An unmanned scientific research ship equipped with an intelligent navigation control system

Abstract

The present invention relates to the technical field of unmanned ship navigation control systems, in particular to an unmanned scientific research ship equipped with an intelligent navigation control system, including an unmanned ship body. The unmanned ship body is successively provided with a bow peak tank, an instrument and equipment compartment, a moon pool compartment, a rear battery compartment, an engine room, and a stern compartment from the bow to the stern. A front battery compartment is provided below the instrument and equipment compartment, and fuel tank compartments are provided on both sides of the front battery compartment. It also includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for issuing commands to the intelligent navigation control system, and receiving and displaying and intervening in the monitoring data of the dual-mode semi-submersible unmanned ship in real time; a safety environment perception unit is constructed to ensure the long-term autonomous, safe and stable operation of the integrated carrier platform under various sea conditions in the deep sea and ocean, and can realize the autonomous avoidance of marine obstacles to ensure the navigation safety of the unmanned ship.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship navigation control systems, and in particular to an unmanned scientific research ship equipped with an intelligent navigation control system. Background Art

[0002] With the development of science and technology, the applied research on unmanned ships is becoming more and more extensive. Path planning technology and autonomous navigation technology are key issues in the research of unmanned ships, and also important contents in the artificial intelligence research of unmanned ships. To a certain extent, they mark the level of intelligence of unmanned ships. Unmanned ships need to navigate and operate autonomously in complex marine environments. Therefore, more stringent requirements are imposed on the maneuverability, control performance, and reliability of unmanned ships. In order to ensure that unmanned ships can safely, reliably, and autonomously complete various complex tasks, it is necessary to study more advanced technologies such as navigation control systems.

[0003] CN106444767A discloses a linkage combined autonomous navigation unmanned ship control system based on an APM and an I7 intelligent chip, including a ground control center and a shipboard control center. The shipboard control center further includes five subsystems: a power supply system, a communication system, an autonomous navigation system, a propulsion power system, and a direction control system; the connection between the ground control center and the shipboard control center is realized through the WIFI wireless network between the directional omnidirectional antenna in the ground control center and the directional omnidirectional antenna in this subsystem of the communication system, and the 2.4G network between it and the remote control module in this subsystem of the direction control system. The above patent utilizes the compatibility of the APM system and the I7 intelligent chip, as well as the computing power of the I7 intelligent chip and the compatibility of the ports, effectively realizing the transmission, processing, and storage of the autonomous navigation data of the unmanned ship. The data storage capacity of the shipboard control center can reach 512G, and it can support 8G of operating memory. The unmanned ship can complete the task of round-trip autonomous navigation of 10 kilometers on still water within 1 hour.

[0004] Currently, the reference data for unmanned ship navigation is only GPS positioning information. Information on dynamic obstacles on the route, such as other ships in the vicinity, cannot be accessed, and it is difficult to effectively avoid static obstacles such as shorelines and islands encountered during the navigation of unmanned ships. These all seriously affect the navigation safety of unmanned ships. Summary of the Invention

[0005] Aiming at the deficiencies of the above-mentioned existing technologies, an unmanned scientific research ship equipped with an intelligent navigation control system is provided, which constructs a safety environment perception unit to ensure the long-term autonomous, safe, and stable operation of the integrated carrier platform under various sea conditions in the deep sea and ocean, and can realize the autonomous avoidance of marine obstacles to ensure the navigation safety of the unmanned ship.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is an unmanned scientific research ship equipped with an intelligent navigation control system, including an unmanned ship body. The unmanned ship body is successively provided with a bow peak tank, an instrument and equipment cabin, a moon pool cabin, a rear battery cabin, an engine room, and a stern cabin from the bow to the stern. A front battery cabin is provided below the instrument and equipment cabin, and fuel tank cabins are provided on both sides of the front battery cabin.

[0007] It also includes an intelligent navigation control system; and a mother ship / shore-based remote monitoring platform for issuing instructions to the intelligent navigation control system, and receiving, displaying, and intervening in the monitoring data of the dual-mode semi-submersible unmanned ship in real time.

[0008] The intelligent navigation control system includes:

[0009] A communication module: Real-time transmission of instructions issued by the mother ship / shore-based remote monitoring platform to the semi-submersible unmanned ship, and data feedback from the dual-mode semi-submersible unmanned ship to the mother ship / shore-based remote monitoring module.

[0010] A shipborne control module: Receiving, storing, and transmitting instructions issued by the mother ship / shore-based remote monitoring platform, and real-time sending of basic data information and video image information during the navigation of the unmanned ship to the mother ship / shore-based monitoring platform through the communication module.

[0011] An internal state perception module: Real-time acquisition of basic data information during the navigation of the dual-mode semi-submersible unmanned ship.

[0012] An external environment perception module: Real-time acquisition and fusion of environmental data information during the navigation of the dual-mode semi-submersible unmanned ship through long-range sensors.

[0013] An intelligent navigation module: Receiving instructions transmitted by the shipborne control module, and generating a navigation system according to the issued instructions.

[0014] A navigation control module: Executing instructions of the shipborne control module, and real-time obtaining data information of the internal state perception module, data information of the external environment perception module, and data information of the intelligent navigation module, and performing real-time regulation on the dual-mode semi-submersible unmanned ship according to the above data information, and sending the above data information to the shipborne control module.

[0015] For the above unmanned scientific research ship equipped with an intelligent navigation control system, the intelligent navigation module further includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: Receiving data information of the external environment perception module, and performing path planning according to the data information of the external environment perception module, generating a navigation track, and performing navigation.

[0016] Obstacle Judgment Module: Predict obstacles based on the data information of the external environment perception module. For obstacles with uncertain data information, first further expand the obstacles according to the predicted data of the obstacle position, so as to convert the uncertain data of the obstacle position into specific data, and judge whether the obstacle is a static obstacle or a dynamic obstacle.

[0017] Obstacle Avoidance Decision Module: For dynamic obstacles, change the speed magnitude and avoid obstacles without changing the original trajectory; for static obstacles, judge the course angle difference with the obstacle, judge which maritime rules to adopt, and then change the speed direction according to the content of the maritime rules, so as to change the path to avoid obstacles. After changing the path to avoid obstacles, return to the original path.

[0018] For the above unmanned scientific research ship equipped with an intelligent navigation and control system, the intelligent navigation module further includes a path tracking module: Through satellite navigation and inertial navigation, it real-time monitors whether the current driving state of the unmanned ship deviates from the planned section path. If a deviation occurs, it sends a signal to the navigation control module to adjust the unmanned ship to drive to the planned section path, otherwise it keeps the current driving state unchanged.

[0019] For the above unmanned scientific research ship equipped with an intelligent navigation and control system, the intelligent navigation module further includes a return navigation module: When the communication is interrupted, the intelligent navigation module generates a return navigation track, and the navigation control module controls the return navigation according to the return navigation track.

[0020] For the above unmanned scientific research ship equipped with an intelligent navigation and control system, the basic data information includes ship speed, course, heading, position, attitude, battery power, remaining fuel, engine speed, rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information and chart information.

[0021] For the above unmanned scientific research ship equipped with an intelligent navigation and control system, there is a passage at the bottom of the moon pool cabin to allow the passage of the turbulence observation equipment. An automatic opening and closing cover is provided in the moon pool cabin to open and close the passage, and a lifting mechanism is provided above the engine room to lift the turbulence observation equipment.

[0022] For the above unmanned scientific research ship equipped with an intelligent navigation and control system, the lifting mechanism includes a winch seat, a winch body provided on the winch seat, a cable, and two correspondingly arranged guide rollers. It also includes a first seat plate provided outside the moon pool cabin, a first pulley and a first pulley frame provided below the first seat plate, a guide rod rotatably connected to the first pulley frame on the first pulley frame, a guide wheel provided on the guide rod, a second seat plate provided on the inner wall of the moon pool cabin, a second pulley and a second pulley frame provided on the second seat plate, and a conduit allowing the cable to pass through provided on the cabin wall of the moon pool cabin.

[0023] The above-mentioned unmanned scientific research ship equipped with an intelligent navigation control system further includes a detection system for cooperating with the lifting mechanism to keep the turbulence observation equipment in a free state during observation;

[0024] The detection system includes a high-definition camera installed directly above the inside of the moon pool cabin, an ultraviolet lighting lamp installed on the inner wall of the moon pool cabin, a fluorescent coating applied on the cable, and a cable release control module. The cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module;

[0025] The cable release margin calculation module: performs frame-by-frame analysis on the image data collected in real time by the high-definition camera and calculates the current release margin;

[0026] The lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operations;

[0027] The cable release completion module: repeatedly performs the cable release margin calculation module and the lifting mechanism control module until the cable release operation is completed;

[0028] The working steps of the cable release control module are as follows:

[0029] S1:

[0030] (1). Preprocess the image to remove noise;

[0031] (2). According to the unique brightness characteristics of the cable in the image, perform region segmentation on the processed image, then compare the brightness characteristics of each sub-region, mark the pixel points that conform to the cable brightness characteristics, and splice all the sub-regions with pixel points that conform to the cable brightness characteristics to obtain the position of the cable;

[0032] (3). Find the starting position of the cable from the image edge, and then perform segmented processing along the trajectory of the cable;

[0033] (4). For each segment of the cable, fit the circle with the highest matching degree and obtain the corresponding center;

[0034] (5). Through the positions of the starting point and the center point of this segment of the cable, calculate the corresponding arc length as the length of this segment of the cable;

[0035] (6). Add up the lengths of all segmented cables to obtain the length of the cable in the current image;

[0036] (7). Calculate the current release margin according to the preset cable maximum release length threshold and the cable length in the current image,

[0037] Release margin = Release length threshold - Cable length in the current image;

[0038] S2: Control the speed of the winch body according to the cable release allowance to perform the cable-laying operation;

[0039] S3: Repeat S1 and S2 until the cable-laying operation is completed.

[0040] The beneficial effect of an unmanned scientific research ship equipped with an intelligent navigation control system according to the present invention is to combine communication and navigation technologies to realize the uploading of the positioning data of the unmanned ship and the issuing of instructions from the mother ship / shore-based remote monitoring platform, and form a multi-mode backup navigation system with domestic "Beidou", inertial navigation, etc., and send relevant data parameters such as the positioning, heading, and speed of the unmanned ship to the mother ship / shore-based remote monitoring platform through Beidou and Tiantong dual-mode communication modules, etc., to realize the remote monitoring of the mother ship / shore-based remote monitoring platform.

[0041] To improve the autonomous and safe navigation ability of the unmanned ship, inertial navigation information, radar information, laser information, visual information, AIS information, nautical chart information, etc. are integrated to construct a safety environment perception unit to ensure the long-term autonomous, safe and stable operation of the integrated carrier platform under various sea conditions in the deep sea and ocean. By setting a path tracking module, the accuracy of the unmanned ship's heading is guaranteed, and by setting a path planning module, the autonomous avoidance of sea obstacles is realized to ensure the navigation safety of the unmanned ship. Brief Description of the Drawings

[0042] Figure 1 It is a side view of the unmanned ship body;

[0043] Figure 2 It is a bottom view of the unmanned ship body;

[0044] Figure 3 It is a side view of the lifting mechanism;

[0045] Figure 4 It is a schematic diagram of the layout positions of each compartment of the unmanned ship body;

[0046] Figure 5 It is a schematic diagram of the working state of the lifting mechanism;

[0047] Figure 6 It is a schematic diagram of the structure of the automatic opening and closing cover plate;

[0048] Figure 7 It is a block diagram of the circuit structure of the path planning module;

[0049] Figure 8 It is a block diagram of the circuit structure of the obstacle avoidance decision module.

[0050] 1. Bow peak tank; 2. Instrument and equipment compartment; 3. Convex deck; 4. Moonpool compartment; 5. Rear battery compartment; 6. Engine room; 7. Fuel tank compartment; 8. Rear ballast tank; 9. Regulating water pump; 10. Marine diesel engine; 11. Jet pump; 12. Rod body; 13. Hydraulic cylinder; 14. Winch seat; 15. Winch body; 16. Cable; 17. Guide roller; 18. First seat plate; 19. First pulley; 20. First pulley bracket; 21. Guide rod; 22. Guide wheel; 23. Second seat plate; 24. Second pulley bracket; 25. Duct; 26. Camera; 27. Stern compartment; 28. Front ballast tank; 29. Lifting mast; 30. Cover body; 31. Turbulence observation equipment. Detailed implementation manners

[0051] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] As Figure 1-8 shown, an unmanned scientific research ship equipped with an intelligent navigation control system includes an unmanned ship body. The unmanned ship body is sequentially provided with a bow peak tank 1, an instrument and equipment compartment 2, a moonpool compartment 4, a rear battery compartment 5, an engine room 6, and a stern compartment 27 from the bow to the stern. A front battery compartment is provided below the instrument and equipment compartment 2, and fuel tank compartments 7 are provided on both sides of the front battery compartment. The diameter of the moonpool compartment 4 is not less than 550 mm. A convex deck 3 is provided in the middle of the unmanned ship body. A weathertight hatch cover is provided on the convex deck. A navigation radar and an antenna are provided above the instrument and equipment compartment. The lifting mast 29 is adopted for the bearing method. After descending, the equipment above the lifting mast 29 is embedded into the convex deck 3. The hardware equipment and power distribution equipment of the navigation control system are provided in the instrument and equipment compartment. By means of technologies such as semi-submerged mode and lifting mast, the windward area is reduced and the stability is enhanced.

[0053] Front ballast tanks 28 for enabling the unmanned ship body to switch between the water surface and semi-submerged dual modes by controlling the ballast are provided on both sides of the moonpool compartment 4. A ballast water pump with a forward and reverse function for filling the two front ballast tanks with seawater or emptying them, a liquid level sensor for detecting the liquid level in the two front ballast tanks, and a controller are respectively provided in the two front ballast tanks 28; the controller is a PLC.

[0054] It further includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for sending instructions to the intelligent navigation control system, and receiving and displaying and intervening in the monitoring data of the dual-mode semi-submerged unmanned ship in real time;

[0055] The intelligent navigation control system includes:

[0056] Communication module: It transmits the instructions sent from the mother ship / shore-based remote monitoring platform to the semi-submersible unmanned ship in real time, as well as the data feedback from the dual-mode semi-submersible unmanned ship to the mother ship / shore-based remote monitoring module. The communication module can adopt the Beidou and Tiantong dual-mode communication modules to send relevant data parameters such as the positioning, heading, and speed of the unmanned ship to the mother ship / shore-based remote monitoring platform, so as to realize the remote monitoring of the mother ship / shore-based remote monitoring platform.

[0057] Onboard control module: It receives, stores, and transmits the instructions sent from the mother ship / shore-based remote monitoring platform, and sends the basic data information and video image information during the navigation of the unmanned ship to the mother ship / shore-based monitoring platform in real time through the communication module.

[0058] Internal state perception module: It collects the basic data information of the dual-mode semi-submersible unmanned ship during the navigation state in real time.

[0059] External environment perception module: It collects and fuses the environmental data information of the dual-mode semi-submersible unmanned ship during the navigation state in real time through remote sensors.

[0060] Intelligent navigation module: It receives the instructions transmitted by the onboard control module, and generates a navigation system according to the instructions sent. The navigation system is a multi-in-one backup navigation system formed by domestic "Beidou", inertial navigation, etc.

[0061] Navigation control module: It executes the instructions of the onboard control module, and obtains the data information of the internal state perception module, the data information of the external environment perception module, and the data information of the intelligent navigation module in real time. And it conducts real-time regulation on the dual-mode semi-submersible unmanned ship according to the above data information, and sends the above data information to the onboard control module.

[0062] The intelligent navigation module further includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: It receives the data information of the external environment perception module, and conducts path planning according to the data information of the external environment perception module, generates a track, and conducts navigation.

[0063] Obstacle judgment module: It conducts obstacle prediction according to the data information of the external environment perception module. For obstacles with uncertain data information, first, it further expands the obstacles according to the predicted data of the obstacle position, so as to convert the uncertain data of the obstacle position into specific data, and judge whether the obstacle is a static obstacle or a dynamic obstacle.

[0064] Obstacle avoidance decision module: For dynamic obstacles, it changes the speed magnitude and does not change the original track to avoid obstacles; for static obstacles, it judges the heading angle difference with the obstacle, judges which maritime rules to adopt, and then changes the speed direction according to the content of the maritime rules, so as to change the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path.

[0065] The intelligent navigation module further includes a path tracking module: through satellite navigation and inertial navigation, it real-time monitors whether the current driving state of the unmanned ship deviates from the planned section path. If a deviation occurs, it sends a signal to the navigation control module to adjust the unmanned ship to drive on the planned section path; otherwise, it keeps the current driving state unchanged.

[0066] The intelligent navigation module further includes a return navigation module: when the communication is interrupted, the intelligent navigation module generates a return navigation track, and the navigation control module controls the return navigation according to the return navigation track.

[0067] The basic data information includes ship speed, course, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

[0068] Rear ballast tanks 8 extending rearward for assisting the ship's self-righting are provided on both sides of the engine room 6, and two regulating water pumps 9 for adjusting the water volume in the rear ballast tanks 8 are further included.

[0069] Two marine diesel engines 10 and two marine gearboxes are provided in the engine room. Two jet pumps 11 with dynamic positioning functions are provided behind the two marine diesel engines 10.

[0070] A passage opening allowing the passage of the turbulence observation device 31 is provided at the bottom of the moon pool compartment 4. An automatic opening and closing cover for opening and closing the passage opening is provided in the moon pool compartment. The automatic opening and closing cover includes two rod bodies 12 whose tops are rotatably connected to the inner wall of the moon pool compartment 4. Cover bodies 30 rotatably connected to the two rod bodies are respectively provided at the bottoms of the two rod bodies, and hydraulic cylinders 13 for driving the cover bodies 30 to operate and hinged to the inner wall of the moon pool compartment 4 are provided, which are symmetric left and right.

[0071] A lifting mechanism for lifting the turbulence observation device is provided above the engine room 6. The lifting mechanism includes a winch base 14, a winch body 15 provided on the winch base 14, a cable 16, and two corresponding guide rollers 17. It further includes a first seat plate 18 provided outside the moon pool compartment 4. A first pulley 19 and a first pulley bracket 20 are provided below the first seat plate 18. A guide rod 21 rotatably connected to the first pulley bracket 20 is provided on the first pulley bracket 20. A guide wheel 22 is provided on the guide rod 21. A second seat plate 23 is provided on the inner wall of the moon pool compartment 4. A second pulley and a second pulley bracket 24 are provided on the second seat plate 23. A conduit 25 allowing the cable 16 to pass through is provided on the cabin wall of the moon pool compartment 4.

[0072] A detection system for cooperating with the lifting mechanism to keep the turbulence observation device in a free state during observation is further included;

[0073] The detection system includes a high-definition camera installed directly above the interior of the moonpool cabin, an ultraviolet lighting lamp installed on the inner wall of the moonpool cabin, a fluorescent coating applied to the cable, and a cable release control module. The cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module;

[0074] The cable release margin calculation module: Analyzes the image data collected by the high-definition camera frame by frame in real time and calculates the current release margin;

[0075] The lifting mechanism control module: Controls the motor speed according to the cable release margin to perform the cable release operation;

[0076] The cable release completion module: Repeatedly performs the cable release margin calculation module and the lifting mechanism control module until the cable release operation is completed;

[0077] The working steps of the cable release control module are as follows:

[0078] S1:

[0079] (1). Preprocess the image to remove noise;

[0080] (2). According to the unique brightness characteristics of the cable in the image, segment the processed image, then compare the brightness characteristics of each sub-region, and mark the pixel points that conform to the cable brightness characteristics. Stitch all the sub-regions with pixel points conforming to the cable brightness characteristics to obtain the position of the cable;

[0081] (3). Find the starting position of the cable from the image edge, and then perform segmented processing along the trajectory of the cable;

[0082] (4). For each segment of the cable, fit the circle with the highest matching degree and obtain the corresponding center;

[0083] (5). Through the positions of the starting point and the center point of this segment of the cable, calculate the corresponding arc length as the length of this segment of the cable;

[0084] (6). Add up the lengths of all segmented cables to obtain the length of the cable in the current image;

[0085] (7). Calculate the current release margin according to the preset cable maximum release length threshold and the cable length in the current image,

[0086] Release margin = Release length threshold - Cable length in the current image;

[0087] S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation;

[0088] S3: Repeat S1 and S2 until the cable release operation is completed.

[0089] When the turbulence observation equipment is in operation, it needs to be in a free state. Otherwise, it will affect the observation accuracy of the turbulence observation equipment. Through intelligent control means such as high-definition camera video acquisition and redundant cable feature extraction, a certain number of cables (such as 2 - 5 loops) are maintained floating in the moonpool cabin to ensure that the cables do not exert tensile force on the observation system and achieve its free lowering; during cyclic observation, it is ensured that when the equipment is lifted close to the bottom of the ship, a new lowering can start immediately; the winch is designed with a rotational speed that changes according to the lowering speed of the VMP underwater (first accelerating and then maintaining a constant speed), and an appropriate amount of slack is reserved throughout the cable to allow the VMP equipment to be lowered freely and prevent the generation of an upward traction force from the winch, thus ensuring the observation accuracy of the turbulence observation equipment.

[0090] In each of the two fore ballast tanks, there is a ballast water pump with forward and reverse functions for filling or emptying the two fore ballast tanks with seawater, as well as a liquid level sensor. The above system is used to quickly switch between the high-speed and semi-submerged navigation modes. The two ballast water pumps are respectively installed at the bottom of the two fore ballast tanks, with a pump flow rate ≥ 100 L / min, and can be quickly filled / emptied within 20 minutes. The liquid level sensor in the ballast tank can feedback the liquid level state in the tank to the navigation control module. The navigation control module sends a signal to the controller according to the instructions of the on-board control module to inject or discharge seawater into the ballast tank, realizing the dual-mode switch. There are 2 marine diesel engines, 2 marine gearboxes, and 2 sets of jet pumps in the engine room. The marine diesel engines are YANMAR marine diesel engines made in Japan, and the gearboxes are two ZF68 marine gearboxes produced by ZF Company in Germany, with a speed ratio of 1.514. The jet pumps are KAMEWA FF240 water jet propulsion devices, which can provide dynamic positioning control. The dual-mode semi-submersible unmanned ship has structural features such as a single hull, a single deck, and a mid "V" type sharp bilge to ensure the high-speed navigation ability on the water surface. When in semi-submerged navigation, it is in the low-profile vessel (LPV) state. Due to its very low outer contour, the low-profile vessel has the function of reducing the characteristic signal in infrared, radar, vision, acoustics, and spectrum, thus having good stealth performance. The "V" ship type design reduces the high-speed navigation resistance in waves and improves the seakeeping performance. When in semi-submerged navigation, the hull is below the water surface, and only part of the appendages of the hull are above the water surface. It can greatly weaken the interference of wind and waves on the water surface and greatly improve the safety and stability. There are rear ballast tanks extending backward on both sides of the engine room for assisting the ship's self-righting, and also including two regulating water pumps 29 for adjusting the water volume in the rear ballast tanks, increasing the contact area of the hull bottom with water and playing the role of anti-rolling fins. It improves the constant stability in the semi-submerged state, thus providing a stable environment for the accurate measurement of the turbulence observation equipment. It has the self-righting ability in both dual modes, becoming an "upside-down tumbler" on the sea, meeting the normal operation in sea state 3 and the safe navigation in sea state 4. According to the dual-mode operation requirements, taking into account the hull weight, speed, and endurance performance, the dual-mode conversion is smooth and time-consuming. The dimensions of the dual-mode semi-submersible unmanned ship are 8.5×2.5×2.6 meters. It is made of high-performance composite materials mainly composed of aramid and carbon fiber, and the core materials are selected as Balsa and PVC, etc. The weight ≯ 8t, making it light in weight and large in strength. It can be single-point hoisted and lowered by the mother ship, propelled by dual diesel engines and dual jet pumps. The dual mode is controlled by the ballast water tank, and the conversion time ≮ 10 minutes. The full-load displacement in the high-speed water surface state is 7.45t, and the speed is 25 kn. The full-load displacement in the semi-submerged state is 11.69t, and the speed is 5 kn. It is equipped with 2300L of fuel and 80 kW·h of lithium batteries, meeting the high-speed water surface endurance ≮ 450 m or the semi-submerged working endurance ≮ 360 h.

[0091] Composition and functions of the mother ship / shore-based remote monitoring platform:

[0092] It includes a set of portable handheld control terminals, a set of fixed consoles, and related control system software; it supports Android mobile phone systems and WINDOWS systems;

[0093] It supports electronic nautical charts in the working sea area;

[0094] It supports setting task points, the boundaries of electronic fences, and operation time and duration;

[0095] It supports task saving, modification, management, and loading;

[0096] It supports the monitoring and display of the status of the unmanned ship system;

[0097] It can view the speed, heading, bow direction, position, battery power, remaining fuel, working status, travel path, and operation information of the observation system of the unmanned ship, etc.;

[0098] It can send alarm information such as the remaining fuel of the unmanned ship and the remaining battery power of all batteries;

[0099] It can display the instrument measurement data carried by the unmanned ship in real time;

[0100] It can display the video images captured by the camera of the unmanned ship;

[0101] It can realize the interactive conversion of the control right of the unmanned ship;

[0102] The display is not less than a 14-inch LED display screen;

[0103] The resolution is not less than 1920*1080;

[0104] The processor is not less than an Intel® Core i5-8250U processor at 1.8GHz;

[0105] The memory is not less than 8GB DDR4; the hard disk is not less than 1TB SSD capacity;

[0106] It is realized based on the secondary development of QGC and supports Android and Windows operating systems;

[0107] It is developed based on the QT environment, implemented with C++ code, and can run across platforms.

[0108] The composition and functions of the on-board control module (on-board controller):

[0109] It includes a double-layer hardware structure of a navigation control computer and a navigation attitude controller, and control software;

[0110] It has two working modes: remote control and autonomous navigation;

[0111] It has the function of real-time data transmission, and sends basic data information of the unmanned ship (such as speed, heading, bow direction, position, battery power, remaining fuel, engine speed, rudder angle, operation data of the observation system, etc.) and video images to the mother ship / shore-based remote monitoring module in real time, with a data delay < 500ms;

[0112] It has the function of online storage, and the storage capacity ≥ 5TB;

[0113] It has the function of real-time monitoring of on-board equipment, and can perform on / off operations on specified equipment according to the requirements of working conditions;

[0114] The on-board control module adopts an embedded LINUX system and an open ROS2 architecture, and is installed in the instrument and equipment cabin, which can provide users with secondary development functions; The hardware configuration of the on-board controller: adopts the Intel Apollo Lake SoC + FPGA processor architecture, with a board-mounted memory ≥ 4G, and no less than the following interface configurations: 2 CAN buses, 2 RS485 buses, and 4 RS232 buses. The EMC meets CE / FCC Class B;

[0115] The software architecture adopts a distributed architecture to reduce the impact of sensor data loss on the control of the unmanned ship.

[0116] Composition and functions of the navigation control module (navigation controller):

[0117] The navigation controller adopts an RTOS embedded operating system and integrates sensors such as IMU, GPS board, and communication board. It provides RS232, RS485, and CAN interfaces. The length, width, and height are all not greater than 20cm.

[0118] The navigation controller and the on-board controller communicate and control through Ethernet and CAN. An external communication module can be used.

[0119] The heading control accuracy of the navigation controller is not greater than 1°, the speed control accuracy is not greater than 0.1m / s, and the track tracking accuracy is not greater than 0.5m. The tuning of the heading and speed controllers supports online model identification and self-tuning, and provides a test report from a testing institution above the provincial level. The algorithm theory results can provide an appraisal report from a relevant society.

[0120] The decision-making and planning software supports the ROS system and is implemented in C / C++ code;

[0121] The navigation control software is implemented in C / C++ code.

[0122] The radar information, lidar information, and AIS information are collected by a navigation radar, lidar, and AIS. The maximum detection range of the navigation radar is ≥12 nm; the minimum operating range is ≤50 m; the communication interface uses RJ45; it provides various types of data, including support for radar echoes, target track data messages, and navigation data forwarding; the transmitter frequency is 9.3 - 9.4 GHz in the X-band; the maximum scanning bandwidth is 75 MHz.

[0123] The detection range of the lidar is ≥80 m; the frame rate is ≥5 Hz; the number of lines is ≥16 lines; the detection blind area is ≤0.4 m; the detection error is ≤2 cm; the horizontal field of view is 360°, and the resolution is 0.1°; the vertical field of view is 30°, and the resolution is 2°; the protection level is IP67; the Ethernet output rate is ≥100 Mbps.

[0124] The frequency range of AIS: 156.025 - 162.025 MHz; the receiving sensitivity: < -107 dBm (20% PER); the bit rate: 9600 bps ± 50 ppm (GMSK); 1200 bps ± 30 ppm (FSK); the channel bandwidth is 25 KHz.

[0125] A camera 26 is also installed on the unmanned boat body. The visual information is transmitted through the camera carried by the boat, and the water surface video image can be transmitted back to the mother ship / shore-based remote monitoring platform in real time and displayed. The frame rate of the camera is: 50 Hz: 25 fps (1920×1080, 1280×960, 1280×720), 50 fps (1280×960, 1280×720); the optical zoom is 23 times; the digital zoom is 16 times; the infrared irradiation distance is ≥100 m; the focal length is 4.8 - 115 mm; the horizontal viewing angle is 64.5 - 3.2° (wide angle - telephoto); the adjustment range is: horizontal 360°, vertical -15° to 90°; the storage function supports MicroSD / SDHC / SDXC cards (256G); the video compression standard is H.265 / H.264 / MJPEG.

[0126] The camera carried by the boat can also monitor the surrounding environment of the unmanned boat. When encountering forced salvage and recovery, it sends information data to the navigation control module, the navigation control module sends information data to the on-board control module, the on-board control module sends information data to the mother ship / shore-based monitoring platform, and the mother ship / shore-based monitoring platform issues an integrated turbulence observation system recovery instruction and a return instruction to ensure the safe return of the integrated turbulence observation system.

[0127] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, or substitutions made by those of ordinary skill in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. An unmanned scientific research vessel equipped with an intelligent navigation control system, characterized in that: The unmanned boat body comprises a bow peak cabin, an instrument cabin, a moon pool cabin, a rear battery cabin, and an engine cabin arranged in sequence from the bow to the stern, a front battery cabin is arranged below the instrument cabin, and fuel tank cabins are arranged on both sides of the front battery cabin. It also includes an intelligent navigation control system; and a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data of the dual-mode semi-submersible unmanned vessel in real time for display and intervention; The intelligent flight control system comprises: Communication module: Real-time transmission of commands from the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status; External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors; Intelligent navigation module: receives instructions transmitted by the shipboard control module and generates a navigation system according to the instructions issued; Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module and the intelligent navigation module in real time, and controls the dual-mode semi-submersible unmanned ship in real time according to the above data information, and sends the above data information to the shipboard control module; A passage is provided at the bottom of the moon pool cabin to allow the turbulence observation equipment to pass through, an automatic opening and closing cover is provided inside the moon pool cabin for opening and closing the passage, and a lifting mechanism is provided above the cabin for raising and lowering the turbulence observation equipment; The lifting mechanism includes a winch seat, a winch body arranged on the winch seat, a cable and two corresponding guide rollers, and also includes a first seat plate arranged outside the moon pool cabin, a first pulley and a first pulley frame are arranged below the first seat plate, a guide rod rotatably connected to the first pulley frame is arranged on the first pulley frame, a guide wheel is arranged on the guide rod, a second seat plate is arranged on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, and a conduit allowing the cable to pass is arranged on the wall of the moon pool cabin; It also includes a detection system for cooperating with the lifting mechanism to keep the turbulence observation device in a free state during observation; The detection system includes a high-definition camera arranged directly above the interior of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating applied on the cable, and a cable release control module, wherein the cable release control module includes a cable release margin calculation module, a lifting mechanism control module, and a cable release completion module; The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin; Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation; Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed; The working steps of the cable release control module are: S1: (1) Preprocess the image to remove noise; (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable; (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable; (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle; (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle; (6) Add the lengths of all cable segments to obtain the length of the cable in the current image; (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image. Release margin = release length threshold - cable length in the current image; S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation; S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

2. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 1 is characterized in that: The intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module; Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle; Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

3. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 2 is characterized in that: The intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, it monitors in real time whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged.

4. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 3 is characterized in that: The intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

5. The unmanned scientific research vessel equipped with an intelligent navigation control system according to claim 4 is characterized in that: The basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

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