Method, device and system for monitoring state of unmanned sailboat

Abstract

The invention discloses a method, a device and a system for monitoring the state of an unmanned sailboat. The state of the unmanned sailboat can be monitored. According to the first aspect of the invention, the unmanned sailboat state monitoring method comprises the following steps: based on a function system of an unmanned sailboat, dividing a plurality of monitoring objects on the unmanned sailboat into different subsystems so as to carry out state classification monitoring; the subsystems comprise an environment sensing subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; acquiring monitoring parameters fed back by different subsystems and analyzing the monitoring parameters; and when the numerical value of the monitoring parameter exceeds the preset limit value range, generating alarm information based on a preset fault list and the monitoring parameter exceeding the preset limit value range.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned sailboats, and in particular to a method, device and system for monitoring the status of an unmanned sailboat. Background Art

[0002] Unmanned sailboats are a new type of multi-purpose mobile observation platform driven by natural clean energy (such as wind energy, solar energy, etc.). Unmanned sailboats can be competent for long-term operations, have the advantages of real-time data transmission and low operating costs, and are often used as mobile platforms equipped with monitoring equipment to perform monitoring tasks in lakes, oceans and other waters. When unmanned sailboats perform tasks in lakes, oceans and other waters, they usually monitor the state of the environment around the unmanned sailboat to ensure the smooth execution of the unmanned sailboat's mission. However, there is currently a lack of monitoring of the state of the unmanned sailboat itself, and it is impossible to control the state of the unmanned sailboat during the mission. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device and system for monitoring the state of an unmanned sailboat, which can monitor the state of the unmanned sailboat itself.

[0004] According to the first aspect of the present application, a method for monitoring the status of an unmanned sailboat is provided, comprising: based on the functional system of the unmanned sailboat, multiple monitoring objects on the unmanned sailboat are divided into different subsystems to perform status classification monitoring; the subsystems include: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; monitoring parameters fed back by different subsystems are obtained and the monitoring parameters are analyzed; when there is a value of a monitoring parameter that exceeds a preset limit range, an alarm message is generated based on a preset fault list and the monitoring parameter that exceeds the preset limit range.

[0005] As a possible implementation method, based on the functional system of the unmanned sailboat, multiple monitoring objects on the unmanned sailboat are divided into different subsystems, including: dividing the environmental sensors, cameras and weather stations of the unmanned sailboat into the environmental perception subsystem; dividing the battery of the unmanned sailboat into the power subsystem; dividing the pulse width modulation signal generator, serial port server and basic navigation controller of the unmanned sailboat into the control subsystem; dividing the mainsail angle sensor of the unmanned sailboat into the mechanical structure subsystem; and dividing the combined inertial navigation system of the unmanned sailboat into the navigation subsystem.

[0006] As a possible implementation method, monitoring parameters fed back by different subsystems are obtained and analyzed, including: based on the monitoring parameters fed back by the environmental perception subsystem, obtaining the cabin temperature, humidity and water leakage conditions collected by the environmental sensor; based on the monitoring parameters fed back by the environmental perception subsystem, obtaining the deck surface status of the unmanned sailboat collected by the camera; based on the monitoring parameters fed back by the environmental perception subsystem, obtaining the wind speed and wind direction of the unmanned sailboat collected by the meteorological station.

[0007] As a possible implementation method, monitoring parameters fed back by different subsystems are obtained and analyzed, including: obtaining battery voltage, current, power and temperature information based on monitoring parameters fed back by the battery in the power subsystem.

[0008] As a possible implementation method, monitoring parameters fed back by different subsystems are obtained and analyzed, including: based on the monitoring parameters fed back by the control subsystem, obtaining the address information of the pulse width modulation signal generator uploaded by itself; based on the monitoring parameters fed back by the control subsystem, obtaining the serial port information uploaded by the serial port server.

[0009] As a possible implementation method, monitoring parameters fed back by different subsystems are obtained and the monitoring parameters are analyzed, including: based on the monitoring parameters fed back by the mechanical structure subsystem, the rotation angle of the mainsail collected by the mainsail angle sensor is obtained; based on the monitoring parameters fed back by the navigation subsystem, the position information, heading information, heave information, roll information and pitch information of the unmanned sailboat collected by the combined inertial navigation system are obtained.

[0010] As a possible implementation method, the state monitoring method of an unmanned sailboat also includes: based on the alarm information, reading the alarm code, alarm content, fault danger level and the subsystem to which the fault belongs; and obtaining fault handling measures according to the alarm code and a preset fault troubleshooting list.

[0011] According to a second aspect of the present application, a state monitoring device for an unmanned sailboat is provided, comprising: a division module, for dividing multiple monitoring objects on the unmanned sailboat into different subsystems based on the functional system of the unmanned sailboat, so as to perform state classification monitoring; the subsystems include: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; an acquisition module, for acquiring monitoring parameters fed back by different subsystems and analyzing the monitoring parameters; a generation module, for generating an alarm message based on a preset fault list and the monitoring parameters exceeding the preset limit range when there is a monitoring parameter whose value exceeds a preset limit range.

[0012] According to a third aspect of the present application, a state monitoring system for an unmanned sailboat is provided, comprising: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; the state monitoring device for an unmanned sailboat as described in the second aspect above, the state monitoring device for an unmanned sailboat is communicatively connected with the environmental perception subsystem, the power supply subsystem, the control subsystem, the mechanical structure subsystem and the navigation subsystem.

[0013] As a possible implementation of the third aspect, the environmental perception subsystem includes environmental sensors, cameras and weather stations; the power supply subsystem includes batteries; the control subsystem includes a pulse width modulation signal generator, a serial port server and a basic navigation controller; the mechanical structure subsystem includes a mainsail angle sensor; and the navigation subsystem includes a combined inertial navigation system.

[0014] The state monitoring method, device and system of the unmanned sailboat provided in the present application divide the multiple monitoring objects on the unmanned sailboat that can represent its own state into different subsystems, and the different subsystems perform classified monitoring. When any classification fails, it can timely warn and quickly locate the failed subsystem, so that countermeasures can be efficiently found, thereby improving the safety and reliability of the unmanned sailboat's long-term continuous operation at sea, and solving the problem of the unmanned sailboat's lack of monitoring of its own state. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a structural schematic diagram of a state monitoring system of an unmanned sailboat provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a flowchart of a method for monitoring the state of an unmanned sailboat provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a structural schematic diagram of a state monitoring device of an unmanned sailboat provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0020] Explanation of the accompanying drawings: 1. Environmental perception subsystem; 11. Environmental sensor; 12. Camera; 13. Weather station; 2. Power supply subsystem; 21. Battery; 3. Control subsystem; 31. PWM wave signal generator; 32. Serial port server; 33. Basic navigation controller; 4. Mechanical structure subsystem; 41. Mainsail angle sensor; 5. Navigation subsystem; 51. Combined inertial navigation; 6. Status monitoring device of unmanned sailboat; 61. Division module; 62. Acquisition module; 63. Generation module; 70. Electronic equipment; 71. Processor; 72. Memory; 73. Input device; 74. Output device. DETAILED DESCRIPTION

[0021] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0022] Application Overview

[0023] An unmanned sailboat is a new type of multi-purpose mobile observation platform driven by natural clean energy (such as wind energy, solar energy, etc.). It integrates a variety of advanced technologies such as autonomous navigation, sensor technology, and data processing technology, and has advanced characteristics that integrate green environmental protection, intelligence, and new energy. Unmanned sailboats can be competent for long-term operations, have the advantages of real-time data transmission and low operating costs, and are often used as mobile platforms equipped with monitoring equipment to perform monitoring tasks in lakes, oceans, and other waters. Since unmanned sailboats need to perform tasks in wide waters for a long time, how to control and maintain them during the task becomes a problem. This application proposes a state monitoring method, device, and system for unmanned sailboats, which can monitor the state of unmanned sailboats in many aspects, promptly discover and solve problems that occur during the operation of unmanned sailboats, ensure the stability and safety of unmanned sailboats, and solve the problem that unmanned sailboats cannot take measures within an effective time due to the lack of monitoring of their own state and fault alarms, resulting in serious consequences for the entire operation task.

[0024] Exemplary Systems

[0025] In response to the lack of a monitoring system for the status of the unmanned sailboat mentioned above, an embodiment of the present application provides a status monitoring system for an unmanned sailboat, including: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; the status monitoring device of the unmanned sailboat provided in the present application, the status monitoring device of the unmanned sailboat is communicatively connected with the environmental perception subsystem, the power supply subsystem, the control subsystem, the mechanical structure subsystem and the navigation subsystem.

[0026] The classification of the state monitoring system into environmental perception subsystem, power subsystem, control subsystem, mechanical structure subsystem and navigation subsystem is not based on the traditional classification method of ships (such as by purpose, material, navigation area, etc.), but on the functional system or technical composition of the ship. Environmental perception mainly involves the ship's ability to perceive the surrounding environment. The environmental perception subsystem includes but is not limited to sensing water quality, water flow, weather, obstacles and other information through sensors and other equipment. This is crucial for the ship's autonomous navigation, collision avoidance, and safe navigation. Environmental perception technology is similar to human senses such as "vision" and "hearing", providing ships with necessary navigation and obstacle avoidance information. The power supply is the power source of the ship, including various engines, batteries, etc. Different ships may use different power devices, such as steam engines, internal combustion engines, electric motors, etc. The stability and efficiency of the power supply directly affect the ship's navigation performance and endurance. Therefore, the power supply subsystem is used to monitor the power supply part of the unmanned sailboat. The control subsystem part involves the ship's manipulation and control system, including steering gear, propellers, automation equipment, etc. These devices enable the ship to navigate according to the predetermined route and speed, and also ensure the safe operation of the ship in an emergency. The mechanical structure subsystem is mainly used to monitor the ship's hull, deck, sail and other parts that constitute the ship's entity. These parts need to withstand the buoyancy of the ship in the water, the impact of wind and waves, and the weight of cargo, so they are required to have high strength and stability. The navigation subsystem provides accurate navigation information for the ship, including position, speed, heading, etc., to ensure that the ship can reach the intended destination accurately and quickly, and avoid accidents such as deviation from the route or collision.

[0027] Figure 1 is a schematic diagram of a state monitoring system for an unmanned sailboat provided by an exemplary embodiment of the present application. Figure 1 The specific division of the state monitoring system of unmanned sailboat is introduced in more detail.

[0028] In some embodiments, reference Figure 1 , the environmental sensor 11, camera 12 and weather station 13 of the unmanned sailboat can be divided into the environmental perception subsystem 1. The environmental sensor 11 can be a radar, sonar, etc. Through various environmental sensors 11 and equipment, the environmental perception subsystem 1 is used to perceive the water environment, meteorological conditions, obstacle locations and other information around the ship in real time. For example, the environmental sensor 11 has the ability to collect cabin temperature, humidity and water leakage detection, the camera 12 monitors the deck status of the unmanned sailboat, and the weather station 13 collects information such as the wind speed and wind direction of the sailboat.

[0029] In some embodiments, reference Figure 1, the battery 21 can be divided into the power subsystem 2, which provides power support for various equipment and systems of the ship, including the propulsion system, control system, lighting system, communication system, etc. For example, the battery 21 is the power supply unit for the whole ship, and the voltage, current, power and temperature information of the battery 21 can be reported.

[0030] In some embodiments, reference Figure 1 , the PWM wave signal generator 31, the serial port server 32 and the basic navigation controller 33 can be divided into the control subsystem 3. The control subsystem 3 is responsible for the manipulation and control of the ship, including the adjustment and maintenance of the navigation direction, speed, attitude, etc., to ensure that the ship can sail safely and stably according to the predetermined route speed, etc. The control subsystem 3 may also include an automatic driving system, a manual operating device, a steering gear, a propeller control system, etc. For example, the PWM wave signal generator 31 (pulse width modulation signal generator) is used to control the rotation of the steering gear and transmit its own address to the basic navigation controller 33. The serial port server 32 converts the serial port protocol of the mission payload into the TCP / IP protocol, and converts the serial port information of the mission payload device into the TCP / IP protocol information and transmits it to the basic navigation controller 33. The basic navigation controller 33 collects the monitoring parameters sent by the monitoring object and reports them to the host computer control software, and analyzes the monitoring parameters at the same time to choose whether to alarm.

[0031] In some embodiments, reference Figure 1 , the mainsail angle sensor 41 can be divided into the mechanical structure subsystem 4. In addition, the mechanical structure subsystem 4 may also include a hull, a keel, a rudder and a servo motor, a sail system and other sensors. These components work together to enable the unmanned sailboat to achieve autonomous navigation and obstacle avoidance in a complex water environment. For example, the mainsail angle sensor 41 collects the rotation angle of the mainsail and transmits the voltage analog quantity to the basic navigation controller 33.

[0032] In some embodiments, reference Figure 1 , the combined inertial navigation system 51 (combined inertial navigation system) can be divided into the navigation subsystem 5, and the navigation subsystem 5 is used to provide accurate navigation information for the ship, including position, speed, heading, etc. For example, the combined inertial navigation system 51 collects information such as the position, heading, heave, roll, pitch, etc. of the unmanned sailboat, and transmits the positioning, orientation and other information to the basic navigation controller 33 to ensure that the ship can accurately and quickly reach the predetermined destination and avoid accidents such as deviation from the route or collision.

[0033] It is understandable that the above subsystem divisions are just some examples, and subsystems can be increased, decreased or modified based on actual needs. In addition, each device divided in a subsystem is also an example, and devices can be increased, decreased or modified in each subsystem in addition to the above examples.

[0034] In some implementations, reference Figure 1 Different communication connections can be established based on the transmission mode of each device. For example, the environmental sensor 11 transmits the temperature, humidity, and water leakage detection signals of the equipment compartment to the basic navigation controller 33 through CAN bus communication. The camera 12 transmits the deck image of the sailboat itself to the basic navigation controller 33 through LAN. The weather station 13 transmits information such as wind speed and wind direction to the basic navigation controller 33 through CAN bus communication. The battery 21 transmits voltage, current, power, and temperature to the basic navigation controller 33 through RS485 communication. The PWM wave signal generator 31 transmits its own address to the basic navigation controller 33 through RS485 communication. The serial port server 32 converts the serial port information of the mission payload device into TCP / IP protocol information through LAN and transmits it to the basic navigation controller 33. The mainsail angle sensor 41 transmits the voltage analog quantity to the basic navigation controller 33 through AD (Analog to Digital, analog-digital conversion). The combined inertial navigation 51 transmits positioning, orientation, and other information to the basic navigation controller 33 through the RS232 serial port.

[0035] It can be understood that the above transmission method is based on the given device example, and when the device changes, its transmission method will also change according to the change of the device.

[0036] Exemplary Methods

[0037] Regarding the lack of monitoring methods for the status of unmanned sailboats mentioned above, see Figure 2 The embodiment of the present application is based on the functional system of the unmanned sailboat, and divides multiple monitoring objects on the unmanned sailboat into different subsystems to perform state classification monitoring (see Figure 2 S100 in the example), for example, is divided into the state monitoring system of the unmanned sailboat in the above example, and the subsystems include: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; obtaining monitoring parameters fed back by different subsystems and analyzing the monitoring parameters (see Figure 2 When the value of a monitoring parameter exceeds the preset limit range, an alarm message is generated based on the preset fault list and the monitoring parameter exceeding the preset limit range (see Figure 2 It not only monitors the status of the unmanned sailboat comprehensively, but also sends out targeted alarm information to handle faults in a timely manner, thus improving the safety and reliability of the unmanned sailboat's long-term continuous operation at sea.

[0038] Combined with the following Figure 2 , a more detailed introduction is given to the state monitoring method of the unmanned sailboat provided in the embodiment of the present application.

[0039] In S100, based on the functional system of the unmanned sailboat, multiple monitoring objects on the unmanned sailboat are divided into different subsystems for status classification monitoring. Here, the classification of subsystems based on the functional system of the unmanned sailboat can be carried out according to actual needs. For example, according to the functional system or technical composition of the unmanned sailboat, multiple monitoring objects are divided into environmental perception subsystem, power subsystem, control subsystem, mechanical structure subsystem and navigation subsystem, and different functions of the unmanned sailboat are classified and monitored to facilitate timely detection, positioning and resolution of faults. Each monitoring object sends the monitoring parameters to the controller through LAN, CAN, RS232, RS485 and other communication methods, and the controller sends the monitoring parameters to the unmanned sailboat control software for display through Beidou, WIFI, 4G, 900M radio and other methods.

[0040] As a possible implementation of S100, the environmental sensors, cameras and weather stations of the unmanned sailboat can be divided into the environmental perception subsystem, the battery of the unmanned sailboat can be divided into the power subsystem, the pulse width modulation signal generator, serial port server and basic navigation controller of the unmanned sailboat can be divided into the control subsystem, the mainsail angle sensor of the unmanned sailboat can be divided into the mechanical structure subsystem, and the combined inertial navigation system of the unmanned sailboat can be divided into the navigation subsystem.

[0041] Environmental perception mainly involves the ship's ability to perceive the surrounding environment. The environmental perception subsystem includes but is not limited to sensing water quality, water flow, weather, obstacles and other information through sensors and other equipment. This is crucial for the ship's autonomous navigation, collision avoidance, safe navigation and other aspects. Environmental perception technology is similar to human senses such as "vision" and "hearing", providing ships with necessary navigation and obstacle avoidance information. The power supply is the power source of the ship, including various engines, batteries, etc. Different ships may use different power devices, such as steam engines, internal combustion engines, electric motors, etc. The stability and efficiency of the power supply directly affect the ship's navigation performance and endurance. Therefore, the power supply subsystem is used to monitor the power supply part of the unmanned sailboat. The control subsystem part involves the ship's manipulation and control system, including steering gear, propellers, automation equipment, etc. These devices enable the ship to sail according to the predetermined route, speed, etc., and also ensure the safe operation of the ship in an emergency. The mechanical structure subsystem is mainly used to monitor the ship's hull, deck, sailboat and other parts that constitute the ship's entity. These parts need to withstand the buoyancy of the ship in the water, the impact of wind and waves, and the weight of cargo, etc., so they are required to have high strength and stability. The navigation subsystem provides ships with accurate navigation information, including position, speed, heading, etc., to ensure that the ship can reach the intended destination accurately and quickly, and avoid accidents such as deviation from the route or collision.

[0042] Continue to refer Figure 2In S200, the monitoring parameters fed back by different subsystems are obtained and analyzed. For the monitoring parameters uploaded by the subsystem, their attribution can be traced, so the fault type can be quickly located and the alarm information can be adjusted according to its importance. In addition, by analyzing the monitoring parameters, the specific content represented can be known, so that the multi-dimensional status information of the unmanned sailboat can be obtained.

[0043] As a possible implementation method of S200, based on the monitoring parameters fed back by the environmental perception subsystem, the cabin temperature, humidity and water leakage conditions collected by the environmental sensors are obtained; based on the monitoring parameters fed back by the environmental perception subsystem, the deck surface status of the unmanned sailboat collected by the camera is obtained; based on the monitoring parameters fed back by the environmental perception subsystem, the wind speed and wind direction of the unmanned sailboat collected by the meteorological station are obtained.

[0044] For example, the environmental sensor belongs to the environmental perception subsystem, and its monitoring parameters may include the temperature of the equipment compartment, the humidity of the equipment compartment, whether it is flooded, and whether there is a data packet. By analyzing the monitoring parameters, the status of the unmanned sailboat can be directly obtained. The camera belongs to the environmental perception subsystem, and its monitoring parameters may include ping delay. The weather station belongs to the environmental perception subsystem, and its monitoring parameters may include wind direction and speed, and whether there is a data packet. The monitoring parameters in the environmental perception subsystem can not only reflect the real-time status of the unmanned sailboat, but also help the controller confirm whether the equipment in the subsystem is operating normally, so as to improve the safety and stability of the unmanned sailboat mission execution.

[0045] As a possible implementation of S200, the voltage, current, power and temperature information of the battery are obtained based on the monitoring parameters fed back by the battery in the power subsystem.

[0046] For example, the battery belongs to the power subsystem. The monitoring parameters of the battery include voltage, current, power and temperature information. The power subsystem is the power heart that supports the unmanned sailboat. Therefore, the monitoring parameters of the power subsystem directly reflect the navigation performance and endurance of the ship, and are important reference factors for the unmanned sailboat to perform its mission.

[0047] As a possible implementation of S200, based on the monitoring parameters fed back by the control subsystem, the address information of the pulse width modulation signal generator uploaded by itself is obtained; based on the monitoring parameters fed back by the control subsystem, the serial port information uploaded by the serial port server is obtained.

[0048] The pulse width modulation signal generator (PWM wave signal generator), basic navigation controller and serial port server belong to the control subsystem. The monitoring parameters fed back by the pulse width modulation signal generator (PWM wave signal generator), basic navigation controller and serial port server can also include whether there is a data packet. The control subsystem involves the ship's manipulation and control system and is the brain of the unmanned sailboat. The monitoring parameters fed back by the control subsystem determine the navigation mode of the unmanned sailboat. Therefore, it is necessary to ensure that the control subsystem has stable and secure transmission capabilities.

[0049] As a possible implementation method of S200, based on the monitoring parameters fed back by the mechanical structure subsystem, the rotation angle of the mainsail collected by the mainsail angle sensor is obtained; based on the monitoring parameters fed back by the navigation subsystem, the position information, heading information, heave information, roll information and pitch information of the unmanned sailboat collected by the combined inertial navigation system are obtained.

[0050] The monitoring parameters fed back by the mainsail angle sensor include the rotation angle of the mainsail. The mainsail controls the direction of travel of the unmanned sailboat. Determining the rotation angle of the mainsail helps the unmanned sailboat to achieve autonomous navigation and obstacle avoidance functions. The combined inertial navigation system collects information such as the position, heading, heave, roll, pitch, etc. of the unmanned sailboat, and transmits the positioning, orientation and other information to the basic navigation controller to ensure that the ship can reach the predetermined destination accurately and quickly, and avoid accidents such as deviation from the route or collision.

[0051] Continue to refer Figure 2 In S300, when the value of a monitoring parameter exceeds the preset limit range, an alarm message is generated based on the preset fault list and the monitoring parameter that exceeds the preset limit range. If the monitoring parameter is not within the set limit range, a fault alarm will be triggered, for example, the alarm code, alarm content, fault danger level, and the subsystem to which the fault belongs will be displayed on the control software, so that the staff responsible for operating the unmanned sailboat can find the fault in time and take corresponding measures in time by consulting the troubleshooting manual or contacting technical support.

[0052] In some implementations, the alarm code, alarm content, fault danger level, and subsystem to which the fault belongs can be directly read based on the alarm information, and the fault handling measures can be obtained according to the alarm code and the preset fault troubleshooting list. In other words, in addition to directly displaying the alarm code, alarm content, fault danger level, and subsystem to which the fault belongs, the fault handling measures can also be directly found through the preset fault troubleshooting list, and the fault handling measures can be directly displayed to the staff, reducing the steps of consulting the fault troubleshooting manual, further improving the efficiency of fault handling, reducing the time of manual search, and reducing the error rate.

[0053] In other implementations, the content of the preset troubleshooting list may be monitoring object - system - monitoring parameter - alarm content - fault risk level - fault handling measures:

[0054] For example, the system to which the environmental sensor belongs is the environmental perception subsystem. When the environmental sensor monitoring parameter is the equipment compartment temperature, the alarm content includes the equipment compartment high temperature alarm and the equipment compartment low temperature alarm. The fault risk level of the equipment compartment temperature is slight. When the environmental sensor monitoring parameter is the equipment compartment humidity, no alarm content is generated, and only the equipment compartment humidity is fed back. When the environmental sensor monitoring parameter is whether it is flooded, the alarm content is flooding alarm, the fault risk level is severe, and the fault handling measures are to collect the ship in time and check the flooding in the cabin. When the environmental sensor monitoring parameter is whether there is a data packet, the alarm content is that the multi-function environmental sensor is not online, the fault risk level is general, and the fault handling measures are to check whether the multi-function environmental sensor indicator light is flashing and whether the aviation plug is locked after the operation is completed, and contact technical support. The system to which the camera belongs is the environmental perception subsystem. The camera's monitoring parameter is ping delay. The alarm content is that the camera is not online, the fault risk level is general, and the fault handling measures are to check whether the aviation plug is locked and contact technical support. The monitoring parameters of the weather station include wind direction and speed and whether there is a data packet. The wind direction and speed are only used as monitoring parameter feedback and no alarm content is generated. If there is no data packet, the alarm content is that the weather station is not online and the fault risk level is serious. The fault handling measures are to collect the ship when necessary, check whether the navigation plug is locked, and contact technical support.

[0055] For example, the system to which the basic navigation controller belongs is the control subsystem. The monitoring parameter is whether there is a heartbeat. When there is no heartbeat, the alarm content is that the basic navigation controller is not online, the fault risk level is serious, and the fault handling measures are to immediately recover the ship, check the battery power, check whether the navigation plug is locked, and contact technical support. The system to which the PWM wave signal generator belongs is the control subsystem. The monitoring parameter is whether there is a data packet. When there is no data packet, the alarm content is that the PWM wave signal generator is not online, the fault risk level is serious, and the fault handling measures are to immediately recover the ship, check whether the navigation plug is locked, and contact technical support. The system to which the serial port server belongs is the control subsystem. The monitoring parameter is whether there is a data packet. When there is no data packet, the alarm content is that the serial port server is not online, the fault risk level is serious, and the fault handling measures are to recover the ship if necessary, check whether the navigation plug is locked, and contact technical support.

[0056] For example, the system to which the battery belongs is the power subsystem. When the monitoring parameter is voltage, the alarm content is overvoltage and undervoltage, the fault risk level is general, and no fault handling measures are taken; when the monitoring parameter is current, the alarm content is overcurrent, the fault risk level is serious, and the fault handling measures are to recall the ship when necessary, check whether the system has short circuit or overload, and contact technical support; when the monitoring parameter is power, the alarm content is low power alarm, the fault risk level is general, and no fault handling measures are taken; when the monitoring parameter is temperature, the alarm content is battery low temperature alarm and battery high temperature alarm, the fault risk level is general, and no fault handling measures are taken.

[0057] For example, the system to which the mainsail angle sensor belongs is the mechanical structure subsystem. The monitoring parameters are the mainsail angle. The alarm contents are mainsail jamming and angle sensor failure. When the mainsail is jammed, the fault danger level is severe. The fault handling measures are to retract the ship if necessary, check whether the mainsail is stuck, and contact technical support. When the angle sensor fails, the fault danger level is severe. The fault handling measures are to retract the ship if necessary, and check whether the angle sensor is faulty.

[0058] For example, the system to which the combined inertial navigation system belongs is the navigation subsystem, and the monitoring parameters are positioning, orientation, heave, roll, pitch, etc. The alarm content is that the combined inertial navigation (combined inertial navigation system) is not online, has no positioning and no orientation. When the combined inertial navigation is not online, the fault danger level is serious, and the fault handling measure is to switch to the backup inertial navigation. When there is no positioning, the fault danger level is serious, and the fault handling measure is to switch to the backup inertial navigation. When there is no orientation, the fault danger level is serious, and the fault handling measure is to switch to the backup inertial navigation.

[0059] Exemplary Devices

[0060] Figure 3 FIG. 1 is a schematic diagram of a state monitoring device for an unmanned sailboat provided by an exemplary embodiment of the present application. Figure 3 As shown, the state monitoring device 6 of the unmanned sailboat includes: a division module 61, which is used to divide multiple monitoring objects on the unmanned sailboat into different subsystems based on the functional system of the unmanned sailboat to perform state classification monitoring, and the subsystems include: an environmental perception subsystem, a power supply subsystem, a control subsystem, a mechanical structure subsystem and a navigation subsystem; an acquisition module 62, which is used to obtain monitoring parameters fed back by different subsystems and analyze the monitoring parameters; a generation module 63, which is used to generate alarm information based on a preset fault list and the monitoring parameters exceeding the preset limit range when there is a value of a monitoring parameter exceeding the preset limit range.

[0061] The state monitoring device of the unmanned sailboat provided in the present application divides multiple monitoring objects on the unmanned sailboat that can represent its own state into different subsystems, and the different subsystems perform classified monitoring. When any classification fails, it can promptly warn and quickly locate the failed subsystem, so that countermeasures can be efficiently found, thereby improving the safety and reliability of the unmanned sailboat's long-term continuous operation at sea, and solving the problem of the unmanned sailboat's lack of monitoring of its own state.

[0062] As a possible implementation method, the division module 61 can be configured as: dividing the environmental sensors, cameras and weather stations of the unmanned sailboat into the environmental perception subsystem; dividing the battery of the unmanned sailboat into the power subsystem; dividing the pulse width modulation signal generator, serial port server and basic navigation controller of the unmanned sailboat into the control subsystem; dividing the mainsail angle sensor of the unmanned sailboat into the mechanical structure subsystem; and dividing the combined inertial navigation system of the unmanned sailboat into the navigation subsystem.

[0063] As a possible implementation method, the acquisition module 62 can be configured as follows: based on the monitoring parameters fed back by the environmental perception subsystem, obtain the cabin temperature, humidity and water leakage conditions collected by the environmental sensors; based on the monitoring parameters fed back by the environmental perception subsystem, obtain the deck surface status of the unmanned sailboat collected by the camera; based on the monitoring parameters fed back by the environmental perception subsystem, obtain the wind speed and wind direction of the unmanned sailboat collected by the meteorological station.

[0064] As a possible implementation, the acquisition module 62 may be configured to obtain the voltage, current, power and temperature information of the battery based on the monitoring parameters fed back by the battery in the power subsystem.

[0065] As a possible implementation, the acquisition module 62 can be configured to: obtain the address information uploaded by the pulse width modulation signal generator based on the monitoring parameters fed back by the control subsystem; obtain the serial port information uploaded by the serial port server based on the monitoring parameters fed back by the control subsystem.

[0066] As a possible implementation method, the acquisition module 62 can be configured as: based on the monitoring parameters fed back by the mechanical structure subsystem, obtaining the rotation angle of the mainsail collected by the mainsail angle sensor; based on the monitoring parameters fed back by the navigation subsystem, obtaining the position information, heading information, heave information, roll information and pitch information of the unmanned sailboat collected by the combined inertial navigation system.

[0067] As a possible implementation method, the state monitoring device 6 of the unmanned sailboat may also include: based on the alarm information, reading the alarm code, alarm content, fault danger level and the subsystem to which the fault belongs; according to the alarm code and the preset fault troubleshooting list, obtaining the fault handling measures.

[0068] Exemplary Electronic Devices

[0069] An electronic device includes: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute the state monitoring method of an unmanned sailboat described in the embodiment provided in the present application.

[0070] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0071] Figure 4 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0072] like Figure 4 As shown, the electronic device 70 includes one or more processors 71 and a memory 72 .

[0073] The processor 71 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 70 to perform desired functions.

[0074] The memory 72 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 71 may run the program instructions to implement the state monitoring method of the unmanned sailboat of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0075] In one example, the electronic device 70 may further include: an input device 73 and an output device 74, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0076] When the electronic device is a stand-alone device, the input device 73 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0077] In addition, the input device 73 may also include, for example, a keyboard, a mouse, and the like.

[0078] The output device 74 can output various information to the outside, including the determined distance information, direction information, etc. The output device 74 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0079] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 70 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 70 may also include any other appropriate components.

[0080] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0081] A computer-readable storage medium stores a computer program, and the computer program is used to execute the state monitoring method of an unmanned sailboat described in the embodiment provided in the present application.

[0082] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0083] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for monitoring the status of an unmanned sailboat, characterized in that: include: Based on the functional system of the unmanned sailboat, multiple monitoring objects on the unmanned sailboat are divided into different subsystems for status classification monitoring; the subsystems include: environmental perception subsystem, power supply subsystem, control subsystem, mechanical structure subsystem and navigation subsystem; Obtaining monitoring parameters fed back by different subsystems and analyzing the monitoring parameters; When there is a value of a monitoring parameter that exceeds a preset limit range, an alarm message is generated based on a preset fault list and the monitoring parameter that exceeds the preset limit range.

2. The state monitoring method of an unmanned sailboat according to claim 1, characterized in that: Based on the functional system of the unmanned sailboat, multiple monitoring objects on the unmanned sailboat are divided into different subsystems including: Assigning environmental sensors, cameras and weather stations of the unmanned sailboat to the environmental perception subsystem; Dividing the batteries of the unmanned sailboat into the power subsystem; Divide the pulse width modulation signal generator, serial port server and basic navigation controller of the unmanned sailboat into the control subsystem; Assigning the mainsail angle sensor of the unmanned sailboat to the mechanical structure subsystem; The combined inertial navigation system of the unmanned sailboat is divided into the navigation subsystem.

3. The state monitoring method of an unmanned sailboat according to claim 2, characterized in that: Obtain monitoring parameters fed back by different subsystems and analyze the monitoring parameters, including: Based on the monitoring parameters fed back by the environmental sensing subsystem, the temperature, humidity and water leakage of the cabin collected by the environmental sensor are obtained; Based on the monitoring parameters fed back by the environmental perception subsystem, the deck surface state of the unmanned sailboat collected by the camera is obtained; Based on the monitoring parameters fed back by the environmental perception subsystem, the wind speed and wind direction of the unmanned sailboat collected by the weather station are obtained.

4. The state monitoring method of an unmanned sailboat according to claim 2, characterized in that: Obtain monitoring parameters fed back by different subsystems and analyze the monitoring parameters, including: Based on the monitoring parameters fed back by the battery in the power subsystem, the voltage, current, power and temperature information of the battery are obtained.

5. The state monitoring method of an unmanned sailboat according to claim 2, characterized in that: Obtain monitoring parameters fed back by different subsystems and analyze the monitoring parameters, including: Based on the monitoring parameters fed back by the control subsystem, the address information of the pulse width modulation signal generator uploaded by the pulse width modulation signal generator is obtained; Based on the monitoring parameters fed back by the control subsystem, the serial port information uploaded by the serial port server is obtained.

6. The state monitoring method of an unmanned sailboat according to claim 2, characterized in that: Obtain monitoring parameters fed back by different subsystems and analyze the monitoring parameters, including: Based on the monitoring parameters fed back by the mechanical structure subsystem, the rotation angle of the mainsail collected by the mainsail angle sensor is obtained; Based on the monitoring parameters fed back by the navigation subsystem, the position information, heading information, heave information, roll information and pitch information of the unmanned sailboat collected by the combined inertial navigation system are obtained.

7. The state monitoring method of an unmanned sailboat according to claim 1, characterized in that: The state monitoring method of the unmanned sailboat also includes: Based on the alarm information, read the alarm code, alarm content, fault danger level and the subsystem to which the fault belongs; Obtain fault handling measures based on the alarm code and the preset fault troubleshooting list.

8. A state monitoring device for an unmanned sailboat, characterized in that: include: A division module is used to divide multiple monitoring objects on the unmanned sailboat into different subsystems based on the functional system of the unmanned sailboat, so as to carry out state classification monitoring; the subsystems include: environmental perception subsystem, power supply subsystem, control subsystem, mechanical structure subsystem and navigation subsystem; An acquisition module, used to acquire monitoring parameters fed back by different subsystems and analyze the monitoring parameters; The generating module is used to generate an alarm message based on a preset fault list and the monitoring parameter exceeding the preset limit range when the value of the monitoring parameter exceeds the preset limit range.

9. A state monitoring system for an unmanned sailboat, characterized in that: include: Environmental perception subsystem, power subsystem, control subsystem, mechanical structure subsystem and navigation subsystem; As described in claim 8 above, the state monitoring device of the unmanned sailboat is communicatively connected with the environment perception subsystem, the power supply subsystem, the control subsystem, the mechanical structure subsystem and the navigation subsystem.

10. The state monitoring system of an unmanned sailboat according to claim 9, characterized in that: The environmental perception subsystem includes environmental sensors, cameras and weather stations; The power subsystem includes a battery; The control subsystem includes a pulse width modulation signal generator, a serial port server and a basic navigation controller; The mechanical structure subsystem includes a mainsail angle sensor; The navigation subsystem includes a combined inertial navigation system.

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