Unmanned ship remote test system and method based on 5G communication and use method of system

Abstract

The invention discloses an unmanned ship remote test system and method based on 5G communication and a use method of the system, and the system comprises a user interaction module which is used for a tester to operate an interaction interface and carry out the remote test of an unmanned ship; the mode switching module is used for testers to select a required remote test control mode; the data storage module is used for storing initial test scene information of the unmanned ship and key parameters of the unmanned ship in the test process; the data processing module is used for processing all data in the remote test process; the 5G communication module is used for realizing real-time interconnection and intercommunication of remote data; the algorithm test module is used for providing a data interface for other measured algorithms and accessing an intelligent navigation algorithm to be tested to the test platform for real ship remote test; the control module is used for the unmanned ship to receive and execute the remote control instruction; and the video display module is used for collecting and displaying video pictures of the shipborne camera of the remote unmanned ship in real time. According to the invention, a more accurate test result can be obtained.

Description

Technical Field

[0001] The present invention relates to an unmanned ship remote test system, method and use method of the system, and in particular to an unmanned ship remote test system based on 5G communication, method and use method of the system. Background Art

[0002] With the continuous development and breakthroughs in emerging technologies such as artificial intelligence, the Internet of Things, big data, and cloud computing, the level of ship automation continues to improve, and the realization of unmanned ships has technological support. The shipping industry is expected to move from the information age to the intelligent age.

[0003] In the testing and evaluation of manned ships, the platform performance tests, such as single tests of power, endurance, and electromechanical performance, have mature and effective testing capabilities. Therefore, for the routine testing of unmanned ship platforms, we can refer to the relevant testing technologies of manned ships. However, the application of intelligent unmanned ship technology has brought new evaluation requirements for the testing and evaluation of unmanned ships, such as system performance and autonomous control capabilities. In particular, for testing and evaluation in complex environments and extreme conditions, there are currently gaps in many aspects of the domestic standard system and test technology. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to propose an unmanned ship remote test system based on 5G communication, a method and a method of using the system, which can provide various different test scene settings and actual real ship and surface test environments to the maximum extent, so as to obtain more accurate test results.

[0005] Technical solution: The present invention includes:

[0006] User interaction module: an interface for test personnel to interact and conduct remote tests of unmanned ships;

[0007] Mode switching module: used for test personnel to select the required remote test control mode;

[0008] Data storage module: used to store the initial test scene information of the unmanned ship and the key parameters of the unmanned ship during the test;

[0009] Data processing module: used to process all data during the remote test;

[0010] 5G communication module: used to achieve real-time interconnection and intercommunication of remote data;

[0011] Algorithm testing module: used to provide data interface for other algorithms under test, and connect the intelligent navigation algorithm to be tested to the test platform for real ship remote testing;

[0012] Control module: used for the unmanned ship to receive and execute remote control commands;

[0013] Video display module: used to collect and display the video images of the remote unmanned ship's onboard camera in real time.

[0014] The user interaction module includes a scene setting module, a data display module and an unmanned ship track map display module.

[0015] The scene setting module is used by test personnel to customize virtual obstacles, virtual test companion ships or cruise path points that meet the test requirements in the test system for different test purposes when conducting unmanned ship tests, so as to complete the test scene settings for different test tasks.

[0016] The data display module is used to display the real-time parameters of the remote test unmanned ship and the virtual companion test ship.

[0017] The unmanned ship track map display module is used to display the satellite topographic map of the test waters, and to overlay the map with added virtual obstacles, added mission routes, and real-time navigation data of the remote test unmanned ship and the virtual companion ship.

[0018] The mode switching module includes a local remote control mode and a remote emergency remote control switching mode.

[0019] The local remote control mode includes a manual mode and an automatic mode.

[0020] The data processing module includes a data transmission module and a data execution module.

[0021] A remote test method for an unmanned ship based on 5G communication includes the following steps:

[0022] S1. Run the unmanned ship remote test system: First, click to select the type of test to be conducted. The system currently supports unmanned ship maneuverability test and unmanned ship intelligent navigation algorithm test;

[0023] S2. Maneuverability test of unmanned boat: Open the local console, the system collects hardware signal changes in real time, analyzes the electrical signals of the hardware equipment into executable digital command signals, the system backend packages the operation command data, and sends the local real-time control commands to the remote test site ship for execution through the 5G communication module; at the same time, the various sensors on the ship collect the navigation data of the unmanned boat and transmit it back to the local end in real time through the 5G communication module;

[0024] S3. Unmanned ship intelligent navigation algorithm test: The tester connects the unmanned ship intelligent navigation algorithm to be tested to the test platform; the test system has defined the input and output interfaces of the algorithm. The key data of the remote unmanned ship's real-time navigation is sent to the test algorithm in real time through the UDP data input port as the input of the algorithm. The output result of the algorithm is output to the test system in real time through the UDP control command output port. The back-end of the test system packages the algorithm control command data and sends it to the remote test unmanned ship in real time for execution through the 5G communication module;

[0025] S4. Customized test scenario: Set the scenario. The system returns the parameters of the set initial scenario to the system backend for storage. Start the algorithm program to be tested and click Start Simulation. The backend of the test platform sends the virtual parameters in the virtual test scenario and the real-time navigation data of the remote ship to the algorithm program through the data interface. At the same time, the throttle and rudder angle control instructions output by the algorithm are sent by the backend of the test platform to the remote test ship for execution in real time through the 5G communication module.

[0026] A method for using an unmanned ship remote test system based on 5G communication includes the following steps:

[0027] S1. The tester selects the corresponding control mode in the user interaction module of the local test platform according to the test task;

[0028] S2. After selecting the manual mode, the test personnel operate the local console and send the collected control instructions to the remote test unmanned boat in real time through the 5G communication module to control the motor and rudder angle of the unmanned boat for maneuvering.

[0029] S3. After selecting the automatic mode, the test personnel will connect the unmanned ship intelligent navigation algorithm to be tested to the remote test platform through the algorithm test module interface. The algorithm will dynamically calculate the input real-time unmanned ship navigation key parameters and mission parameters, and output the unmanned ship navigation instructions, which will be sent to the remote unmanned ship for execution through the 5G communication module.

[0030] S4. The test personnel complete the setting of the required test environment through the system user interaction module, which is called by the algorithm test module and sent to the ship in real time;

[0031] S5. After the test begins, the real-time navigation data collected by the remote test unmanned ship through the shipboard sensors is transmitted back to the local test platform system in real time through the 5G communication module for visualization. At the same time, the key navigation data of the unmanned ship transmitted back is used as the input of the algorithm evaluation module.

[0032] S6. The ship-borne camera carried by the remote unmanned ship transmits the collected real-time images to the local end in real time through the video transmission module and the 5G communication module.

[0033] Beneficial effect: Compared with simulation testing in a simulation environment, the present invention can provide various different test scene settings and actual real ship and surface test environments to the maximum extent, thereby obtaining more accurate test results. It not only solves the problem that the environment in the simulation test is not close enough to the actual environment, but also solves the practical problems such as high risk and high cost of conducting unmanned ship tests on site in the test waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of the present invention;

[0035] Figure 2 This is a diagram of the emergency remote control switching function of the present invention;

[0036] Figure 3 It is a user interaction module diagram of the present invention;

[0037] Figure 4 This is a system block diagram of the unmanned ship remote test platform of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings.

[0039] like Figure 3 and Figure 4 As shown, the unmanned ship remote test system based on 5G communication of the present invention includes:

[0040] User interaction module: The user interaction module is used by test personnel to operate the interactive interface and conduct remote tests of unmanned ships.

[0041] The user interaction module includes a scene setting module, a data display module and an unmanned ship trajectory map display module; the scene setting module is used by the test personnel to customize the addition of virtual obstacles, virtual test companion ships or cruise path points that meet the test requirements in the test system according to different test purposes when conducting unmanned ship tests, and complete the test scene settings for different test tasks; the data display module is used to display the real-time latitude and longitude, heading, rudder angle, roll, pitch, heave and other key ship parameters of the remote test unmanned ship and the virtual test companion ship; the unmanned ship trajectory map display module is used to display the satellite topographic map of the test waters, and to overlay the added virtual obstacles and added mission routes on the map, as well as the real-time navigation trajectory and real-time heading line of the remote test unmanned ship and the virtual test companion ship.

[0042] Mode switching module: The mode switching module is used for test personnel to select the required remote test control mode.

[0043] The mode switching module includes the local remote control mode and the remote emergency remote control switching mode, such as Figure 2As shown; the local remote control mode includes manual mode and automatic mode, which can be switched by switching the mode knob. The remote emergency remote control switching mode is used when an emergency occurs during the test and affects the unmanned boat to continue the test. The remote control manual control mode can be switched to avoid damage to the unmanned boat.

[0044] Data storage module: used to store key parameters such as the initial test scene information of the unmanned ship and the navigation data and attitude data of the unmanned ship during the test.

[0045] Data processing module: used to process all data in the remote test process; the data processing module includes a data transmission module and a data execution module.

[0046] 5G communication module: used to achieve real-time interconnection and interoperability of remote data.

[0047] Algorithm testing module: used to provide a data interface for other algorithms under test, and connect the intelligent navigation algorithm to be tested to the test platform for real ship remote testing.

[0048] Control module: The control module is used for the unmanned ship to receive and execute remote control instructions.

[0049] Video display module: The video display module is used to collect and display the video images of the remote unmanned ship's onboard camera in real time.

[0050] like Figure 1 As shown, the unmanned ship remote test method based on 5G communication of the present invention includes the following steps:

[0051] S1. Run the unmanned ship remote test system. First, click to select the type of test to be conducted. The system currently supports unmanned ship maneuverability test and unmanned ship intelligent navigation algorithm test. Maneuverability test is to manually operate the remote test unmanned ship to maneuver in different ways by controlling the local unmanned ship driving equipment, and then test the relevant performance parameters of the unmanned ship; intelligent navigation algorithm test is to control the navigation of the unmanned ship through the algorithm and conduct a real ship evaluation of the algorithm performance.

[0052] S2. Unmanned ship maneuverability test: Open the local console and operate the rudder and throttle devices on the console. The system collects hardware signal changes in real time and parses the electrical signals of the hardware devices into executable digital command signals. The system backend packages the operation command data and sends the local real-time control commands to the remote test site ship for execution through the 5G communication module. At the same time, the attitude sensors, GPS and other sensors on the ship collect the navigation data of the unmanned ship and transmit it back to the local end in real time through the 5G communication module to realize real-time monitoring and storage of the navigation data, which will be used for the later evaluation and optimization of the unmanned ship maneuverability test conducted this time.

[0053] S3. Unmanned ship intelligent navigation algorithm test: The tester connects the unmanned ship intelligent navigation algorithm to be tested to the test platform; the test system has defined the input and output interfaces of the algorithm. The key data of the real-time navigation of the remote unmanned ship is sent to the test algorithm in real time through the UDP data input port as the input of the algorithm for dynamic calculation of the algorithm. The output result of the algorithm is output to the test system in real time through the UDP control command output port. The back-end of the test system packages the algorithm control command data and sends it to the remote test unmanned ship for execution in real time through the 5G communication module, thereby realizing the local intelligent algorithm to control the remote unmanned ship and completing the actual ship test of the intelligent navigation algorithm.

[0054] S4. Customized test scenarios: To support the setting of more scenarios and realize the diversification of the test environment, the test system provides a customized test scenario function, which can customize the corresponding test virtual environment according to different test requirements; by clicking the function button on the system page, you can customize the addition of virtual obstacles, virtual dynamic test ships, path points, etc. in the test scenario, and at the same time provide some parameters for the added virtual obstacles and virtual dynamic test ships to set, providing flexible and changeable test scenario settings for the test. After the scenario setting is completed, click the Submit button, and the system will return the set initial scenario parameters to the system backend for storage; start the algorithm program to be tested, click Start Simulation, and the backend of the test platform will send the virtual parameters such as real-time dynamic coordinates in the virtual test scenario and the real-time navigation data of the remote real ship to the algorithm program through the data interface for the input of the necessary parameters of the algorithm. At the same time, the throttle and rudder angle control instructions output by the algorithm are sent to the remote test ship for execution in real time by the backend of the test platform through the 5G communication module.

[0055] After the test starts, a map of the test waters is displayed on the map of the front page. The real-time position and movement trajectory of the actual ship under test are dynamically displayed on the map. The remote ship navigation data is displayed in real time on the right side of the interface. At the same time, the video display module automatically connects to the remote shipborne camera through the video transmission module, and displays the dynamic navigation picture of the test ship in real time, providing a more realistic unmanned ship test environment monitoring and operation experience.

[0056] The method for using the unmanned ship remote test system based on 5G communication of the present invention comprises the following steps:

[0057] S1. According to the test task, the test personnel select the corresponding control mode in the user interaction module of the local test platform; for the test in the field of unmanned ship manipulation, adjust the mode switch knob to gear 1 and select the manual mode; for the test in the field of unmanned ship intelligent navigation algorithm, adjust the mode switch knob to gear 2 and select the automatic mode; gear 3 is reserved for expansion;

[0058] S2. After selecting the manual mode, the test personnel manipulate the ship's throttle and rudder equipment on the local console, and send the collected control instructions to the remote test unmanned ship in real time through the 5G communication module. The control module of the unmanned ship receives and executes the remote control instructions, and controls the motor and rudder angle of the unmanned ship to maneuver;

[0059] S3. After selecting the automatic mode, the test personnel will connect the unmanned ship intelligent navigation algorithm to be tested to the remote test platform through the algorithm test module interface. The algorithm will dynamically calculate the input real-time unmanned ship navigation key parameters and mission parameters, and output the unmanned ship navigation instructions through the 5G communication module to the remote unmanned ship for execution, thus realizing the functional test of the intelligent navigation algorithm.

[0060] S4. The test personnel click on the function buttons such as adding virtual obstacles, virtual test companion ships, and path points through the system user interaction module, and click on the corresponding position of the test waters map on the interface to add them, and complete the setting of the required test environment; the coordinate data of the set virtual obstacles / path points / test companion ships are stored through the data storage module, called by the algorithm test module and sent to the ship side in real time. Click the "Start Test" button, and the system automatically calls the connected test algorithm. The control instructions output by the algorithm will be sent to the remote experimental unmanned ship in real time through the 5G communication module for execution;

[0061] S5. After the test begins, the real-time navigation data collected by the remote test unmanned ship through the onboard sensors is transmitted back to the local test platform system in real time through the 5G communication module for visualization, realizing real-time dynamic monitoring during the unmanned ship test; at the same time, the key navigation data of the unmanned ship transmitted back is used as the input of the algorithm evaluation module to realize the dynamic test of the intelligent navigation algorithm;

[0062] S6. The ship-borne camera carried by the remote unmanned ship transmits the collected real-time images to the local end through the video transmission module through the 5G communication module, and displays them in real time through the video display module deployed on the local end, realizing real-time monitoring of the unmanned ship's navigation images to ensure the test safety of the remote unmanned ship.

Claims

1. An unmanned ship remote test system based on 5G communication, characterized in that: include: User interaction module: an interface for test personnel to interact and conduct remote tests of unmanned ships; Mode switching module: used for test personnel to select the required remote test control mode; Data storage module: used to store the initial test scene information of the unmanned ship and the key parameters of the unmanned ship during the test; Data processing module: used to process all data during the remote test; 5G communication module: used to achieve real-time interconnection and intercommunication of remote data; Algorithm testing module: used to provide data interface for other algorithms under test, and connect the intelligent navigation algorithm to be tested to the test platform for real ship remote testing; Control module: used for the unmanned ship to receive and execute remote control commands; Video display module: used to collect and display the video images of the remote unmanned ship's onboard camera in real time.

2. According to claim 1, the unmanned ship remote test system based on 5G communication is characterized in that: The user interaction module includes a scene setting module, a data display module and an unmanned ship track map display module.

3. The unmanned ship remote test system based on 5G communication according to claim 2 is characterized in that: The scene setting module is used by test personnel to customize virtual obstacles, virtual test companion ships or cruise path points that meet the test requirements in the test system for different test purposes when conducting unmanned ship tests, so as to complete the test scene settings for different test tasks.

4. The unmanned ship remote test system based on 5G communication according to claim 2 is characterized in that: The data display module is used to display the real-time parameters of the remote test unmanned ship and the virtual companion test ship.

5. The unmanned ship remote test system based on 5G communication according to claim 2 is characterized in that: The unmanned ship track map display module is used to display the satellite topographic map of the test waters, and to overlay the map with added virtual obstacles, added mission routes, and real-time navigation data of the remote test unmanned ship and the virtual companion ship.

6. The unmanned ship remote test system based on 5G communication according to claim 1 is characterized in that: The mode switching module includes a local remote control mode and a remote emergency remote control switching mode.

7. The unmanned ship remote test system based on 5G communication according to claim 6 is characterized in that: The local remote control mode includes a manual mode and an automatic mode.

8. The unmanned ship remote test system based on 5G communication according to claim 1 is characterized in that: The data processing module includes a data transmission module and a data execution module.

9. A remote test method for an unmanned ship based on 5G communication, characterized in that: The following steps are involved: S1. Run the unmanned ship remote test system: First, click to select the type of test to be conducted. The system currently supports unmanned ship maneuverability test and unmanned ship intelligent navigation algorithm test; S2. Maneuverability test of unmanned boat: Open the local console, the system collects hardware signal changes in real time, analyzes the electrical signals of the hardware equipment into executable digital command signals, the system backend packages the operation command data, and sends the local real-time control commands to the remote test site ship for execution through the 5G communication module; at the same time, the various sensors on the ship collect the navigation data of the unmanned boat and transmit it back to the local end in real time through the 5G communication module; S3. Unmanned ship intelligent navigation algorithm test: The tester connects the unmanned ship intelligent navigation algorithm to be tested to the test platform; The test system has defined the input and output interfaces of the algorithm. The key data of the real-time navigation of the remote unmanned ship is used as the input of the algorithm and sent to the test algorithm in real time through the UDP data input port. The output of the algorithm is output to the test system in real time through the UDP control command output port. The back-end of the test system packages the algorithm control command data and sends it to the remote test unmanned ship in real time for execution through the 5G communication module. S4. Customized test scenario: Set the scenario. The system returns the parameters of the set initial scenario to the system backend for storage. Start the algorithm program to be tested and click Start Simulation. The backend of the test platform sends the virtual parameters in the virtual test scenario and the real-time navigation data of the remote ship to the algorithm program through the data interface. At the same time, the throttle and rudder angle control instructions output by the algorithm are sent by the backend of the test platform to the remote test ship for execution in real time through the 5G communication module.

10. A method for using an unmanned ship remote test system based on 5G communication, characterized in that: The following steps are involved: S1. The test personnel select the corresponding control mode in the user interaction module of the local test platform according to the test task; S2. After selecting the manual mode, the test personnel operate the local console and send the collected control instructions to the remote test unmanned boat in real time through the 5G communication module to control the motor and rudder angle of the unmanned boat for maneuvering. S3. After selecting the automatic mode, the test personnel will connect the unmanned ship intelligent navigation algorithm to be tested to the remote test platform through the algorithm test module interface. The algorithm will dynamically calculate the input real-time unmanned ship navigation key parameters and mission parameters, and output the unmanned ship navigation instructions, which will be sent to the remote unmanned ship for execution through the 5G communication module. S4. The test personnel complete the setting of the required test environment through the system user interaction module, which is called by the algorithm test module and sent to the ship in real time; S5. After the test begins, the real-time navigation data collected by the remote test unmanned ship through the shipboard sensors is transmitted back to the local test platform system in real time through the 5G communication module for visualization. At the same time, the key navigation data of the unmanned ship transmitted back is used as the input of the algorithm evaluation module. S6. The ship-borne camera carried by the remote unmanned ship transmits the collected real-time images to the local end in real time through the video transmission module and the 5G communication module.

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