, and converts the deviation into a PWM wave output to the analog signal selector. The STM32 main control board generates the PWM signal based on instructions given by the host computer using guidance and control algorithms.

[0072] Furthermore, the first and second motors are medium to large-sized motors, and the STM32 main control board cannot reach the voltage value required to control the motors.

[0073] Furthermore, the maximum and minimum values ​​of the PWM waves output by the autonomous cruise mode and the remote control mode are the same, and a threshold value for the output value of the autonomous cruise function is set using Keil software.

[0074] Furthermore, the STM32 main control board is equipped with a complementary PWM signal to enable real-time speed information feedback. It also features a braking function, connecting the pressure sensor to the STM32 main control board and the STM32 minimum system, so that the entire power drive module brakes in the event of a collision after the pressure sensor is mounted on the near-shallow sea monitoring unmanned surface vessel.

[0075] After connecting the pressure sensor to the braking function interface on the STM32 main control board, the pressure sensor will generate a signal when the hull is subjected to an external collision. The braking function interface receives the pressure sensor signal and resets all outputs of the STM32 main control board to achieve the purpose of braking.

[0076] Figure 4 This refers to the process of generating control signals for the STM32 main control board.

[0077] Furthermore: the generation of PWM signals based on instructions given by the host computer through a guidance control algorithm is as follows:

[0078] Furthermore: The analog signal selector processes the received four PWM signals and the switching signal. The switching signal, after passing through the signal processor, outputs an analog signal of 0 or 1, which is then input to the analog signal selector. The selector selects from the four PWM waves input to the analog signal selector, outputting two PWM signals. These two signals are then output through the electronic speed controller signal interface as two voltage speed control signals, which are transmitted to the two motors respectively. The process is as follows:

[0079] The control signal is calculated using the existing guidance and control algorithm. The control signals of the first and second motors are obtained by adding and subtracting the control signal under the actual test state. The control signals are then converted into PWM wave duty cycles according to the mathematical relationship obtained from the actual test. Maximum and minimum thresholds are set for the duty cycle of the PWM wave. The two PWM signals output from the STM32 main control board and the two PWM signals received by the remote control receiver are simultaneously connected to the analog signal selector. The pulse width of the PWM signal is adjusted by controlling the CH7 control switch on the wireless remote control.

[0080] The STM32 main control board receives signals from the host computer and calculates and outputs PWM signals through a control algorithm. The two PWM signals output by the STM32 main control board and the two PWM signals received by the remote control receiver are simultaneously connected to the analog signal selector. The operator adjusts the pulse width of the PWM signals by controlling the CH7 control switch on the wireless remote control.

[0081] Furthermore, the process of adjusting the pulse width of the PWM signal by controlling the CH7 control switch on the wireless remote control is as follows: When the CH7 control joystick is at its maximum pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 10% is output. When the CH7 control joystick is at its midpoint pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 7.5% is output. When the CH7 control joystick is at its minimum pulse width, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 5% is output.

[0082] When the analog signal selector captures the PWM wave from the control channel CH7 of the wireless remote controller, the signal processor sets the signal processor to a high level when the duty cycle of the PWM is detected to be greater than 7.5%, and sets the signal processor to a low level when the duty cycle of the PWM wave is detected to be less than or equal to 7.5%.

[0083] When the control channel of the analog signal processor is high, the analog signal selector receives the control signal from the STM32 main control board and outputs a PWM wave with the same frequency and duty cycle. At this time, even if the wireless remote control turns on the joystick, the output of the analog signal selector is still the output of the STM32 main control board. When the control channel of the analog signal processor is low, the analog signal selector receives the control signal from the remote control receiver and outputs a PWM wave with the same frequency and duty cycle. At this time, manipulating the joystick can realize the forward, backward, left and right turns of the unmanned surface vessel for monitoring near shallow waters. The output of the analog signal selector is connected to the electronic speed controller. After the PWM waves with different duty cycles are input to the electronic speed controller, the electronic speed controller will output different voltage signals, and the voltage signals are positively correlated with the magnitude of the PWM duty cycle.

[0084] The electronic speed controller can output voltages of 14-84V, sufficient for controlling medium to large-sized motors. Furthermore, for safe operation, we have set maximum and minimum threshold values ​​for the PWM wave duty cycle (minimum duty cycle is 6%, maximum duty cycle is 9%). In addition, this invention includes a brake pin on the STM32 main control board. This pin can be connected to a sensor; upon receiving a specific signal, the braking function is activated, and all outputs on the STM32 main control board are reset to 0.

[0085] A near-shallow sea monitoring unmanned surface vessel includes a host computer, a first communication module, a second communication module, a power drive control system, a wireless remote controller, a first motor, and a second motor.

[0086] The host computer is connected to one end of the first communication module;

[0087] The other end of the first communication module is connected to one end of the second communication module;

[0088] The second communication module is connected to the power drive control system;

[0089] The power drive control system is connected to a wireless remote control via a remote control receiver;

[0090] The power drive control system is connected to the first motor and the second motor respectively.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A near-shallow sea monitoring unmanned surface vehicle power drive control system, characterized in that The remote control receiver, the analog signal selector, the STM32 master control board, the electronic speed controller, the signal processor and the power module are included. The remote control receiver receives signals of a wireless remote controller. The output end of the remote control receiver outputs three-way PMW signals through the remote control receiver signal interface output end, wherein one-way PWM signal is converted into switching signals by the signal processor and output to the selection end of the analog signal selector, and the other two-way PMW signals are directly input to the input end of the analog signal selector. The analog signal selector processes the received four-way PWM signals and switching signals, wherein the switching signals are output as analog signals 0 or 1 after the signal processor and input to the analog signal selector, and the four-way PWM waves input to the analog signal selector are selected and two-way PWM waves are output. Two-way voltage speed signals are output through the electronic speed controller signal interface and transmitted to two motors respectively. The power module is connected with the signal processor, the STM32 master control board, the analog signal selector and the remote control receiver signal interface respectively. The analog signal selector processes the received four-way PWM signals and switching signals, wherein the switching signals are output as analog signals 0 or 1 after the signal processor and input to the analog signal selector, and the four-way PWM waves input to the analog signal selector are selected and two-way PWM signals are output. The process that two-way voltage speed signals are output through the electronic speed controller signal interface and transmitted to two motors respectively is as follows:

2. The near-shore monitoring USV power drive control system according to claim 1, wherein The control signals are calculated by the existing guidance control algorithm, and the control signals of the two motors at this time are obtained by adding and subtracting the control signals actually tested in the static state, and the control signals are converted into the duty cycle of the PWM wave according to the mathematical relationship actually tested, the maximum and minimum threshold values of the duty cycle of the PWM wave are set, the two-way PWM signals output by the STM32 master control board and the two-way PWM signals received by the remote control receiver are connected in the analog signal selector, and the pulse width of the PWM signal is adjusted by controlling the CH7 control switch on the wireless remote controller. The output end of the remote control receiver outputs three-way PMW signals through the remote control receiver signal interface two-way control output end, wherein two-way PWM signals are PWM signals with the same frequency and the pulse width changes according to the rocker control of the wireless remote controller, and the other way PWM signal is a high-low level signal output by the signal processor, which determines whether the PWM signal output to the electronic speed controller is generated by the STM32 master control board or received by the remote control receiver, and then converted into a voltage signal to control the first motor and the second motor.

3. The power drive control system for near-shore monitoring unmanned surface vehicle according to claim 1, wherein The analog signal selector receives the four-way PWM signal and the switching signal, and processes them in the following way: the selection signal of the analog signal selector is sent by the CH7 channel of the remote receiver, which is a PWM signal, and is input to the selection port of the analog signal selector after being processed by the signal processor; when the pulse width of the PWM signal changes, the signal processor makes a judgment and sends a high or low level setting signal to determine the output of the analog signal selector, thereby determining whether the near-shallow sea monitoring unmanned ship adopts the remote control mode or the autonomous cruise mode; the electronic speed controller receives the PWM signal output from the analog signal selector through the electronic speed controller interface, converts it into a voltage signal through internal structure processing, and then controls the two motors respectively.

4. The near-shore monitoring USV power drive control system of claim 1, wherein The analog signal selector is composed of two pieces of eight-to-one analog signal selector CD4051 in a cascaded manner to form a four-to-two analog signal selector.

5. The near-shore monitoring USV power drive control system of claim 1, wherein The STM32 master control board generates a PWM signal based on the instructions given by the upper computer through a guidance control algorithm.

6. The near-shore monitoring USV power drive control system of claim 1, wherein The process of adjusting the pulse width of the PWM signal by controlling the CH7 control switch on the wireless remote controller is as follows: when the control rocker of CH7 is at the maximum pulse width value, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 10% is output; when the control rocker of CH7 is at the intermediate pulse width value, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 7.5% is output; when the control rocker of CH7 is at the minimum pulse width value, a PWM wave with a fixed frequency of 50Hz and a duty cycle of 5% is output; When the analog signal selector captures the PWM wave from the control channel CH7 of the wireless remote controller, the signal processor sets high level when the duty cycle of the PWM wave is greater than 7.5%, and sets low level when the duty cycle of the PWM wave is less than or equal to 7.5%; When the control channel of the analog signal processor is at high level, the analog signal selector receives the control signal from the STM32 master control board, and the output end outputs a PWM wave with the same frequency and duty cycle; at this time, even if the wireless remote controller opens the fluctuation control rocker, the output of the analog signal selector output end is still the output of the STM32 master control board; when the control channel of the analog signal processor is at low level, the analog signal selector receives the control signal from the remote receiver, and the output end outputs a PWM wave with the same frequency and duty cycle; at this time, the steering rocker can realize the forward, backward, left turn and right turn of the near-shallow sea monitoring unmanned ship; the output end of the analog signal selector is connected to the electronic speed controller, and different voltage signals are output by the electronic speed controller after different duty cycle PWM waves are input to the electronic speed controller, and the voltage signal is positively related to the size of the PWM duty cycle.

7. The near-shore monitoring unmanned vehicle according to any one of claims 1-6, wherein: The system comprises an upper computer, a first communication module, a second communication module, a power drive control system, a wireless remote controller and first and second motors. One end of the first communication module is connected to the upper computer. The other end of the first communication module is connected to one end of the second communication module. The second communication module is connected to the power drive control system. The power drive control system is connected with the wireless remote control through a remote receiver; The power drive control system is connected with the first motor and the second motor respectively.

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