Rapid unmanned transformation method and system for ship

Abstract

The invention relates to the technical field of unmanned systems, in particular to a rapid unmanned transformation method and system for a ship. The ship rapid unmanned transformation system comprises an autonomous control component, and a direction control component, an accelerator control component, an ignition control component, a state detection component, a communication networking component, a remote control component and a log storage component which are connected with the autonomous control component. A direction control component, an accelerator control component, an ignition control component and a state detection component are installed at the position of an execution mechanism of a ship, then a communication networking component and an autonomous control component are installed in a cockpit, and the autonomous control component obtains the execution range of the current execution mechanism through an algorithm at first; and then obtaining a dynamic model of the current unmanned ship by using a model identification algorithm. On the basis that the structure of the ship body is not changed, unmanned transformation of a common ship is rapidly achieved, and the ship has great application potential in the aspect of transformation of fishing boats, transport ships and patrol ships.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned systems, and in particular to a method and system for rapid unmanned transformation of a ship. Background Art

[0002] With the development of unmanned technology, the unmanned operation of ships has also made significant progress. There are currently a large number of fishing boats, patrol boats, and transport ships. However, these ships do not have linear control functions, but are controlled by steering wheels and throttle push rods. There is great resistance to realizing unmanned transformation. In response to this problem, we proposed a solution for rapid modification of ships. By designing a suitable mechanical structure, the rapid unmanned transformation of traditional ships can be achieved without changing the internal system of the ship, injecting more possibilities into the development of traditional ships. In the actual transformation, it is only necessary to connect the servo motor and the joint motor to the corresponding actuator through fixings, and the rest can be completed by the unmanned system, which greatly simplifies the process of unmanned transformation. Therefore, this invention has greatly promoted the application of unmanned control systems in the field of traditional ships. Summary of the invention

[0003] In view of the defects of the prior art, the object of the present invention is to provide a method and system for rapid unmanned transformation of ships, aiming to promote the rapid unmanned transformation of traditional ships.

[0004] To achieve the above object, the present invention provides the following technical solutions: a method and system for rapid unmanned transformation of a ship, the rapid unmanned transformation system of a ship comprising an autonomous control component and a direction control component, a throttle control component, an ignition control component, a state detection component, a communication networking component, a remote control component and a log storage component connected to the autonomous control component;

[0005] The autonomous control component is composed of a planning control module and a navigation control module, wherein the planning control module obtains information about obstacles in the current environment through the state detection component and uses the planning algorithm to realize path planning, and the navigation control module uses the control algorithm to calculate the current control amount and sends the ship's rudder angle, throttle, and ignition control information to the direction control component, throttle control component, and ignition control component respectively, to realize unmanned control of the ship;

[0006] The direction control component is composed of a servo motor, a direction driver, a fixed rod, a fixed bracket and a pull-wire sensor, wherein the servo motor is fixed on the fixed bracket, and the output shaft of the servo motor is connected to the ship steering wheel through the fixed rod, the direction driver controls the servo motor to drive the rotation of the ship steering wheel, the pull-wire sensor is fixed on the rudder, the rotation of the rudder drives the pull-wire sensor to rotate, and the rudder angle value of the current ship rotation can be detected;

[0007] The throttle control component includes a joint motor, a throttle fixing seat, a throttle bracket, a throttle driver and a throttle push rod. The joint motor is fixedly mounted on the throttle fixing seat, and the output end of the joint motor is connected to the throttle push rod through the throttle bracket. The throttle driver is connected to the joint motor, and the throttle driver can control the size of the throttle amount.

[0008] The ignition control component includes a relay and an ignition terminal electrically connected to the relay, wherein one end of the ignition terminal away from the relay is connected to the ship igniter, and the on and off of the ship igniter is controlled by the relay;

[0009] The state detection component is composed of an oil gauge, a water immersion sensor, a positioning module, an inertial navigation module, a visual module and a radar module, wherein the oil gauge detects the current remaining oil volume, the water immersion sensor detects whether the current hull is submerged in water, the positioning module detects the current position of the hull, the inertial navigation module detects the current posture of the hull, and the visual module and the radar module are used to detect information about obstacles in the current environment;

[0010] The communication networking component can obtain command data wirelessly, and at least includes a data transmission module, an image transmission module and a satellite communication module, wherein the data transmission module and the image transmission module are both connected to the satellite communication module;

[0011] The remote control component can send control instructions to the autonomous control component to realize the control of the unmanned ship;

[0012] The log storage component has a real-time log storage function, which can store important data, operation events and fault information during operation in real time and save these data in an SD card;

[0013] When modifying a ship, the direction control component, throttle control component, ignition control component and status detection component are installed at the actuator position of the ship, and then the communication networking component and the autonomous control component are installed in the cockpit. First, the autonomous control component obtains the execution range of the current actuator through the algorithm, and then uses the model identification algorithm to obtain the current dynamic model of the unmanned ship, and realizes autonomous control of the ship according to the motion control algorithm and trajectory tracking algorithm. The remote control component sends the command data to the autonomous control component through the wireless module for execution.

[0014] Preferably, the planning algorithm used by the planning control module includes an executable obstacle avoidance algorithm, an electronic fence algorithm, a trajectory tracking algorithm or an area scanning algorithm.

[0015] Preferably, the navigation control module can automatically detect the angle control range of the direction control component, and the detection steps are as follows:

[0016] Step 1: Continue to issue a right turn control command and collect the current working current of the servo motor at the same time;

[0017] Step 2: When the measured current changes suddenly, that is, a>a0, Where a is the current magnitude, is the derivative of the current, a0 is the threshold current, is the derivative of the threshold current, and it can be considered that the right turn has reached the limit. At this time, the angle measured by the pull-wire sensor (25) is the limit angle of the right turn, which is θ r ;

[0018] Step 3: Continue to issue control instructions to turn left, and collect the current working current of the servo motor at the same time;

[0019] Step 4: When the measured current changes suddenly, that is, a>a0, It can be considered that the left turn has reached the limit. At this time, the angle measured by the pull-wire sensor is the limit angle of the left turn, which is θ l ;

[0020] Step 5: Calculate the average of the left and right extreme angles This is the intermediate steering angle.

[0021] Preferably, the navigation control module can automatically detect the angle control range of the throttle control component, and the detection steps are as follows:

[0022] Step 1: Continue to issue backward control instructions and collect the current working current of the joint motor at the same time;

[0023] Step 2: When the measured current suddenly changes, that is, a thr >a thr0 , where a thr is the current magnitude, is the derivative of the current, a thr0 is the threshold current, is the derivative of the threshold current, and it can be considered that the retreat has reached the limit. At this time, the angle detected by the joint motor is the limit angle of retreat, which is θ b ;

[0024] Step 3: Continue to issue forward control instructions and collect the current working current of the joint motor at the same time;

[0025] Step 4: When the measured current changes suddenly, that is, a thr >a thr0 , It can be considered that the advance has reached the limit. At this time, the angle detected by the joint motor (31) is recorded as the limit angle of advance, which is θ f ;

[0026] Step 5: Calculate the corresponding relationship between the forward and reverse throttle ratio and the actual angle: where thr b and thr f are the throttle values ​​for backward and forward respectively, and is the actual angle corresponding to the throttle amount.

[0027] Step 5: Calculate the average of the front and rear extreme angles This is the middle throttle angle.

[0028] Preferably, the navigation control module has a fast dynamic model identification function, and the identification steps are as follows:

[0029] The first step: obtaining the actuator control range of the direction control component and the throttle control component;

[0030] Step 2: Set different forward throttle amounts thr f1 ,thr f2 ,thr f3 ,......thr f ;

[0031] Step 3: Based on different forward throttle values, set a pseudo-random angle of the direction control component to θ1, θ2, θ3, ... θ n , the range of all angles is [θ l ,θ r ];

[0032] Step 4: Change the execution angle of the direction control component in the time period T, and try to collect the current motion state x, y, u, v, r are longitude, latitude, heading angle, forward speed, lateral speed, and angular speed, respectively;

[0033] Step 5: After collecting N time periods T, the saved series of data are preprocessed. The preprocessing methods include denoising and smoothing. The denoising method is: if u k =u k-1 ,v k =v k-1 ,r k =r k-1 Then k is the time series, r0 is the allowable deviation radius, and the smoothing method is particle filtering:

[0034] Step 6: For each speed range thr fi The preprocessed data is used for model identification, and the dynamic model structure used is as follows:

[0035]

[0036] where k1 to k 11 is the parameter to be identified, Estimate the value for the model and then construct its optimization problem as follows:

[0037]

[0038] Then, using Newton's method

[0039]

[0040] where K = [k1, k2...k 11 ], and update the parameters to obtain the model parameters.

[0041] Step 7: After obtaining the dynamic model at each speed segment, the overall dynamic model of the ship is obtained by linear fitting. The fitting method is as follows:

[0042] u k =λ j f u (P j )+λ j+1 f u (P j+1 )

[0043] v k =λ j f v (P j )+λ j+1 f v (P j+1 )

[0044] r k =λ j f r (P j )+λ j+1 f r (P j+1 )

[0045] Where P j is the model parameter set when the speed segment is j, P j+1 is the model parameter set when the speed segment is j+1. At this time, the speed is between j+1 and j segments. j +λ j+1 =1, and λ j is the distance parameter of the current speed segment j, and λ j+1 is the distance parameter of the current speed segment j+1, f u is the dynamic model of the forward velocity u, f vis the dynamic model of the forward velocity v, f r is the dynamic model of the forward velocity r.

[0046] Preferably, the navigation control module has an autonomous motion controller design function, and the design steps are as follows:

[0047] Step 1: Obtain the dynamic equation of the current ship through the model identification method;

[0048] Step 2: For the dynamic model of the forward speed, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into a linear model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met;

[0049] Step 3: For the dynamic model of the heading angle, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into an integral model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met;

[0050] Step 4: For the trajectory tracking control problem, a predictive controller based on parameterized trajectory tracking is designed. The control algorithm is as follows:

[0051]

[0052] Where p = [x, y] is the current position information of the ship, u = [thr, θ] is the control input, and Q and R are positive definite diagonal matrices.

[0053] Preferably, the vision module and radar module can detect the type, shape and position of the current water surface obstacle through an information fusion method, wherein the detection fusion algorithm can be constructed through an attention mechanism and a deep learning network.

[0054] Preferably, the specific operation method of the rapid unmanned transformation of ships is as follows:

[0055] Step 1: Install the direction control component on the steering wheel to control the steering wheel;

[0056] Step 2: Install the throttle control component on the throttle push rod to control the throttle size;

[0057] Step 3: Connect the ignition and flameout wires to the relay of the ignition control component to realize the control of ignition and flameout;

[0058] Step 4: The autonomous control component aligns the execution range of the actuator;

[0059] Step 5: Autonomous control components identify the dynamic model parameters of the ship;

[0060] Step 6: The autonomous control component designs the heading, speed, and trajectory tracking controllers, and performs self-parameter adjustment;

[0061] Step 7: Send remote tasks to implement joint debugging and testing of the entire system.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] 1. The present invention provides a method and system for rapid unmanned transformation of a ship, wherein the rapid unmanned transformation system of a ship includes a direction control component, a throttle control component, an ignition control component, a state detection component, an autonomous control component, a communication networking component, a remote control component, and a log storage component; the direction control component is composed of a servo motor, a direction driver, a fixed rod, a fixed bracket, and a pull-wire sensor, wherein the servo motor is fixed on the fixed bracket, and the output shaft of the servo motor is connected to the ship steering wheel through the fixed rod, the direction driver controls the servo motor to drive the rotation of the ship steering wheel, the pull-wire sensor is fixed on the rudder, and the rotation of the rudder drives the pull-wire sensor to rotate, thereby detecting the current rudder angle value of the ship's rotation; the throttle control component includes a joint motor, a throttle fixing seat, a throttle bracket, a throttle driver, and a throttle push rod, and the throttle control component can control the main engine gear position and the size of the throttle; the ignition control component is composed of a relay; the state detection component is composed of an oil gauge, a water immersion sensor, a positioning module, an inertial navigation module, a visual module, and a radar module, and the oil gauge detects the current remaining oil amount, The immersion sensor detects whether the current hull is immersed in water, the positioning and inertial navigation module detects the current posture of the hull, and the vision and radar module detects the information of obstacles in the current environment; the communication networking component is composed of a data transmission module, an image transmission module, and a satellite communication module, and can obtain command data wirelessly; the autonomous control component obtains the command data of the communication networking component, obtains the obstacle information and posture information through the state detection component, calculates the current control amount using the control algorithm, and sends the rudder angle, throttle, and ignition control information to the direction control component, the throttle control component, and the ignition control component respectively, to realize unmanned control of the ship; the remote control component can remotely send the control command to the autonomous control component to realize remote control of the unmanned ship; the log storage component has a real-time log storage function, which can store important data, operation events and fault information during the operation in real time, and save these data in an SD card; the feature of the present invention is to quickly realize the unmanned transformation of general ships without changing the structure of the hull itself, and has great application potential in the modification of fishing boats, transport ships, and patrol ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is the overall principle block diagram of the present invention;

[0065] Figure 2 It is a structural diagram of the direction control component of the present invention;

[0066] Figure 3 It is a structural diagram of the throttle control component of the present invention;

[0067] Figure 4 It is a structural diagram of the ignition control component of the present invention;

[0068] Figure 5 It is a structural diagram of the state detection component of the present invention;

[0069] Figure 6 It is a principle block diagram of the communication networking components of the present invention.

[0070] The reference numerals and names in the figures are as follows:

[0071] 1. Autonomous control components; 11. Planning control module; 12. Navigation control module; 2. Direction control components; 21. Servo motor; 22. Direction driver; 23. Fixed rod; 24. Fixed bracket; 25. Pull-wire sensor; 3. Throttle control components; 31. Joint motor; 32. Throttle fixing seat; 33. Throttle bracket; 34. Throttle driver; 35. Throttle push rod; 4. Ignition control components; 41. Relay; 42. Ignition terminal; 5. Status detection components; 51. Fuel gauge; 52. Water immersion sensor; 53. Positioning module; 54. Inertial navigation module; 55. Vision module; 56. Radar module; 6. Communication networking components; 61. Data transmission module; 62. Image transmission module; 63. Satellite communication module; 7. Remote control components; 8. Log storage components. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0074] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0075] See also Figure 1 , an embodiment of the present invention provides: a method and system for rapid unmanned transformation of a ship, wherein the rapid unmanned transformation system of a ship includes an autonomous control component 1 and a direction control component 2, a throttle control component 3, an ignition control component 4, a state detection component 5, a communication networking component 6, a remote control component 7 and a log storage component 8 connected to the autonomous control component 1; wherein the autonomous control component 1 is composed of a planning control module 11 and a navigation control module 12, wherein the planning control module 11 obtains information about obstacles in the current environment through the state detection component 5 and uses a planning algorithm to realize path planning, the navigation control module 12 uses a control algorithm to calculate the current control amount, and sends the ship rudder angle, throttle, and ignition control information to the direction control component 2, the throttle control component 3 and the ignition control component 4 respectively, to realize unmanned control of the ship, the remote control component 7 can send control instructions to the autonomous control component 1 to realize the control of the unmanned ship, and the log storage component 8 has a real-time log storage function, which can store important data, operation events and fault information during operation in real time, and save these data in an SD card.

[0076] Specifically, the planning algorithm used by the planning control module 11 includes an executable obstacle avoidance algorithm, an electronic fence algorithm, a trajectory tracking algorithm or an area scanning algorithm.

[0077] See also Figure 2 The direction control component 2 in the figure is composed of a servo motor 21, a direction driver 22, a fixed rod 23, a fixed bracket 24 and a pull-wire sensor 25, wherein the servo motor 21 is fixed on the fixed bracket 24, and the output shaft of the servo motor 21 is connected to the ship steering wheel through the fixed rod 23, the direction driver 22 controls the servo motor 21 to drive the rotation of the ship steering wheel, the pull-wire sensor 25 is fixed on the rudder, and the rotation of the rudder drives the pull-wire sensor 25 to rotate, thereby detecting the current rudder angle value of the ship's rotation.

[0078] See also Figure 3 The throttle control component 3 in the figure includes a joint motor 31, a throttle fixing seat 32, a throttle bracket 33, a throttle driver 34 and a throttle push rod 35. The joint motor 31 is fixedly mounted on the throttle fixing seat 32, and the output end of the joint motor 31 is connected to the throttle push rod 35 through the throttle bracket 33. The throttle driver 34 is connected to the joint motor 31, and the throttle driver 34 can control the size of the throttle amount.

[0079] See also Figure 4 The ignition control component 4 in the figure includes a relay 41 and an ignition terminal 42 electrically connected to the relay 41. The ignition terminal 42 is connected to the ship igniter at one end away from the relay 41, and the ship igniter is controlled to be turned on and off through the relay 41.

[0080] See also Figure 5 In the figure, the state detection component 5 is composed of an oil gauge 51, a water immersion sensor 52, a positioning module 53, an inertial navigation module 54, a visual module 55 and a radar module 56, wherein the oil gauge 51 detects the current remaining oil volume, the water immersion sensor 52 detects whether the current hull is submerged in water, the positioning module 53 detects the current position of the hull, the inertial navigation module 54 detects the current posture of the hull, and the visual module 55 and the radar module 56 are used to detect information about obstacles in the current environment.

[0081] Specifically, the visual module 55 and the radar module 56 can detect the type, shape and position of the current surface obstacle through an information fusion method, wherein the detection fusion algorithm can be constructed through an attention mechanism and a deep learning network.

[0082] See also Figure 6 In the figure, the communication networking component 6 can obtain command data wirelessly, and it at least includes a data transmission module 61, an image transmission module 62 and a satellite communication module 63, wherein the data transmission module 61 and the image transmission module 62 are both connected to the satellite communication module 63.

[0083] Please refer again Figures 1 to 6 The navigation control module 12 can automatically detect the angle control range of the direction control component 2, and the detection steps are as follows:

[0084] Step 1: Continuously issue a control command to turn right, and at the same time collect the current working current of the servo motor 21;

[0085] Step 2: When the measured current changes suddenly, that is, a>a0, Where a is the current magnitude, is the derivative of the current, a0 is the threshold current, is the derivative of the threshold current, and it can be considered that the right turn has reached the limit. At this time, the angle measured by the pull-wire sensor 25 is the limit angle of the right turn, which is θ r ;

[0086] Step 3: Continue to issue a control command to turn left, and collect the current working current of the servo motor 21 at the same time;

[0087] Step 4: When the measured current changes suddenly, that is, a>a0, It can be considered that the left turn has reached the limit. At this time, the angle measured by the pull-wire sensor 25 is recorded as the limit angle of the left turn, which is θ l ;

[0088] Step 5: Calculate the average of the left and right extreme angles This is the intermediate steering angle.

[0089] The navigation control module 12 can automatically detect the angle control range of the throttle control component 3, and the detection steps are as follows:

[0090] Step 1: continuously issuing a backward control command and collecting the current working current of the joint motor 31;

[0091] Step 2: When the measured current changes suddenly, that is, a>a0, Where a is the current magnitude, is the derivative of the current, a0 is the threshold current, is the derivative of the threshold current, and it can be considered that the retreat has reached the limit. At this time, the angle detected by the joint motor is the limit angle of retreat, which is θ b ;

[0092] Step 3: Continue to issue a forward control command and collect the current working current of the joint motor 31 at the same time;

[0093] Step 4: When the measured current changes suddenly, that is, a>a0, It can be considered that the left turn has reached the limit. At this time, the angle detected by the joint motor 31 is recorded as the limit angle of the forward movement, which is θ f ;

[0094] Step 5: Calculate the corresponding relationship between the forward and reverse throttle ratio and the actual angle: where thr b and thr f are the throttle values ​​for backward and forward respectively, and is the actual angle corresponding to the throttle amount.

[0095] Step 5: Calculate the average of the left and right extreme angles This is the intermediate steering angle.

[0096] The navigation control module 12 has a fast dynamic model identification function, and the identification steps are as follows:

[0097] Step 1: Obtain the actuator control range of the direction control component 2 and the throttle control component 3;

[0098] Step 2: Set different forward throttle amounts thr f1 ,thr f2 ,thr f3 ,......thr f ;

[0099] Step 3: Based on different forward throttle values, set a pseudo-random angle of the direction control component 2 to θ1, θ2, θ3, ... θ n , the range of all angles is [θ l ,θ r ];

[0100] Step 4: Change the execution angle of the direction control component 3 in the time period T, and try to collect the current motion state x, y, u, v, r are longitude, latitude, heading angle, forward speed, lateral speed, and angular speed, respectively;

[0101] Step 5: After collecting N time periods T, the saved series of data are preprocessed. The preprocessing methods include denoising and smoothing. The denoising method is: if u k =u k-1 ,v k =v k-1 ,r k =r k-1 Then k is the time series, r0 is the allowable deviation radius, and the smoothing method is particle filtering:

[0102] Step 6: For each speed range thr fi The preprocessed data is used for model identification, and the dynamic model structure used is as follows:

[0103]

[0104] where k1 to k 11 is the parameter to be identified, Estimate the value for the model and then construct its optimization problem as follows:

[0105]

[0106] Then, using Newton's method

[0107]

[0108] where K = [k1, k2...k 11 ], and update the parameters to obtain the model parameters.

[0109] Step 7: After obtaining the dynamic model at each speed segment, the overall dynamic model of the ship is obtained by linear fitting. The fitting method is as follows:

[0110] u k =λ j f u (P j )+λ j+1 f u (P j+1 )

[0111] v k =λ j f v (P j )+λ j+1 f v (P j+1 )

[0112] r k =λ j f r (P j )+λ j+1 f r (P j+1 )

[0113] Where P j is the model parameter set when the speed segment is j, P j+1 is the model parameter set when the speed segment is j+1. At this time, the speed is between j+1 and j segments. j +λ j+1 =1, and λ jis the distance parameter of the current speed segment j, and λ j+1 is the distance parameter of the current speed segment j+1, f u is the dynamic model of the forward velocity u, f v is the dynamic model of the forward velocity v, f r is the dynamic model of the forward velocity r.

[0114] The navigation control module 12 has an autonomous motion controller design function, and the design steps are as follows:

[0115] Step 1: Obtain the dynamic equation of the current ship through the model identification method;

[0116] Step 2: For the dynamic model of the forward speed, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into a linear model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met;

[0117] Step 3: For the dynamic model of the heading angle, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into an integral model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met;

[0118] Step 4: For the trajectory tracking control problem, a predictive controller based on parameterized trajectory tracking is designed. The control algorithm is as follows:

[0119]

[0120] Where p = [x, y] is the current position information of the ship, u = [thr, θ] is the control input, and Q and R are positive definite diagonal matrices.

[0121] When modifying a ship, the direction control component 2, the throttle control component 3, the ignition control component 4 and the state detection component 5 are installed at the actuator position of the ship, and then the communication networking component 6 and the autonomous control component 1 are installed in the cockpit. First, the autonomous control component 1 obtains the execution range of the current actuator through the algorithm, and then uses the model identification algorithm to obtain the dynamic model of the current unmanned ship, and realizes the autonomous control of the ship according to the motion control algorithm and the trajectory tracking algorithm. The remote control component 7 sends the command data to the autonomous control component 1 through the wireless module for execution. The specific operation method of the rapid unmanned transformation of the ship is as follows:

[0122] Step 1: Install the direction control component 2 on the steering wheel to control the steering wheel;

[0123] Step 2: Install the throttle control component 3 on the throttle push rod to control the throttle size;

[0124] Step 3: Connect the ignition and flameout wires to the relay of the ignition control component 41 to achieve control of ignition and flameout;

[0125] Step 4: The autonomous control component 1 performs execution range alignment of the actuator;

[0126] Step 5: The autonomous control component 1 performs parameter identification of the dynamic model of the ship;

[0127] Step 6: The autonomous control component 1 designs the heading speed and trajectory tracking controller, and performs self-parameter adjustment;

[0128] Step 7: Send remote tasks to implement joint debugging and testing of the entire system.

[0129] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method and system for rapid unmanned transformation of a ship, characterized by: It comprises an autonomous control component (1), and a direction control component (2), a throttle control component (3), an ignition control component (4), a state detection component (5), a communication networking component (6), a remote control component (7), and a log storage component (8) connected to the autonomous control component (1); The autonomous control component (1) is composed of a planning control module (11) and a navigation control module (12), wherein the planning control module (11) obtains information about obstacles in the current environment through a state detection component (5) and uses a planning algorithm to implement path planning, and the navigation control module (12) uses a control algorithm to calculate the current control amount and sends the ship's rudder angle, throttle, and ignition control information to the direction control component (2), the throttle control component (3), and the ignition control component (4), respectively, to implement unmanned control of the ship; The direction control component (2) is composed of a servo motor (21), a direction driver (22), a fixing rod (23), a fixing bracket (24) and a pull-wire sensor (25), wherein the servo motor (21) is fixed on the fixing bracket (24), and the output shaft of the servo motor (21) is connected to the ship's steering wheel through the fixing rod (23), the direction driver (22) controls the servo motor (21) to drive the rotation of the ship's steering wheel, and the pull-wire sensor (25) is fixed on the rudder, and the rotation of the rudder drives the pull-wire sensor (25) to rotate, thereby detecting the current rudder angle value of the ship's rotation; The throttle control component (3) comprises a joint motor (31), a throttle fixing seat (32), a throttle bracket (33), a throttle driver (34) and a throttle push rod (35); the joint motor (31) is fixedly mounted on the throttle fixing seat (32), and the output end of the joint motor (31) is connected to the throttle push rod (35) through the throttle bracket (33); the throttle driver (34) is connected to the joint motor (31), and the throttle driver (34) can control the size of the throttle amount; The ignition control component (4) comprises a relay (41) and an ignition terminal (42) electrically connected to the relay (41); the ignition terminal (42) is connected to a ship igniter at one end away from the relay (41), and the on and off of the ship igniter is controlled by the relay (41); The state detection component (5) is composed of an oil gauge (51), a water immersion sensor (52), a positioning module (53), an inertial navigation module (54), a visual module (55) and a radar module (56), wherein the oil gauge (51) detects the current remaining oil volume, the water immersion sensor (52) detects whether the current hull is submerged in water, the positioning module (53) detects the current position of the hull, the inertial navigation module (54) detects the current posture of the hull, and the visual module (55) and the radar module (56) are used to detect information about obstacles in the current environment; The communication networking component (6) can obtain command data in a wireless manner, and at least comprises a data transmission module (61), an image transmission module (62) and a satellite communication module (63), wherein the data transmission module (61) and the image transmission module (62) are both connected to the satellite communication module (63); The remote control component (7) can send control instructions to the autonomous control component (1) to realize the control of the unmanned ship; The log storage component (8) has a real-time log storage function, and can store important data, operation events and fault information during operation in real time, and store these data in an SD card; When modifying a ship, a direction control component (2), a throttle control component (3), an ignition control component (4) and a state detection component (5) are installed at the actuator position of the ship, and then a communication networking component (6) and an autonomous control component (1) are installed in the cockpit. First, the autonomous control component (1) obtains the execution range of the current actuator through an algorithm, and then obtains the dynamic model of the current unmanned ship using a model identification algorithm, and realizes autonomous control of the ship according to a motion control algorithm and a trajectory tracking algorithm. The remote control component (7) sends command data to the autonomous control component (1) through a wireless module for execution.

2. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The planning algorithm used by the planning control module (11) includes an operational obstacle avoidance algorithm, an electronic fence algorithm, a trajectory tracking algorithm or an area scanning algorithm.

3. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The navigation control module (12) can automatically detect the angle control range of the direction control component (2), and the detection steps are as follows: Step 1: continuously issuing a control command to turn right, while collecting the current working current of the servo motor (21); Step 2: When the measured current suddenly changes, that is, a>a0, Where a is the current magnitude, is the derivative of the current, a0 is the threshold current, is the derivative of the threshold current, and it can be considered that the right turn has reached the limit. At this time, the angle measured by the pull-wire sensor (25) is the limit angle of the right turn, which is θ r ; Step 3: Continue to issue a control command to turn left, and at the same time collect the current working current of the servo motor (21); Step 4: When the measured current changes suddenly, that is, a>a0, It can be considered that the left turn has reached the limit. At this time, the angle measured by the pull-wire sensor (25) is the limit angle of the left turn, which is θ l ; Step 5: Calculate the average of the left and right extreme angles This is the intermediate steering angle.

4. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The navigation control module (12) can automatically detect the angle control range of the throttle control component (3), and the detection steps are as follows: The first step: continuously issuing a backward control command and simultaneously collecting the current working current of the joint motor (31); Step 2: When the measured current suddenly changes, that is, a thr >a thr0 , where a thr is the current magnitude, is the derivative of the current, a thr0 is the threshold current, is the derivative of the threshold current, and it can be considered that the retreat has reached the limit. At this time, the angle detected by the joint motor is the limit angle of retreat, which is θ b ; Step 3: Continue to issue a control command to move forward, and at the same time collect the current working current of the joint motor (31); Step 4: When the measured current changes suddenly, that is, a thr >a thr0 , It can be considered that the advance has reached the limit. At this time, the angle detected by the joint motor (31) is recorded as the limit angle of advance, which is θ f ; Step 5: Calculate the corresponding relationship between the forward and reverse throttle ratio and the actual angle: where thr b and thr f are the throttle values ​​for backward and forward respectively, and is the actual angle corresponding to the throttle amount. Step 5: Calculate the average of the front and rear extreme angles This is the middle throttle angle.

5. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The navigation control module (12) has a fast dynamic model identification function, and the identification steps are as follows: The first step is to obtain the actuator control range of the direction control component (2) and the throttle control component (3); Step 2: Set different forward throttle amounts thr f1 ,thr f2 ,thr f3 ,......thr f ; Step 3: Based on different forward throttle values, set a pseudo-random angle of the direction control component (2) to θ1, θ2, θ3, ... θ n , the range of all angles is [θ l ,θ r ]; Step 4: Change the execution angle of the direction control component (3) at a time period T, and try to collect the current motion state x, y, u, v, r are longitude, latitude, heading angle, forward speed, lateral speed, and angular speed, respectively; Step 5: After collecting N time periods T, the saved series of data are preprocessed. The preprocessing methods include denoising and smoothing. The denoising method is: if u k =u k-1 ,v k =v k-1 ,r k =r k-1 Then k is the time series, r0 is the allowable deviation radius, and the smoothing method is particle filtering: Step 6: For each speed range thr fi The preprocessed data is used for model identification, and the dynamic model structure used is as follows: where k1 to k 11 is the parameter to be identified, Estimate the value for the model and then construct its optimization problem as follows: Then, using Newton's method where K = [k1, k2...k 11 ], and update the parameters to obtain the model parameters. Step 7: After obtaining the dynamic model at each speed segment, the overall dynamic model of the ship is obtained by linear fitting. The fitting method is as follows: you k =λ j f u (P j )+λ j+1 f u (P j+1 ) v k =λ j f v (P j )+λ j+1 f v (P j+1 ) r k =λ j f r (P j )+λ j+1 f r (P j+1 ) Where P j is the model parameter set when the speed segment is j, P j+1 is the model parameter set when the speed segment is j+1. At this time, the speed is between j+1 and j segments. j +λ j+1 =1, and λ j is the distance parameter of the current speed segment j, and λ j+1 is the distance parameter of the current speed segment j+1, f u is the dynamic model of the forward velocity u, f v is the dynamic model of the forward velocity v, f r is the dynamic model of the forward velocity r.

6. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The navigation control module (12) has an autonomous motion controller design function, and the design steps are as follows: Step 1: Obtain the dynamic equation of the current ship through the model identification method; Step 2: For the dynamic model of the forward speed, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into a linear model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met; Step 3: For the dynamic model of the heading angle, the nonlinear part in the dynamic model is eliminated by using feedback linearization, the control system is converted into an integral model for control, and then the performance of the closed-loop system is adjusted by zero-pole configuration until the performance parameters are met; Step 4: For the trajectory tracking control problem, a predictive controller based on parameterized trajectory tracking is designed. The control algorithm is as follows: Where p = [x, y] is the current position information of the ship, u = [thr, θ] is the control input, and Q and R are positive definite diagonal matrices.

7. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The visual module (55) and the radar module (56) can detect the type, shape and position of the current water surface obstacle through an information fusion method, wherein the detection fusion algorithm can be constructed through an attention mechanism and a deep learning network.

8. A method and system for rapid unmanned ship transformation according to claim 1, characterized in that: The specific operation methods of rapid unmanned transformation of ships are as follows: Step 1: Install the direction control component (2) on the steering wheel to control the steering wheel; Step 2: Install the throttle control component (3) on the throttle push rod to control the throttle size; Step 3: Connect the ignition and flameout wires to the relay of the ignition control component (41) to achieve control of ignition and flameout; Step 4: The autonomous control component (1) performs execution range alignment of the actuator; Step 5: The autonomous control component (1) performs parameter identification of the ship's dynamic model; Step 6: Autonomous control component (1) designs the heading, speed and trajectory tracking controllers and performs self-parameter adjustment; Step 7: Send remote tasks to implement joint debugging and testing of the entire system.

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