Unmanned ship autonomous simulation control system and control method

Abstract

The invention discloses an unmanned ship autonomous simulation control system and method, and the system comprises an operation platform, the operation platform is provided with a control module, the upper part of the operation platform is provided with a display, the system also comprises an industrial control computer, the display and the control module are respectively in signal connection with the industrial control computer, one side of the industrial control computer is provided with a connection port, and the connection port is connected with the industrial control computer. The system further comprises a virtual machine module which is in signal connection with the industrial personal computer through a connection port. The control module is used for simulating an internal operating mechanism of the unmanned ship and sending an analog control signal; and the industrial personal computer is used for receiving a control signal of the control module, displaying the control signal in a control interface on the display and sending the control signal to the virtual machine, and virtual navigation of the unmanned ship is carried out by the virtual machine. Therefore, the purpose of training operators is achieved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned ship control, and in particular to an unmanned ship autonomous simulation control system and a control method. Background Art

[0002] Usually, unmanned ships are based on powered ships and are equipped with communication, control and specific functional equipment to perform specific tasks. With the help of ground base stations or control centers, unmanned ships can be remotely controlled or autonomously controlled independently. The design and construction of these ships vary according to different application requirements, so they have unique technical characteristics, corresponding equipment configurations and diverse structural forms. When mastering ship-related knowledge, simulated operation is an effective learning method. However, existing ship simulation experiments have certain limitations. They cannot provide a real operating experience, nor can they accurately present the real-time status of the ship. Summary of the invention

[0003] The technical problem solved by the present invention is to provide an unmanned ship autonomous simulation control system that can provide an intuitive operating experience and can also clearly display the current state of the ship.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an unmanned ship autonomous simulation control system, including an operating table, a control module is arranged on the operating table, a display is arranged on the upper part of the operating table, and an industrial computer is also included, the display and the control module are respectively connected to the industrial computer signal, a connection port is arranged on one side of the industrial computer, and a virtual machine module is also included, and the virtual machine module is connected to the industrial computer signal through the connection port;

[0005] The control module is used to simulate the internal operating mechanism of the unmanned ship and send out simulated control signals;

[0006] The industrial computer is used to receive the control signal of the control module and display it in the control interface on the display, and at the same time send the control signal to the virtual machine, so that the virtual machine performs virtual navigation of the unmanned ship.

[0007] Furthermore, the control module includes a mode switching knob and an operating rudder.

[0008] Furthermore, the mode switch knob includes a heading mode switch button and a depth mode switch button;

[0009] The navigation mode switch button includes a navigation knob, and the heading knob includes an automatic gear position, a follow-up gear position and an electric gear position;

[0010] The depth mode switching button includes a depth knob, and the depth knob includes an automatic gear, a follow-up gear and an electric gear.

[0011] Furthermore, the operating rudder comprises a hull rudder operating lever, a stern rudder operating lever and a rudder operating lever, and the hull rudder operating lever, the stern rudder operating lever and the rudder operating lever are respectively connected to the industrial control computer signal.

[0012] Furthermore, the industrial computer is provided with a display module, the data in the display module is displayed on the display, and the display module includes a first display operation unit, a second display operation unit and a data recording and sending unit;

[0013] The first display operation unit includes a heading control unit, a depth control unit and a heading depth display unit;

[0014] The second display operation unit includes a balance control unit and a balance control display unit;

[0015] The data recording and sending unit is used to record and send the steering and balancing working mode of the control system as well as the speed, heading, depth, heel, pitch, command rudder angle, actual rudder angle, and status information of the electric steering gear.

[0016] Further, the heading control unit includes a first control mode selection module, a heading and depth control module, a heading rate control module and a rudder selection module;

[0017] The heading depth display unit is used to predict the heading, depth and trim according to the simulated motion state and the actual rudder angle.

[0018] Furthermore, the balancing control unit includes a second control mode selection module, a trim and buoyancy command input module;

[0019] The balance control display unit is used to display the simulated buoyancy and pitch moment imbalance.

[0020] The present invention also discloses an autonomous simulation control method for an unmanned ship, which adopts the above-mentioned autonomous simulation control system for the unmanned ship, and the method is as follows:

[0021] Use the rotary button on the console to turn the heading mode switch button and the depth mode switch button to the automatic mode, feed back the command to the industrial computer, the display module displays the automatic mode interface, and then enter the heading and depth command parameters in the corresponding command window. The industrial computer sends the command data to the virtual machine through the connection port, and feeds back the real-time status data of the virtual machine to the industrial computer and displays it on the monitor;

[0022] Turn the heading mode switch button and the depth mode switch button to the follow-up mode, feed back the command to the industrial computer, and the display module displays the follow-up mode interface. Then, the heading and depth of the simulator are controlled through the hull rudder control stick, the stern rudder control stick and the rudder control stick. Push the hull rudder control stick, the stern rudder control stick and the rudder control stick to different angles, transmit the command rudder angle to the industrial computer through the serial port, and display the real-time command rudder angle parameters in the display module interface. According to the feedback value, manually adjust the angles of the hull rudder control stick, the stern rudder control stick and the rudder control stick to achieve precise heading and depth control.

[0023] Turn the heading mode switch button and the depth mode switch button to electric mode, feed back the command to the industrial computer, switch the display module to electric mode, and then control the heading and depth of the simulator through the hull rudder control stick, stern rudder control stick and rudder control stick. Push the hull rudder control stick, stern rudder control stick and rudder control stick to the limit angle, turn on the signal, and send the heading and depth commands to the virtual machine through the network port. When the hull rudder control stick, stern rudder control stick and rudder control stick are maintained at the limit angle, the heading or depth command will continue to be given. When the hull rudder control stick, stern rudder control stick and rudder control stick leave the limit angle, the command will be terminated.

[0024] The beneficial effects of the present invention are as follows: the present application simulates the actual operation of the unmanned boat in various environments through the flexible use of the simulation joystick, thereby achieving the purpose of training operators. In addition, the system also has an automatic control function, which can automatically adjust the rudder angle according to the preset heading and depth parameters to ensure that the unmanned boat navigates according to the predetermined route and depth. At the same time, the system can also record operation data to facilitate subsequent analysis and evaluation of the operator's training effect, as well as further optimization of the unmanned boat performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the framework structure of the unmanned ship autonomous simulation control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, the embodiment of the present application discloses an autonomous simulation control system for an unmanned ship, including an operation console, a control module is arranged on the operation console, a display is arranged on the upper part of the operation console, and an industrial computer is also included, the display and the control module are respectively connected to the industrial computer signal, a connection port is arranged on one side of the industrial computer, and a virtual machine module is also included, and the virtual machine module is connected to the industrial computer signal through the connection port;

[0028] The control module is used to simulate the internal operating mechanism of the unmanned ship and send out simulated control signals;

[0029] The industrial computer is used to receive the control signal of the control module and display it in the control interface on the display, and at the same time send the control signal to the virtual machine, so that the virtual machine performs virtual navigation of the unmanned ship.

[0030] During specific use, a control signal is formed through the action of the operating module, which is sent to the industrial computer and displayed on the monitor through the display module. At the same time, the corresponding command parameters can be manually entered in the corresponding command window on the monitor. The industrial computer sends the command data to the virtual machine through the connection port, and feeds back the real-time status data of the virtual machine to the industrial computer and displays it on the monitor.

[0031] In this structure, the simulated control of the UAV can be realized through the setting of the operation module, display and industrial computer and other modules, thereby achieving the training purpose.

[0032] In this embodiment, the control module includes a mode switching knob and an operating rudder.

[0033] Specifically, the mode switching knob includes a heading mode switching button and a depth mode switching button; the navigation mode switching button includes a navigation knob, and the heading knob includes an automatic gear, a follow-up gear and an electric gear; the depth mode switching button includes a depth knob, and the depth knob includes an automatic gear, a follow-up gear and an electric gear, and free switching of each gear can be achieved by turning the knob.

[0034] In this embodiment, the operating rudder includes a hull rudder operating rod, a stern rudder operating rod and a rudder operating rod, and the hull rudder operating rod, the stern rudder operating rod and the rudder operating rod are respectively connected to the industrial control computer signal.

[0035] The setting of this operating rudder can simulate the working mode of the operating rudder in the actual operation process, and realize the model output of the unmanned ship through simulated operation.

[0036] In this embodiment, the industrial computer is provided with a display module, and the data in the display module is displayed on the display. The display module includes a first display operation unit, a second display operation unit and a data recording and sending unit;

[0037] The first display operation unit includes a heading control unit, a depth control unit and a heading depth display unit;

[0038] The second display operation unit includes a balance control unit and a balance control display unit;

[0039] The data recording and sending unit is used to record and send the steering and balancing working mode of the control system as well as the speed, heading, depth, heel, pitch, command rudder angle, actual rudder angle, and status information of the electric steering gear.

[0040] Specifically, the heading control unit includes a first control mode selection module, a heading and depth control module, a heading rate control module and a rudder selection module;

[0041] The heading depth display unit is used to predict the heading, depth and trim according to the simulated motion state and the actual rudder angle.

[0042] Specifically, the balance control unit includes a second control mode selection module, a trim and buoyancy command input module;

[0043] The balance control display unit is used to display the simulated buoyancy and pitch moment imbalance.

[0044] This application simulates the actual operation of the unmanned boat in various environments through the flexible use of the simulation joystick, so as to achieve the purpose of training operators. In addition, the system also has an automatic control function, which can automatically adjust the rudder angle according to the preset heading and depth parameters to ensure that the unmanned boat navigates according to the predetermined route and depth. At the same time, the system can also record operation data to facilitate subsequent analysis and evaluation of the operator's training effect, as well as further optimization of the unmanned boat performance.

[0045] The method also discloses an autonomous simulation control method for an unmanned ship, which uses the above-mentioned autonomous simulation control system for an unmanned ship, and the method is as follows:

[0046] Use the rotary button on the console to turn the heading mode switch button and the depth mode switch button to the automatic mode, feed back the command to the industrial computer, the display module displays the automatic mode interface, and then enter the heading and depth command parameters in the corresponding command window. The industrial computer sends the command data to the virtual machine through the connection port, and feeds back the real-time status data of the virtual machine to the industrial computer and displays it on the monitor;

[0047] Turn the heading mode switch button and the depth mode switch button to the follow-up mode, feed back the command to the industrial computer, and the display module displays the follow-up mode interface. Then, the heading and depth of the simulator are controlled through the hull rudder control stick, the stern rudder control stick and the rudder control stick. Push the hull rudder control stick, the stern rudder control stick and the rudder control stick to different angles, transmit the command rudder angle to the industrial computer through the serial port, and display the real-time command rudder angle parameters in the display module interface. According to the feedback value, manually adjust the angles of the hull rudder control stick, the stern rudder control stick and the rudder control stick to achieve precise heading and depth control.

[0048] Turn the heading mode switch button and the depth mode switch button to electric mode, feed back the command to the industrial computer, switch the display module to electric mode, and then control the heading and depth of the simulator through the hull rudder control stick, stern rudder control stick and rudder control stick. Push the hull rudder control stick, stern rudder control stick and rudder control stick to the limit angle, turn on the signal, and send the heading and depth commands to the virtual machine through the network port. When the hull rudder control stick, stern rudder control stick and rudder control stick are maintained at the limit angle, the heading or depth command will continue to be given. When the hull rudder control stick, stern rudder control stick and rudder control stick leave the limit angle, the command will be terminated.

[0049] In this system, unmanned ship control training can be carried out in a variety of operation modes, thereby achieving comprehensive simulation of unmanned ship operations.

[0050] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Unmanned ship autonomous simulation control system, characterized by: It includes an operation table, a control module is arranged on the operation table, a display is arranged on the upper part of the operation table, and an industrial computer is also included, the display and the control module are respectively connected to the industrial computer by signal, a connection port is arranged on one side of the industrial computer, and a virtual machine module is also included, and the virtual machine module is connected to the industrial computer by signal through the connection port; The control module is used to simulate the internal operating mechanism of the unmanned ship and send out simulated control signals; The industrial computer is used to receive the control signal of the control module and display it in the control interface on the display, and at the same time send the control signal to the virtual machine, so that the virtual machine performs virtual navigation of the unmanned ship.

2. The unmanned ship autonomous simulation control system according to claim 1, characterized in that: The control module includes a mode switching knob and an operating rudder.

3. The unmanned ship autonomous simulation control system according to claim 2, characterized in that: The mode switch knob includes a heading mode switch button and a depth mode switch button; The navigation mode switch button includes a navigation knob, and the heading knob includes an automatic gear position, a follow-up gear position and an electric gear position; The depth mode switching button includes a depth knob, and the depth knob includes an automatic gear, a follow-up gear and an electric gear.

4. The unmanned ship autonomous simulation control system according to claim 1, characterized in that: The operating rudder comprises a hull rudder operating rod, a stern rudder operating rod and a rudder operating rod, and the hull rudder operating rod, the stern rudder operating rod and the rudder operating rod are respectively connected to the industrial control computer signal.

5. The unmanned ship autonomous simulation control system according to claim 1, characterized in that: The industrial computer is provided with a display module, and the data in the display module is displayed on the display, and the display module includes a first display operation unit, a second display operation unit and a data recording and sending unit; The first display operation unit includes a heading control unit, a depth control unit and a heading depth display unit; The second display operation unit includes a balance control unit and a balance control display unit; The data recording and sending unit is used to record and send the steering and balancing working mode of the control system as well as the speed, heading, depth, heel, pitch, command rudder angle, actual rudder angle, and status information of the electric steering gear.

6. The unmanned ship autonomous simulation control system according to claim 5, characterized in that: The heading control unit includes a first control mode selection module, a heading and depth control module, a heading rate control module and a rudder selection module; The heading depth display unit is used to predict the heading, depth and trim according to the simulated motion state and the actual rudder angle.

7. The unmanned ship autonomous simulation control system according to claim 5, characterized in that: The balancing control unit includes a second control mode selection module, a trim and buoyancy command input module; The balance control display unit is used to display the simulated buoyancy and pitch moment imbalance.

8. An autonomous simulation control method for an unmanned ship, using the unmanned ship autonomous simulation control system according to any one of claims 1 to 7, characterized in that: The method is: Use the rotary button on the console to turn the heading mode switch button and the depth mode switch button to the automatic mode, feed back the command to the industrial computer, the display module displays the automatic mode interface, and then enter the heading and depth command parameters in the corresponding command window. The industrial computer sends the command data to the virtual machine through the connection port, and feeds back the real-time status data of the virtual machine to the industrial computer and displays it on the monitor; Turn the heading mode switch button and the depth mode switch button to the follow-up mode, feed back the command to the industrial computer, and the display module displays the follow-up mode interface. Then, the heading and depth of the simulator are controlled through the hull rudder control stick, the stern rudder control stick and the rudder control stick. Push the hull rudder control stick, the stern rudder control stick and the rudder control stick to different angles, transmit the command rudder angle to the industrial computer through the serial port, and display the real-time command rudder angle parameters in the display module interface. According to the feedback value, manually adjust the angles of the hull rudder control stick, the stern rudder control stick and the rudder control stick to achieve precise heading and depth control. Turn the heading mode switch button and the depth mode switch button to electric mode, feed back the command to the industrial computer, switch the display module to electric mode, and then control the heading and depth of the simulator through the hull rudder control stick, stern rudder control stick and rudder control stick. Push the hull rudder control stick, stern rudder control stick and rudder control stick to the limit angle, turn on the signal, and send the heading and depth commands to the virtual machine through the network port. When the hull rudder control stick, stern rudder control stick and rudder control stick are maintained at the limit angle, the heading or depth command will continue to be given. When the hull rudder control stick, stern rudder control stick and rudder control stick leave the limit angle, the command will be terminated.

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