Modular control system and control method of unmanned monitoring boat

Abstract

The invention relates to the technical field of unmanned monitoring boat control, in particular to a modular control system and control method for an unmanned monitoring boat, and the technical scheme is that the modular control system comprises a control cabin module which comprises a control module group, a communication and navigation module group, a direct current voltage stabilization and conversion module group and a switch module, the control module group is composed of an industrial personal computer, a relay group and a CAN drive board. The propulsion cabin module is connected with the control cabin module through a watertight cable; the propelling module comprises a propeller and a driving circuit, the input end of the driving circuit is connected with the CAN driving board, and the output end of the driving circuit is connected with the propeller; the sensor module consists of a plurality of sensors; the power supply module is composed of a lithium battery pack and a solar battery, and hybrid power supply is achieved through a charging and discharging controller; the method has the advantages of convenience and rapidness in modular operation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned monitoring boat control, and particularly relates to a modular control system and a control method for an unmanned monitoring boat. Background Art

[0002] An unmanned monitoring boat is a surface unmanned platform that sails on the water surface through remote control or autonomous control and is equipped with various sensors and monitoring devices to complete water area monitoring tasks such as oceans, lakes, and rivers.

[0003] There are a wide variety of existing unmanned monitoring boats. When assembling the control system, it is necessary to separately adapt and assemble the control system for each of them, which takes a lot of time and is cumbersome. When it is necessary to replace different sensors or control devices for different task requirements, the operation is cumbersome and it is not easy to disassemble or install.

[0004] In the prior art, the control systems of unmanned monitoring boats mostly rely on a single control algorithm, and it is often difficult to achieve efficient and stable speed and heading control in a dynamically complex water area environment. The existing systems lack an effective coordinated control method between speed and heading, and are easily affected by external environments such as ocean currents, wind and waves, resulting in unstable navigation, inaccurate heading and speed control, and affecting the execution effect of monitoring tasks. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides a modular control system and a control method for an unmanned monitoring boat, which have the advantages of convenient and rapid modular operation.

[0006] The above-mentioned invention object of the present invention is achieved through the following technical solutions:

[0007] First of all, the present invention provides a modular control system for an unmanned monitoring boat, including:

[0008] A control cabin module, the control cabin module includes a control module group, a communication and navigation module group, a DC voltage stabilization and conversion module group, and a switch module. The control module group is composed of an industrial computer, a relay group, and a CAN drive board;

[0009] A propulsion cabin module, the propulsion cabin module is connected to the control cabin module through a watertight cable;

[0010] A propulsion module, the propulsion module includes a thruster and a drive circuit; the input end of the drive circuit is connected to the CAN drive board, and the output end of the drive circuit is connected to the thruster.

[0011] A sensor module, the sensor module is composed of a vision sensor, a water quality sensor group, a meteorological sensor, a lithium battery detection sensor, and a water leakage detection sensor;

[0012] Power supply module, which consists of a lithium battery pack and a solar cell, and realizes hybrid power supply through a charge and discharge controller.

[0013] Furthermore, the industrial control computer communicates with the shore station monitoring center through a communication module and transmits instructions to the corresponding thruster and sensor module group; the relay group controls the power on and off of electrical equipment according to the power supply status of the lithium battery; the CAN driver board communicates with the industrial control computer through a USB interface according to the CAN protocol.

[0014] Furthermore, the communication and navigation module group consists of a Beidou communication and navigation module, an integrated navigation module, a bridge module, a Beidou antenna, an integrated navigation module antenna, and a bridge antenna. The Beidou communication and navigation module, the integrated navigation module, and the bridge module are respectively connected to the corresponding Beidou antenna, integrated navigation module antenna, and bridge antenna through a through-hull method.

[0015] Furthermore, a watertight cable is used to connect the vision sensor and the control cabin module. The water quality sensor group is installed in the through-hull opening of the unmanned monitoring boat and is communicatively connected to the industrial control computer. The meteorological sensor is communicatively connected to the STM32 circuit board; the lithium battery detection sensor is communicatively connected to the industrial control computer, and the water leakage detection sensor is installed at the bottom of the control cabin module.

[0016] Furthermore, the DC voltage stabilization and conversion module group consists of 24VDC terminal blocks L and R on the left and right sides inside the control cabin module, 24V - 12VDC modules L and R, and 12VDC terminal blocks L and R.

[0017] Furthermore, the propulsion cabin module includes three layers of panels. Each layer of panel is fixedly connected through fixing holes at the four corners using long nuts and studs. The first layer of panel of the propulsion cabin module is provided with two lithium batteries, the second layer of panel is provided with positive and negative terminal blocks of multiple lithium batteries and one lithium battery, and the third layer of panel is provided with multiple watertight connectors.

[0018] Furthermore, the control cabin module includes three layers of panels. Each layer of panel is fixedly connected through fixing holes at the four corners using long nuts and studs. The first layer of panel of the control cabin module is provided with positive and negative terminal blocks corresponding to the propulsion cabin module and a voltage stabilization module. The second layer of panel is provided with an industrial control computer, a switch, an STM32, a CAN communication card, a relay group, a Beidou communication and navigation module, an integrated navigation module, and a bridge module. The third layer of panel is provided with multiple watertight connectors and multiple through-hull connectors.

[0019] Furthermore, the water quality sensor group is installed in the through-hull opening of the unmanned monitoring boat and includes a temperature sensor, a salinity sensor, an ammonia nitrogen sensor, a pH value sensor, a chlorophyll sensor, and an oil sensor.

[0020] Furthermore, it also includes control software. The control software module at least includes a data center module MOOSDB, a decision output module pHelmIvp, a heading and speed information acquisition module pNav, a vision detection module pVision, a speed and heading control module PIDmarine, a Beidou module pBeidou, and an action execution module pAct.

[0021] The present invention also provides a method for jointly controlling the heading and speed of an unmanned monitoring boat to solve the problem of inaccurate control of the existing unmanned monitoring boat under wind and wave disturbances. The method for jointly controlling the heading and speed of the unmanned monitoring boat of the present invention adopts a modular control system of an unmanned monitoring boat as described above, and includes the following steps:

[0022] The combined control law of speed and heading of the present invention is:

[0023] u vh (t) = α v u v (t) + α h ΔH(4)

[0024] In the formula, u vh (t) is the combination of the speed control law and the heading control law, u v (t) is the speed control law, ΔH(t) is the equivalent rudder angle control law of the propeller of the unmanned monitoring boat, α v > 1 is the amplification factor from the normalized output of the speed controller to the actual control output, α h > 1 is the amplification factor from the normalized output of the heading control law to the actual control output.

[0025] Among them, for u v (t), it is controlled according to the following formula:

[0026]

[0027] In the formula, y v (t) is the difference between the given speed and the actual speed of the unmanned boat e v (t) obtained after proportional, differential and integral calculation: β v > 0 is the amplification factor of the adjustment term mapped to the speed control output, Δu c2 is the adjustment term to adapt to external disturbances such as ocean currents, Δu d is the adjustment term for dead zone control, γ v ≥0 is the proportional factor of the dead zone and when the control variable u v (t) is greater than 1510 or less than 1490, γ v = 0, k v1 、k v2 and k v3is the adjustment parameter for speed control, e v (t), and are the speed deviation, the deviation change rate, and the integral of the deviation over time t 1 -t 2 respectively.

[0028] ΔH(t) is controlled according to the following formula:

[0029]

[0030] where y h (t) is the difference between the given course and the actual course of the unmanned boat, e h (t) is obtained through proportional, derivative, and integral calculations: β h > 0 is the amplification factor of the adjustment term mapped to the course control output, Δu c3 is the adjustment term to adapt to external disturbances such as ocean currents, Δu d is the adjustment term for dead zone control, γ h ≥ 0 is the proportional factor of the dead zone and γ = 0 when the control quantity ΔH(t) is greater than 1510 or less than 1490; k h , k h1 , and k h2 are the adjustment parameters for course control, e h3 (t), h (t), and are the course deviation, the deviation change rate, and the integral of the deviation over time t 1 -t 2 respectively.

[0031] Furthermore, the amplification factor is set as:

[0032] α = α const + α vari (5)

[0033] where α const is the constant part, which remains unchanged after its value is selected; α vari is the adaptive adjustment part, and its adjustment method is:

[0034]

[0035] where c > 0 is the proportional coefficient of the amplification factor when the deviation has an increasing trend.

[0036] Thus, α v = α v-const + α v-vari , α h = α h-const + α h-vari。

[0037] In summary, the present invention includes at least one of the following beneficial technical effects:

[0038] In the present invention, the lithium battery pack of the power supply module is installed in the propulsion module, and the industrial control computer and the communication and navigation module group are installed in the control module to ensure electrical safety and prevent the lithium battery from having an electromagnetic impact on the industrial control computer and the communication and navigation module group. The present invention sets the layout of the modular unmanned monitoring boat control system and equipment modules, modularizes the functions for easy installation and disassembly, and meets the requirements of the installation space and the internal structure of the instrument cabin. Different sensors or control equipment modules can be quickly replaced according to mission requirements, making the maintenance and upgrade of the equipment more convenient. Only individual modules need to be replaced or upgraded, reducing the downtime of the overall equipment, thereby improving the flexibility and efficiency of mission execution. By setting up a combined controller for the heading and speed of the unmanned monitoring boat, considering adverse factors such as disturbances in dynamic sea current, wind and wave environments, the present invention realizes the tracking of the desired speed and heading, and improves the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a layout diagram of the functional modules in this embodiment;

[0040] Figure 2 is a layout diagram of the functional modules from another perspective in this embodiment;

[0041] Figure 3 is a layout diagram of the propulsion module in this embodiment;

[0042] Figure 4 is a layout diagram of the control module in this embodiment;

[0043] Figure 5 is the software module in this embodiment;

[0044] Figure 6 is the combined control flowchart of the heading and speed of the unmanned monitoring boat in this embodiment.

[0045] In the figure, 1. Solar panel 1; 2. Control module; 3. Solar panel 2; 4. Propeller 1; 5. Propulsion module; 6. Propeller 2; 7. Solar panel 3; 8. Seawater intake hole; 9. Sensor mounting panel; 10. Lower bracket; 11. Solar panel 4; 12. Beidou antenna bracket; 13. Weather instrument bracket; 14. Camera bracket; 15. Bridge antenna bracket; 16. Integrated navigation module antenna bracket; 17. Lower bracket fixing base; 18. Beidou antenna; 19. Weather instrument; 20. Visual detection module; 21. Bridge antenna; 22. Integrated navigation module antenna. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The present invention will be further described in detail below with reference to the accompanying drawings.

[0047] To facilitate the understanding of the present invention by those skilled in the art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0048] A modular control system for an unmanned monitoring boat disclosed by the present invention includes a control cabin module, a propulsion cabin module, a propulsion module, a sensor module, and a power supply module.

[0049] The control cabin module and the propulsion cabin module are connected by a watertight cable; preferably, the two are connected by a group of eight-core watertight cables for power supply and CAN communication; more preferably, the power supply line and the communication watertight cable between the control cabin module and the propulsion cabin module are two groups of eight-core watertight cables, including two groups of 24VDC power supplies, two groups of 485 communications, and two groups of CAN communications. The control cabin module and the propulsion cabin module are placed along the central axis of the boat body.

[0050] The control cabin module includes a control module group, a communication and navigation module group, a DC voltage stabilization and conversion module group, and a switch module.

[0051] The control module group consists of an industrial control computer, a relay group, and a CAN drive board.

[0052] The industrial control computer is the core of the control system, collects the position and attitude information of the unmanned monitoring boat of the navigation module and communicates with the shore station monitoring center through the communication module, and collects the water quality and meteorological sensor information of the sensor module, packages and frames the collected information, and sends it to the shore station monitoring center regularly through the communication module; at the same time, the industrial control computer receives the control instructions of the unmanned detection boat issued by the shore station monitoring center through the communication module, unpacks the instructions according to the protocol, and sends the control commands to the corresponding thruster module and sensor module to realize the control of the speed and heading of the unmanned monitoring boat and the control of the time interval for sending multiple sensor data.

[0053] The relay group realizes the on-off control of the electrical equipment according to the power supply state of the lithium battery detected by the unmanned monitoring boat, so as to realize the safe and energy-saving control of the electrical equipment. For example, when the industrial control computer detects that the remaining power of the power lithium battery is lower than the threshold, it controls the relay group to cut off the power supply of the thruster to ensure that there is still enough remaining power for use when the unmanned monitoring boat is recovered.

[0054] The CAN drive board communicates with the industrial control computer through the USB interface according to the CAN protocol, receives the thruster speed command sent by the industrial control computer, and sends the thruster speed, voltage and current feedback by the thruster and the information such as voltage and current faults to the industrial control computer, which is parsed by the industrial control computer according to the given protocol.

[0055] The communication and navigation module group consists of a Beidou communication and navigation module, an integrated navigation module, a bridge module, as well as a Beidou antenna, an integrated navigation module antenna, and a bridge antenna.

[0056] The above-mentioned Beidou antenna, integrated navigation module antenna, and bridge antenna are all connected to the corresponding modules in the control cabin module by means of passing through the cabin. The Beidou antenna, integrated navigation module antenna, and bridge antenna are all fixed on the bracket on the upper panel of the bracket of the hull. The Beidou communication and navigation module is responsible for remote communication with the shore station data center. Through the Beidou satellite, it realizes the communication between the unmanned monitoring boat and the shore station data center, regularly sends the sensor data of the unmanned monitoring boat to the shore station data center, and receives the control instructions sent by the shore data center to monitor the unmanned monitoring boat.

[0057] The integrated navigation module obtains navigation information such as the position, attitude, and acceleration of the unmanned monitoring boat, and conducts serial communication with the industrial control computer through a 232 serial port. It is a GPS-aided inertial navigation module that uses GPS signals to correct the navigation information of the inertial navigation module, thereby obtaining high-precision navigation information of the unmanned monitoring boat.

[0058] The bridge module is responsible for the medium and long-distance communication of the unmanned monitoring boat, which has the same function as the Beidou communication and navigation module to complete the communication between the unmanned monitoring boat and the shore station data center. Compared with the Beidou communication and navigation module, it has the advantages of low latency and high data volume. The bridge module conducts UDP / TCP data communication with the industrial control computer through a switch.

[0059] The sensor module consists of a vision sensor, a water quality sensor group, a meteorological sensor, a lithium battery detection sensor, and a leakage detection sensor.

[0060] The vision sensor is used to detect target information within the visual range. It adopts an edge computing platform NVR and consists of four infrared cameras arranged at a 120° angle. It can obtain the 360° scene within 100 meters around the unmanned monitoring boat in real time, and detect the presence or absence and shape size of the target through relevant vision detection algorithms, calculate the position of the center of the target image, and send the relevant data of the NVR to the industrial control computer through a switch. The vision sensor and the control cabin module use a five-core watertight cable. Two of them are cables for power supply of the 12VDC module, and three are cables for 232 serial port data communication.

[0061] The water quality sensor group is installed in the sea intake hole of the unmanned monitoring boat, including a temperature sensor, a salinity sensor, an ammonia nitrogen sensor, a pH value sensor, a chlorophyll sensor, an oil sensor, etc., to realize the real-time detection of the above-mentioned water quality-related information, and communicate with the industrial control computer through a 485 interface using the Modbus protocol. The water quality sensor group and the control cabin module are connected by a four-core watertight cable. Two of them are cables for power supply of the 12VDC module, and two are cables for 485 serial port data communication.

[0062] The meteorological sensor includes a wind direction and wind speed sensor, which monitors the wind direction and wind speed information in all directions of the unmanned monitoring boat in real time, and communicates with the STM32 circuit board through the Modbus protocol and the 485 interface.

[0063] The lithium battery detection sensor detects information such as the voltage, current, and remaining capacity of two lithium batteries, and communicates with the industrial control computer through the Modbus protocol and the 485 interface.

[0064] The water leakage detection sensor is installed at the bottom inside the control cabin module, and is responsible for detecting whether there is water leakage in the control cabin. It adopts the normally open output mode of the relay. When the water leakage detection sensor detects water leakage in the control cabin, the normally open relay closes, and the STM circuit board's IO port is used to detect its on-off state to realize the real-time detection of whether there is water leakage in the control cabin.

[0065] The DC voltage stabilization and conversion module group consists of 24VDC terminal blocks L and R on the left and right sides inside the control cabin module, 24V-12VDC modules L and R, and 12VDC terminal blocks L and R. The 24VDC terminal block distributes the 24VDC direct current transmitted by the power supply unit to the electrical equipment in the control cabin module that requires 24VDC power supply; the 24V-12VDC module converts and stabilizes the 24VDC direct current to 12VDC; the 12VDC terminal block distributes the 12VDC direct current after conversion and voltage stabilization by the 24V-12VDC module to the electrical equipment in the control cabin module that requires 12VDC power supply.

[0066] The switch module has a POE power supply function and provides communication functions between devices with network ports, including the communication between the industrial control computer and the vision camera NVR module and the bridge module. The IP addresses of the above three devices and the camera are all set in the same local area network segment.

[0067] The propulsion module includes a propeller and a drive circuit; preferably, there are two propellers, namely the underwater propeller 1 and the underwater propeller 2. The propellers are connected to the propulsion cabin module through two groups of four-core watertight cables for power supply, 485, and CAN communication. The input end of the drive circuit of the propulsion module is connected to the CAN drive board inside the control cabin, and the output end of the drive circuit is connected to the propeller.

[0068] The sensor module consists of a vision sensor, a water quality sensor group, a meteorological sensor, a lithium battery detection sensor, and a water leakage detection sensor.

[0069] The power supply module consists of a lithium battery pack and a solar cell, and realizes hybrid power supply through a charge and discharge controller.

[0070] All lithium battery packs are externally provided with waterproof charging ports for charging the lithium batteries. The lithium battery pack includes a 48VDC 400Ah thruster drive battery and a 24VDC 200Ah control circuit power supply battery. The thruster drive battery powers two thrusters.

[0071] The solar battery pack includes a charge and discharge controller and four 100W 12VDC solar panels, which are laid flat on both sides of the upper panel of the unmanned monitoring boat at a certain angle along the central axis of the boat body. The solar panels are connected to the control circuit power supply battery through the charge and discharge controller, and the charge and discharge controller is used to control the charging of the lithium battery.

[0072] To effectively utilize space, both the propulsion module and the control module use a layered panel installation method, and are arranged on different layers according to the different functions of the modules. To facilitate cable routing, wire grooves and wire holes are provided on the panels of different layers. Each layer of panel is fixed and connected together through the fixing holes at the four corners using long studs and nuts.

[0073] Two lithium battery mounting bases are fixed to the bottom of the propulsion module. The first layer panel is fixed on it, and two 48VDC 200Ah lithium batteries 1 and 2 are fixed. And a water leakage detection sensor is installed at the bottom of the cabin. The second layer panel of the propulsion module is provided with positive and negative terminal rows of 48VDC lithium batteries 1 and 2, 24VDC 200Ah lithium batteries and their positive and negative terminal rows, a 24VDC charge and discharge controller. Cable wire grooves are provided on both sides of the second layer panel, a cable wire hole is provided in the middle, and connection fixing holes are provided at the four corners. The third layer panel of the propulsion module is the cabin cover layer, and is provided with a plurality of watertight connectors, including a four-core watertight connector connected to thruster 1, a four-core watertight connector connected to thruster 2, an eight-core watertight connector connected to the control module, a two-core charging port watertight connector for the 24VDC lithium battery, a two-core charging port watertight connector for 48VDC lithium battery 1, a two-core charging port watertight connector for 48VDC lithium battery 2, and a two-core watertight connector for the solar panel.

[0074] A leakage detection sensor is installed at the bottom of the control cabin module. On the first layer panel of the control cabin module, there are positive and negative terminal blocks L of 24VDC and positive and negative terminal blocks R of 24VDC from the propulsion cabin module, voltage stabilizing modules L of 24VDC - 12VDC and voltage stabilizing modules R of 24VDC - 12VDC, positive and negative terminal blocks L of 12VDC and positive and negative terminal blocks R of 12VDC; cable routing grooves are arranged on both sides of the first layer panel, cable routing holes are arranged in the middle, and connection and fixing holes are arranged at the four corners. On the second layer panel of the control cabin module, there are an industrial computer, a switch, an STM32, a CAN communication card, a relay group, a Beidou communication and navigation module, a combined navigation module, and a bridge module. Cable routing grooves are arranged on both sides of the second layer panel of the control cabin module, cable routing holes are arranged in the middle, and connection and fixing holes are arranged at the four corners. The third layer panel of the control cabin module is the cabin cover layer, which is provided with watertight connectors and through-hull connectors, including through-hull connectors for Beidou antennas, through-hull connectors for combined navigation module antennas, through-hull connectors for bridge antennas, eight-core watertight connectors connected to the propulsion cabin module, two-watertight connectors for 48 signals of water quality and meteorological sensors, and two-core watertight connectors for vision modules.

[0075] The modular control system of the unmanned monitoring boat of the present invention further includes control software. The control software module at least includes a data center module MOOSDB, a decision output module pHelmIvp, a heading and speed information acquisition module pNav, a vision detection module pVision, a speed and heading control module PIDmarine, a Beidou module pBeidou, and an action execution module pAct.

[0076] The data center module MOOSDB is the core of the unmanned monitoring boat control software and is the data center for other modules to subscribe to and distribute messages. The decision output module pHelmIvp obtains the unmanned monitoring boat's heading angle NAV-heading and speed NAV-speed information output by the pNav module for collecting heading and speed information, as well as the obstacle direction information output by the pVision module for visual detection. It makes decision planning on the above input information and outputs the desired speed desired_speed and desired heading desired_heading of the unmanned monitoring boat. The pNav module for collecting heading and speed information mainly realizes the acquisition of the heading and speed information of the integrated navigation module. It collects the longitude, latitude, heading angle, and speed value information output by the integrated navigation module through the 232 serial port module, and combines the longitude, latitude, heading angle, and speed value information output by the pBeidou module for Beidou to perform data fusion and publish the fused unmanned monitoring boat's heading angle NAV-heading and speed NAV-speed information to the data center module MOOSDB. The pVision module for visual detection collects the obstacle information of the camera, uses the target detection method to detect the direction information of the obstacle relative to the forward direction of the unmanned monitoring boat, and publishes the obstacle direction information OB_heading. The pBeidou module collects the longitude, latitude, heading angle, and speed value information output by the Beidou communication and navigation module through the serial port 232 and publishes it. The pAct module subscribes to the ThrustPWM information published by the speed and heading control module PIDmarine, generates a control frame according to the Modbus communication protocol between the main controller and the motion controller, and sends it to the underwater thruster control board through the motion controller after packaging. The pAct module completes the switching of various control modes, process control, and the issuance of control commands. The speed and heading control module PIDmarine subscribes to NAV-heading, NAV-speed generated by the pNav module for collecting heading and speed information, as well as the desired speed Desired_speed and heading Desired_heading given by the decision output module pHelmIvp. After the controller operation, it generates Desired_thrust and Desired_rudder, and further converts Desired_rudder into the thrust difference of the unmanned monitoring boat's thruster, and publishes it through the Notify() function.

[0077] In this embodiment, the control software is installed on an industrial control computer. The underlying operating system is Ubuntu 18.04. The control software is developed using the MOOS-IvP framework, with MOOSDB as the message publishing center of the software system, and is organized in a software architecture mode through message subscription and publishing mechanisms, which can achieve flexible configuration and free addition or deletion of each software module, and configure the software module through a configuration file. The control software configures the initial parameters of the system through *.moos files.

[0078] In this embodiment, the control software further includes a pLogger module, a pNodeReporter module, a pShare module, a uMS module, a pBatteryDect module, and a pSensors module.

[0079] The pLogger module realizes the full record of messages during the system operation in the form of a file; the pNodeReporter module is designed to record the relevant status information of the unmanned monitoring boat node; the pShare realizes data communication between two groups through UDP; the uMS module can uniformly display the information published by each module in a graphical interface for convenient system testing; the pBatteryDect module collects the output information of the battery BMS board, completes the status detection of the lithium battery and publishes it. The pSensors module communicates with the water quality, meteorological, and light sensors through a 485 serial port, obtains the status of various sensors and publishes it.

[0080] To solve the problems of unstable navigation and inaccurate speed and heading control of the unmanned monitoring boat under wind and wave disturbances, the present invention provides a method for setting a combined speed and heading control law. Based on the fuzzy control principle of the Tanh-type S surface control, the fuzzy control rule table is nonlinearly fitted. The Tanh function is used to replace the fuzzy rule base, and thus the Tanh-type S surface controller is obtained:

[0081]

[0082] In the formula, u(t) is the control output, and its value range is (-1, 1), representing the maximum output from the reverse to the forward; α > 1 is the amplification factor from the normalized output of the controller to the actual control output; e(t), and are the deviation, the deviation change rate, and the integral of the deviation with respect to time within Δt = t 2 -t 1 respectively; k 1 、k 2 and k 3 are control parameters.

[0083] For the control law of the ship speed control, first, based on the speed deviation, the rate of change of the speed deviation, and the time integral of the deviation, the output of the S-surface controller is calculated. Then, the time integral of the output of the S-surface controller is performed to obtain the final speed control quantity of the system. By performing the time integral on the controller (1), the S-surface control law (2) for speed control can be obtained:

[0085] ,

[0086] where α v > 1 is the amplification factor from the normalized output of the speed controller to the actual control output, y v (t) is the difference between the given speed and the actual speed of the unmanned boat, and e v (t) is obtained through proportional integral derivative calculation: β v > 0 is the amplification factor of the adjustment term mapped to the speed control output, Δu c2 is the adjustment term to adapt to external disturbances such as ocean currents, and Δu d is the adjustment term for dead zone control. γ v ≥ 0 is the proportional factor of the dead zone, and when the control quantity u v (t) is greater than 1510 or less than 1490, γ v = 0, k v1 , k v2 and k v3 are the adjustment parameters for speed control. e v (t), and are the speed deviation, the rate of change of the deviation, and the deviation time integral within the time of t 1 - t 2 respectively.

[0087] For the control law of the heading control, first, based on the heading deviation, the rate of change of the speed deviation, and the time integral of the deviation, the output of the S-surface controller is calculated. Then, the time integral of the output of the S-surface controller is performed to obtain the final heading control quantity of the system. By performing the time integral on the controller (1), the Tanh-type control law (3) for heading control can be obtained:

[0088]

[0089] where α h > 1 is the amplification factor from the normalized output of the heading control law to the actual control output, y h (t) is the difference between the given heading and the actual heading of the unmanned boat, and e h (t) is obtained through proportional derivative integral calculation: β h > 0 is the amplification factor of the adjustment term mapped to the heading control output, Δuc3 The adjustment term for adapting to external disturbances such as ocean currents, Δu d The adjustment term for dead zone control, γ h ≥0 is the proportionality factor of the dead zone and γ = 0 when the control variable ΔH(t) is greater than 1510 or less than 1490; k h =0; k h1 、k h2 and k h3 are the adjustment parameters for heading control, e h (t), and are the heading deviation, deviation change rate, and the integral of the deviation over time t 1 -t 2 respectively.

[0090] Furthermore, the combined control law of speed and heading is set as:

[0091] u vh (t) = α v u v (t) + α h ΔH(t) (4)

[0092] In the formula, u vh (t) is the combination of the speed control law and the heading control law, u v (t) is the speed control law, ΔH(t) is the equivalent rudder angle control law of the unmanned monitoring boat's thruster, α v > 1 is the amplification factor from the normalized output of the speed controller to the actual control output, α h > 1 is the amplification factor from the normalized output of the heading control law to the actual control output.

[0093] The selection of the control law amplification factor α is directly related to the quality of the control effect. Especially at the initial moment of unmanned monitoring boat control, if α is selected to be relatively large, it will cause the thruster speed of the unmanned monitoring boat to be relatively high at the initial moment, resulting in unstable control of the unmanned monitoring boat. Therefore, in the present invention, the value of α is adaptively adjusted at an appropriate moment during the control process to make the rotation speed of the unmanned monitoring boat's thruster increase or decrease smoothly. For this purpose, for α v and α h , the adaptive amplification factor is set as the sum of a constant and a variable:

[0094] α = α const + α vari (5)

[0095] In the formula: α const is the invariant part, and its value remains unchanged after being selected; α vari is the adaptive adjustment part, and its adjustment method is:

[0096]

[0097] Wherein, c > 0 is the amplification factor proportionality coefficient when the deviation has an increasing trend.

[0098] Thus, α v = α v-const + α v-vari α h = α h-const + α h-vari .

[0099] In this implementation, the specific implementation of the course and speed joint control method includes the following steps:

[0100] First, generate the speed control law. The speed and course control module PIDmarine obtains the unmanned boat speed information Nav_speed output by the course and speed information acquisition module pNav, subtracts it from the given speed Desired_speed to obtain the speed difference, and outputs the speed control law u v (t) through a Tanh-type controller. Use delta_thrust = Speed_factor * u v (t) to generate delta_thrust, and then calculate the desired thruster PWM value Desired_thrust at the current moment, which is equal to the thruster PWM value at the previous moment plus delta_thrust, so as to obtain the desired thruster PWM value Desired_thrust at the current moment.

[0101] Then, generate the course and speed joint control law. Use the course angle NAV-heading information output by the integrated navigation module. When the Desired_rudder of the unmanned boat generated by the speed and course control module PIDmarine is negative, it means that the unmanned boat needs to be controlled to rotate clockwise. At this time, it is required that the thrust of the right thruster of the unmanned boat is greater than that of the left thruster, that is, the PWM value on the right is greater than the PWM value on the left. By analogy, when the Desired_rudder of the unmanned boat generated by the speed and course control module PIDmarine is positive, it means that the unmanned boat needs to be controlled to rotate counterclockwise. At this time, it is required that the thrust of the left thruster is greater than that of the right thruster, that is, the PWM value on the left is greater than the PWM value on the right.

[0102] The specific method for generating the PWM values of the left and right thrusters is as follows: Based on the desired thruster PWM value Desired_thrust, add the PWM increment corresponding to Desired_rudder to obtain the desired PWM values of the left and right thrusters. Therefore, the desired thruster PWM value = Desired_thrust * α v+Desired_rudder*α h , where α v and α h are adaptive amplification factors. Since the PWM values that the left and right electronic speed controllers can receive are restricted by upper and lower limits, the PWM values of the left and right thrusters are saturated. If the value is greater than 2000 us, the value is taken as 2000 us. If the value is less than 1000 us, the value is taken as 1000 us. The PWM values of the left and right thrusters after saturation calculation are Thrustleft and Thrustright respectively. The PWM values are output to the left and right electronic speed controllers to drive the corresponding thrusters to rotate according to the given PWM values, thereby controlling the unmanned boat to reach the desired speed and heading.

[0103] In the present invention, the lithium battery pack of the power supply module is installed in the propulsion module, and the industrial control computer and the communication and navigation module group are installed in the control module to ensure electrical safety and prevent the lithium battery from generating electromagnetic interference on the industrial control computer and the communication and navigation module group. The present invention sets the layout of the modular unmanned monitoring boat control system and equipment modules, modularizes the functions for easy installation and disassembly, and meets the requirements of the installation space and the internal structure of the instrument cabin. Different sensors or control equipment modules can be quickly replaced according to the task requirements, making the maintenance and upgrade of the equipment more convenient. Only individual modules need to be replaced or upgraded, reducing the downtime of the overall equipment, thereby improving the flexibility and efficiency of task execution. The present invention realizes the tracking of the desired speed and heading by setting up a joint controller for the heading and speed of the unmanned monitoring boat, considering adverse factors such as disturbances in dynamic sea currents, wind and wave environments, and improving the control accuracy.

[0104] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing 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 should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0105] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0106] The embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A modular control system for an unmanned monitoring boat, characterized in that: include: A control cabin module, wherein the control cabin module includes a control module group, a communication and navigation module group, a DC voltage regulation and conversion module group, and a switch module. The control module group is composed of an industrial computer, a relay group, and a CAN driver board; A propulsion cabin module, wherein the propulsion cabin module is connected to the control cabin module via a watertight cable; A propulsion module, the propulsion module comprising a propeller and a drive circuit, the input end of the drive circuit is connected to the CAN drive board, and the output end of the drive circuit is connected to the propeller; The sensor module is composed of a visual sensor, a water quality sensor group, a meteorological sensor, a lithium battery detection sensor and a water leakage detection sensor; the power supply module is composed of a lithium battery group and a solar cell, and a charge and discharge controller is used to realize mixed power supply of the two.

2. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The industrial computer communicates with the shore station monitoring center through the communication module and transmits instructions to the corresponding thruster and sensor module group; the relay group controls the power on and off of the electrical equipment according to the power supply status of the lithium battery; the CAN driver board communicates with the industrial computer through the USB interface according to the CAN protocol.

3. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The communication and navigation module group consists of a Beidou communication and navigation module, an integrated navigation module, a bridge module, a Beidou antenna, an integrated navigation module antenna, and a bridge antenna. The Beidou communication and navigation module, the integrated navigation module, and the bridge module are respectively connected to the corresponding Beidou antenna, the integrated navigation module antenna, and the bridge antenna through a cabin penetration method.

4. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The visual sensor is connected to the control cabin module by a watertight cable, the water quality sensor group is installed in the sea access hole of the unmanned monitoring boat and is connected to the industrial computer for communication, the meteorological sensor is connected to the STM32 circuit board for communication; the lithium battery detection sensor is connected to the industrial computer for communication, and the water leakage detection sensor is installed at the bottom of the control cabin module.

5. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The DC voltage stabilization and conversion module group is composed of 24VDC terminal blocks L and R on the left and right sides of the control cabin module, 24V-12VDC modules L and R, and 12VDC terminal blocks L and R.

6. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The propulsion module includes three layers of panels, each of which is fixedly connected using long nuts and studs through fixing holes at four corners. The first layer of panels of the propulsion module is provided with two lithium batteries, the second layer of panels is provided with multiple positive and negative terminal rows of lithium batteries and a lithium battery, and the third layer of panels is provided with multiple watertight connectors.

7. The modular control system of an unmanned monitoring boat according to claim 1, characterized in that: The control cabin module includes three layers of panels, each of which is fixedly connected using long nuts and studs through fixing holes at the four corners. The first layer of panels of the control cabin module is provided with positive and negative terminal blocks and a voltage stabilizing module corresponding to the propulsion cabin module, the second layer of panels is provided with an industrial computer, a switch, an STM32, a CAN communication card, a relay group, a Beidou communication and navigation module, a combined navigation module, and a bridge module, and the third layer of panels is provided with multiple watertight connectors and multiple through-cabin connectors.

8. The modular control system of the unmanned monitoring boat according to any one of claims 1 to 7, characterized in that: It also includes control software, and the control software modules include at least a data center module MOOSDB, a decision output module pHelmIvp, a heading and speed information acquisition module pNav, a visual detection module pVision, a speed and heading control module PIDmarine, a Beidou module pBeidou, and an action execution module pAct.

9. A method for joint control of heading and speed of an unmanned monitoring boat, using the modular control system of the unmanned monitoring boat as claimed in claim 8, characterized in that: Set the speed and heading joint control law as: u vh (t)=α v u v (t)+α h ΔH In the formula, u vh (t) is the combination of speed control law and heading control law, u v (t) is the speed control law, ΔH(t) is the equivalent rudder angle control law of the unmanned monitoring boat propeller, α v >1 is the amplification factor from the normalized output of the speed controller to the actual control output, α h >1 is the amplification factor from the normalized output of the heading control law to the actual control output. Among them, for u v (t) is controlled according to the following formula: In the formula, y v (t) is the difference between the given speed and the actual speed of the unmanned boat. v (t) After proportional differential integration calculation, we get: β v >0 is the magnification factor of the adjustment item mapped on the speed control output, Δu c2 To adapt to external disturbances such as ocean currents, Δu d is the adjustment term of dead zone control, γ v ≥0 is the proportional factor of the dead zone and when the control quantity u v (t) greater than 1510 or less than 1490γ v =0, k v1 , k v2 and k v3 is the adjustment parameter of speed control, e v (t) and They are speed deviation, deviation change rate and deviation time integral within the time t1-t2 respectively. ΔH(t) is controlled by the following formula: In the formula, y h (t) is the difference between the given heading and the actual heading of the unmanned boat. h (t) After proportional differential integration calculation, we get: β h >0 is the magnification factor of the adjustment item mapped on the heading control output, Δu c3 To adapt to external disturbances such as ocean currents, Δu d is the adjustment term of dead zone control, γ h ≥0 is the proportional factor of the dead zone and when the control amount ΔH(t) is greater than 1510 or less than 1490,γ h =0; k h1 , k h2 and k h3 is the adjustment parameter of heading control, e h (t) Hehe They are heading deviation, deviation change rate and deviation time integral within the time t1-t2 respectively.

10. The method for joint control of heading and speed of an unmanned monitoring boat according to claim 9, characterized in that: Set the magnification factor to: α＝α const +α vari In the formula, α const is the constant part, and its value remains unchanged after selection; α vari It is the adaptive adjustment part, and its adjustment method is: Wherein, c>0 is the proportional coefficient of the amplification factor when the deviation has an increasing trend. therefore, a v =a v-const +a v-vari ,a h =a h-const +a h-vari 。

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