Portable shore-based control system and method for overdrive unmanned ship

Abstract

The invention relates to the technical field of unmanned ship control, in particular to a portable shore-based control system and method for an overdrive unmanned ship, and the system comprises a communication module, a communication diagnosis module, a PLC control module, a state monitoring module, a parameter regulation and control module, a mode control module, a control rod module, a path planning module, and a data storage module. Through the advantages of high integration and modularization design, real-time state monitoring and feedback, strong communication diagnosis and recovery capability, abundant motion control modes, data storage and analysis capability and the like, the control performance, the operation efficiency and the safety of the overdrive unmanned ship are remarkably improved; and powerful support is provided for application of the unmanned ship in various complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship control, and in particular to a portable shore-based control system and method for an overdriven unmanned ship. Background Art

[0002] An unmanned ship is an intelligent platform that can autonomously navigate or perform tasks on the water. The shore-based control system is the core part of the unmanned ship system, which operates and controls the unmanned ship through wireless communication. However, the traditional shore-based control system has many devices, complex structures, and low integration, which makes it difficult to meet the portability requirements and brings inconvenience to the operators. On the other hand, the existing control modes of unmanned ships are mainly aimed at under-actuated unmanned ships, including remote control, orientation, tracking, etc., which are difficult to meet the movement and operation requirements of over-driven unmanned ships; at the same time, during the navigation of the unmanned ship, due to environmental restrictions, equipment failures, etc., there may be interruptions in communication with the shore, loss of control of the ship, etc., affecting the safety of the ship. For this reason, designing a portable shore-based control system for over-driven unmanned ships that is portable, fully functional, safe and reliable has become an urgent problem to be solved. Summary of the invention

[0003] In view of the problems that the existing shore-based integration is not high, it is difficult to meet the operating requirements of overdriven unmanned ships, and communication is interrupted due to environmental interference and equipment failure, the purpose of the present invention is to provide a portable shore-based control system and method for overdriven unmanned ships. The system integrates a communication module, a communication diagnosis module, a PLC control module, a status monitoring module, a parameter control module, a mode control module, a joystick module, a path planning module and a data storage module. Through modular design, stable communication, status monitoring, parameter control, mode switching, manual control, path planning and data storage functions between the unmanned ship and the shore are realized.

[0004] To achieve the above object, the present invention is implemented by the following technical solutions:

[0005] The present invention provides a portable shore-based control system for an overdriven unmanned ship, comprising:

[0006] The communication module is used to realize wireless communication between the shore base and the unmanned ship, transmit the real-time motion status information and environmental information of the unmanned ship to the shore base, and receive the control instructions from the shore base;

[0007] The communication diagnosis module is used to monitor and diagnose the communication connection status between the shore base and the unmanned ship in real time, and automatically try to reconnect when the communication is disconnected;

[0008] PLC control module, used to start and shut down the control system of the unmanned ship, and start the one-button emergency stop mode when the communication cannot be connected for a long time or the unmanned ship fails;

[0009] The status monitoring module is used to visualize the motion status information and environmental information of the unmanned ship on the software GUI interface;

[0010] Parameter control module, used to control the motion controller parameters, filter parameters and control force distribution parameters of the unmanned ship in real time;

[0011] Mode control module, used to switch the motion mode of the unmanned ship, including joint joystick mode, positioning mode, automatic tracking mode and combined control / automatic mode;

[0012] A joystick module for manually manipulating the three-degree-of-freedom motion of the unmanned vessel in joint joystick mode;

[0013] The path planning module is used to set the desired position, heading and navigation path of the unmanned ship in the positioning mode and automatic tracking mode, and visualize them on the GUI interface;

[0014] The data storage module is used to store the navigation status information of the unmanned ship in a server or database.

[0015] As a further optimization scheme of the present invention, the communication diagnosis module includes a heartbeat detection mechanism, which is used to periodically send and receive heartbeat signals to detect the communication connection status, and when the communication is detected to be disconnected, automatically attempts to re-establish the connection according to the IP address and port number of the unmanned ship end.

[0016] As a further optimization scheme of the present invention, the PLC control module can allow the operator to start the control nodes of the sensors, thrusters, etc. of the unmanned ship on the shore, and when the unmanned ship fails or the shore base and the unmanned ship cannot establish a communication connection for a long time, start the emergency stop mode and immediately shut down the operation of the unmanned ship to avoid dangers such as collision of the unmanned ship and damage to equipment.

[0017] As a further optimization scheme of the present invention, the motion state information and environmental information include the position, speed, heading, thruster state, power consumption, and wind speed and direction information of the unmanned ship.

[0018] As a further optimization scheme of the present invention, the positioning mode includes a one-key positioning mode and a remote positioning mode. The one-key positioning mode enables the unmanned ship to autonomously position itself according to the current position and heading, and the remote positioning mode enables the unmanned ship to autonomously go to one or more positioning points set on the GUI interface map to complete the positioning in sequence.

[0019] As a further optimization scheme of the present invention, the combined control / automatic mode allows the operator to select one or two degrees of freedom of movement of the unmanned ship for autonomous control, and the remaining degrees of freedom are manually controlled by a joystick.

[0020] As a further optimization solution of the present invention, the three-degree-of-freedom motion includes pitch, roll and yaw.

[0021] The present invention also provides a method for controlling an overdriven unmanned ship by a control system, comprising the following steps:

[0022] Step A: Establish a wireless communication connection between the shore base and the unmanned ship through the communication module;

[0023] Step B: Use the communication diagnostic module to monitor the communication connection status in real time and automatically try to reconnect when the communication is disconnected;

[0024] Step C: Start the control system of the unmanned boat through the PLC control module, and start the one-button emergency stop mode when necessary;

[0025] Step D: Using the state monitoring module to visualize the motion state information and environmental information of the unmanned ship on the GUI interface;

[0026] Step E: Real-time control of the motion controller parameters, filter parameters and control force distribution parameters of the unmanned ship by means of the parameter control module to optimize the control performance;

[0027] Step F: Use the mode control module to switch the motion mode of the unmanned ship and execute the control logic in the corresponding mode;

[0028] Step G: In the joint joystick mode, manually control the three-degree-of-freedom motion of the unmanned ship through the joystick module;

[0029] Step H: In the positioning mode and the automatic tracking mode, the desired position, heading and navigation path of the unmanned ship are set through the path planning module, and are visualized on the GUI interface;

[0030] Step I: Use the data storage module to store the navigation status information of the unmanned ship in a server or database.

[0031] As a further optimization scheme of the present invention, it also includes a step of automatically switching to the emergency stop mode or the joint joystick mode when it is detected that the communication cannot be restored for a long time, so as to improve the navigation safety of the unmanned ship.

[0032] As a further optimization scheme of the present invention, in step F, when switching to the combined control / automatic mode, the operator can select one or two degrees of freedom for autonomous control and set the desired position or speed for them, and manually control the other degrees of freedom through the joystick module.

[0033] As a further optimization scheme of the present invention, the step H also includes displaying the deviation information between the actual position of the unmanned ship and the expected path in real time on the GUI interface map to assist the operator in navigation monitoring.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention modularizes the software and hardware of the unmanned ship shore-based control system. Each device is relatively independent and easy to replace. The software and hardware interfaces are clear and have high versatility. This design helps to reduce the complexity and failure rate of the system and improve the reliability and stability of the system.

[0036] 2. The unmanned ship can feed back its own motion status information and environmental status information measured by sensors to the shore in real time, and display it to the operator through a visual interface, so that the operator can observe the operation status of the unmanned ship and adjust the position, speed, control parameters, etc. of the unmanned ship in time. This real-time feedback mechanism helps the operator to understand the operation status of the unmanned ship in a timely manner, so as to make accurate judgments and decisions.

[0037] 3. The communication diagnosis module can detect the communication status between the unmanned ship and the shore in real time. When a communication interruption is detected, the alarm information of the communication disconnection can be fed back to the interface and the connection can be automatically reconnected. This capability significantly improves the communication reliability and stability of the system and reduces the operation interruption and potential risks caused by communication interruption. If the connection cannot be made for a long time, the operator can also switch to emergency stop mode or joystick mode to improve the navigation safety of the ship.

[0038] 4. The present invention is a shore-based control system for overdriven unmanned boats, which provides a one-key positioning mode, that is, the operator can press the one-key positioning button, and the unmanned boat will maintain the current position and heading; in addition, it also provides a remote positioning mode, that is, the operator can set the desired positioning point and heading, and the unmanned boat will autonomously go to the positioning point to complete the positioning in the remote positioning mode. This mode brings convenience to the positioning operation of the unmanned boat.

[0039] 5. The present invention provides multiple motion control modes (such as joint joystick mode, positioning mode, automatic tracking mode, combined control / automatic mode, etc.) for overdriven unmanned ships to meet different operation requirements. In particular, the combined control / automatic mode, that is, the operator can select certain degrees of freedom of movement for the unmanned ship to move autonomously, while other degrees of freedom of movement are controlled by the joystick. This mode brings great convenience and flexibility to the cable laying, pipe laying and other operations of the unmanned ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The block diagram of a portable shore-based control system for an overdriven unmanned vessel is shown in FIG. DETAILED DESCRIPTION

[0041] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] like Figure 1 As shown, the portable shore-based operating system of the overdriven unmanned boat includes a communication module, a communication diagnosis module, a PLC control module, a status monitoring module, a parameter control module, a mode control module, a joystick module, a path planning module, and a data storage module.

[0043] The communication module is used to establish a communication connection with the unmanned ship. The equipment of the communication module mainly includes image transmission radio, dual antenna, 4G / 5G, etc., with large communication bandwidth and high stability. The communication diagnosis module is used to monitor the communication status between the shore base and the unmanned ship, and to display it visually through status indicators. The specific diagnostic process is: after the shore base establishes a communication connection with the unmanned ship, the heartbeat detection mechanism is turned on. The shore base sends the string "0101" to the unmanned ship every 0.1s. After receiving the string sent by the shore base, the unmanned ship sends the string "0202" to the shore base; the shore base receives the string "0202", which means that the communication between the two is in a connected state, and the communication status light is green at this time; when the shore base does not receive the string "0202" for more than 2s, it is considered that the communication between the two is disconnected, and the communication status light is red; after the communication is disconnected, the shore base will try to re-establish a communication connection with the unmanned ship based on the known IP address and port number of the unmanned ship. If the communication connection is successful, the communication status light is red, and the heartbeat detection mechanism is turned on again.

[0044] The PLC control module is used to enable the operator to issue startup and shutdown commands to each control node of the unmanned ship from the shore after the communication is established, thereby improving the convenience and safety of operation. At the same time, when the unmanned ship is disconnected or fails, the one-button emergency stop mode can be activated to avoid danger to the ship. After the communication connection is established and the unmanned ship starts the communication service node, the shore can visualize the motion status information and environmental information of the unmanned ship through the status monitoring module, including the position, speed, bow direction, thruster status, power consumption, wind speed and direction, etc. of the unmanned ship.

[0045] The parameter control module is used to control the motion controller parameters, filter parameters, and control force distribution parameters of the unmanned ship in real time to optimize the control performance of the ship. The motion controller parameters, filter parameters, and control force distribution parameters of the unmanned ship can be initialized, and the motion effect of the unmanned ship can be analyzed and modified online for optimization.

[0046] The mode control module is the core part of the shore-based operating system, which is used to control the motion mode of the overdriven unmanned boat, including the combined joystick mode, positioning mode, automatic tracking mode, combined control / automatic mode, etc. Generally, the initial motion state of the unmanned boat is set to the combined joystick mode, that is, the three-degree-of-freedom motion of the unmanned boat is completely controlled by the joystick module. The operator manipulates the unmanned boat to the appropriate waters and then switches to other modes for the next step of the experiment. The positioning mode is a unique operating mode provided by the present invention for overdriven unmanned boats, including a one-button positioning mode and a remote positioning mode. When the operator presses the one-button positioning button, the unmanned boat will perform autonomous positioning according to the current position and heading. The unmanned boat has a certain speed at this time and is also disturbed by wind, waves, and current environmental forces. Therefore, the unmanned boat will overcome its own inertia and environmental forces to complete autonomous positioning. When the distance between the unmanned boat and the positioning point is less than 0.5m, it is considered to have completed autonomous positioning. The remote positioning mode is that the operator selects one or more positioning points on the GUI interface map based on the path planning module. If there is only one positioning point, the unmanned ship will autonomously go to the positioning point to complete the positioning; if there are multiple positioning points, the unmanned ship will complete the positioning in sequence according to the order of the positioning points. When the distance from the current positioning point is less than 0.5m, it will go to the next positioning point to start positioning. In the automatic tracking mode, the operator can draw the desired tracking path of the unmanned ship on the GUI interface map based on the path planning module, and send the desired path to the unmanned ship through the communication module. The unmanned ship will autonomously complete the tracking according to the expected path. The combined control / automatic mode is another unique operation mode provided by the present invention for overdriven unmanned ships. In this mode, the operator can select any of the three degrees of freedom of longitudinal, lateral and bow direction as joystick operation, and design the desired speed or angle for the remaining degrees of freedom, which will be controlled autonomously by the unmanned ship. For example, a constant longitudinal speed is set for the unmanned ship, and the lateral and bow movements are completed by joystick control. This control mode can provide convenience for operations such as cable laying and pipe laying.

[0047] The data storage module is used to store the position, speed, heading, thruster speed, thruster angle, power consumption, wind speed and direction and other information of the unmanned ship in an established database or server on the shore, so as to facilitate the subsequent summary and analysis of the experimental results and further optimize the control performance of the unmanned ship and the functions of each module.

[0048] In summary, the present invention significantly improves the control performance, operating efficiency and safety of overdriven unmanned ships through its highly integrated and modular design, real-time status monitoring and feedback, powerful communication diagnosis and recovery capabilities, rich motion control modes, and data storage and analysis capabilities, providing strong support for the application of unmanned ships in various complex environments.

[0049] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A portable shore-based control system for an overdriven unmanned ship, characterized in that: include The communication module is used to realize wireless communication between the shore base and the unmanned ship, transmit the real-time motion status information and environmental information of the unmanned ship to the shore base, and receive the control instructions from the shore base; The communication diagnosis module is used to monitor and diagnose the communication connection status between the shore base and the unmanned ship in real time, and autonomously reconnect when the communication is disconnected; PLC control module, used to start and shut down the control system of the unmanned ship, and start the one-button emergency stop mode when the communication cannot be connected for a long time or the unmanned ship fails; The status monitoring module is used to visualize the motion status information and environmental information of the unmanned ship on the software GUI interface; Parameter control module, used to control the motion controller parameters, filter parameters and control force distribution parameters of the unmanned ship in real time; The mode control module is used to switch the motion mode of the unmanned ship, including the joint joystick mode, positioning mode, automatic tracking mode and combined control / automatic mode; A joystick module for manually manipulating the three-degree-of-freedom motion of the unmanned vessel in joint joystick mode; The path planning module is used to set the desired position, heading and navigation path of the unmanned ship in the positioning mode and automatic tracking mode, and visualize them on the GUI interface; The data storage module is used to store the navigation status information of the unmanned ship in a server or database.

2. The portable shore-based control system for overdriven unmanned ships according to claim 1, characterized in that: The communication diagnosis module includes a heartbeat detection mechanism for periodically sending and receiving heartbeat signals to detect the communication connection status, and when the communication is detected to be disconnected, automatically trying to re-establish the connection according to the IP address and port number of the unmanned ship end.

3. The portable shore-based control system for overdriven unmanned ships according to claim 1, characterized in that: The state monitoring module is also used to display the control value of the joystick, including three degrees of freedom: longitudinal, lateral and heading.

4. The portable shore-based control system for overdriven unmanned ships according to claim 1, characterized in that: The motion state information and environmental information include the position, speed, heading, thruster state, power consumption, and wind speed and direction information of the unmanned ship.

5. The portable shore-based control system for overdriven unmanned ships according to claim 1, characterized in that: The positioning mode includes a one-key positioning mode and a remote positioning mode. The one-key positioning mode enables the unmanned ship to autonomously position itself according to the current position and heading, and the remote positioning mode enables the unmanned ship to autonomously go to one or more positioning points set on the GUI interface map to complete the positioning in sequence.

6. The portable shore-based control system for overdriven unmanned ships according to claim 1, characterized in that: The combined control / automatic mode allows the operator to select one or two degrees of freedom of motion of the unmanned vessel to be autonomously controlled, and the remaining degrees of freedom to be manually controlled via a joystick.

7. A method for controlling an overdriven unmanned boat using the control system of claim 1, characterized in that: The following steps are involved: Step A: Establish a wireless communication connection between the shore base and the unmanned ship through the communication module; Step B: Use the communication diagnostic module to monitor the communication connection status in real time and automatically try to reconnect when the communication is disconnected; Step C: Start the control system of the unmanned boat through the PLC control module, and start the one-button emergency stop mode when necessary; Step D: Using the state monitoring module to visualize the motion state information and environmental information of the unmanned ship on the GUI interface; Step E: Real-time control of the unmanned ship motion controller parameters, filter parameters and control force distribution parameters through the parameter control module to optimize the control performance; Step F: Use the mode control module to switch the motion mode of the unmanned ship and execute the control logic in the corresponding mode; Step G: In the joint joystick mode, manually control the three-degree-of-freedom motion of the unmanned ship through the joystick module; Step H: In the positioning mode and the automatic tracking mode, the desired position, heading and navigation path of the unmanned ship are set through the path planning module, and are visualized on the GUI interface; Step I: Use the data storage module to store the navigation status information of the unmanned ship in a server or database.

8. The method for controlling an overdriven unmanned boat by a control system according to claim 7, characterized in that: It also includes a step of automatically switching to emergency stop mode or joint joystick mode when it is detected that communication cannot be restored for a long time, so as to improve the navigation safety of the unmanned ship.

9. The method for controlling an overdriven unmanned ship by a control system according to claim 7, characterized in that: In step F, when switching to the combined control / automatic mode, one or two degrees of freedom are selected for autonomous control and the desired position or speed is set for them, and the other degrees of freedom are manually controlled through the joystick module.

10. The method for controlling an overdriven unmanned boat by a control system according to claim 7, characterized in that: The step H also includes displaying the deviation information between the actual position of the unmanned ship and the expected path in real time on the GUI interface map to assist the operator in navigation monitoring.

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