Control technology for putting unmanned ship on sea through unmanned helicopter

Abstract

The invention relates to a control technology for putting an unmanned ship on the sea through an unmanned helicopter. A solution is provided for solving the problems that in an existing throwing technology, throwing precision is low, the influence of sea conditions and airflow is large, flight stability is poor, and autonomous navigation starting of an unmanned ship after throwing is slow. According to the technical scheme, the system comprises an unmanned helicopter flight attitude stability control module, information is obtained through multi-sensor fusion, and flight stability is ensured through a self-adaptive control algorithm; the sling swing suppression module suppresses sling swing by installing a damping device and a predictive control algorithm; the delivery process communication guarantee module is used for guaranteeing communication by adopting a redundant communication link and a data encryption error correction technology; and the unmanned ship autonomous navigation starting module is provided with a pre-starting system to realize rapid and stable starting. According to the technology, the throwing precision and safety are improved, it is ensured that the unmanned ship rapidly enters an autonomous operation state, and the overall performance of an offshore unmanned operation system is improved.

Description

Technical Field

[0001] The present invention relates to the field of offshore operation technology, and in particular to a control technology for deploying an unmanned boat from an unmanned helicopter at sea. Background Art

[0002] With the rapid development of marine resource development, maritime monitoring, and marine scientific research, the demand for unmanned maritime platforms is growing. Unmanned boats (UAVs), a key autonomous maritime operation device, can perform a variety of tasks such as water quality monitoring, ocean mapping, and maritime patrols. However, in the vast ocean environment, how to efficiently and accurately deploy UAVs to designated locations has become a critical issue that needs to be addressed.

[0003] Traditionally, the deployment of unmanned aerial vehicles (UAVs) relies primarily on large ships. This approach has numerous limitations. First, large ships have limited maneuverability, making it difficult to flexibly reach the target deployment location in complex waters, such as narrow bays and around islands. Second, ship deployment is expensive, both in terms of purchase and operation costs, and their slow speed makes them unable to respond quickly to emergency missions. Furthermore, in adverse sea conditions, the ship's inherent stability is compromised, increasing the risk of deploying the UAVs, potentially leading to deployment failure or damage to the UAVs.

[0004] In recent years, unmanned helicopters have gradually been considered for use in the deployment of unmanned boats due to their advantages such as strong maneuverability, fast response speed, and vertical take-off and landing. However, the current unmanned boat deployment technology based on unmanned helicopters still faces many challenges. On the one hand, in the marine environment, the airflow is complex and changeable. Unmanned helicopters are easily disturbed by the airflow during the hovering deployment process, resulting in unstable position and posture, making it difficult to accurately control the deployment position. On the other hand, since unmanned boats have a certain weight and volume, when the unmanned helicopter and the unmanned boat are connected by a sling, the swing of the sling will have a significant impact on the flight stability of the unmanned helicopter. Especially at the moment of deployment, if the separation process of the sling and the unmanned boat is not properly controlled, it may cause the unmanned helicopter to shake violently or even lose control.

[0005] At the same time, communication issues during the deployment process cannot be ignored. The unmanned helicopter needs real-time information on its own position, attitude, flight status, and other information, as well as the status of the unmanned boat, to make accurate deployment decisions. However, the electromagnetic environment at sea is complex, and communication signals are susceptible to interference, resulting in poor transmission or loss of information, affecting the accuracy and safety of deployment.

[0006] Another key issue for deployed unmanned boats is how to quickly and stably achieve autonomous navigation. These boats must quickly complete a series of operations, including attitude adjustment and power system startup, to adapt to the maritime environment and navigate to their designated mission area. Existing technologies still need to improve their automation and intelligence in this regard.

[0007] In summary, the development of a reliable, efficient and precise control technology for unmanned helicopters to deploy unmanned boats at sea is of great significance to improving the overall performance of unmanned maritime operation systems. Summary of the Invention

[0008] The present invention aims to provide a control technology for deploying unmanned boats at sea from unmanned helicopters, so as to solve the problems existing in existing deployment technologies, such as low deployment accuracy, great influence of sea conditions and airflow, poor flight stability, and slow start of autonomous navigation of the unmanned boat after deployment, so as to achieve efficient and accurate deployment of unmanned boats at sea and ensure that the unmanned boats can quickly and stably enter the autonomous operation state after deployment.

[0009] To this end, the technical solution adopted by the present invention is as follows: a control technology for deploying an unmanned boat by an unmanned helicopter at sea, specifically comprising:

[0010] The flight parameters and sea surface characteristics of the unmanned helicopter are collected in real time, and the flight parameters and sea surface characteristics are input into the adaptive control algorithm.

[0011] The adaptive control algorithm outputs the control quantity of the unmanned helicopter, and the unmanned helicopter adjusts the rotor speed and pitch based on the control quantity;

[0012] A damping device is installed at the connection point of the sling between the unmanned helicopter and the unmanned boat. The damping device automatically adjusts the damping force according to the sling swing parameters.

[0013] A sling-drone dynamics model was established, and a predictive control algorithm was used to predict the sling swing parameters in advance. The flight parameters and attitude of the unmanned helicopter were then adjusted based on the predicted sling swing parameters.

[0014] Before the unmanned helicopter launches the unmanned boat, the unmanned boat starts the preset pre-start system and performs a self-check on the auxiliary system built into the unmanned boat.

[0015] After the self-inspection is passed, the unmanned boat is separated from the sling, and the auxiliary system is started to guide the unmanned boat to the predetermined mission area.

[0016] Furthermore, the flight parameter collection equipment includes: an inertial measurement unit (IMU), a global positioning system (GPS) and a visual sensor, the IMU collects the angular velocity and acceleration of the unmanned helicopter in real time, the GPS collects the position and speed of the unmanned helicopter in real time, and the visual sensor collects sea surface features in real time;

[0017] The flight parameters include but are not limited to the angular velocity, acceleration, position and speed of the unmanned helicopter.

[0018] Furthermore, the flight parameters and sea surface characteristics are collected at set time intervals and transmitted to the flight control computer;

[0019] The flight control computer includes an adaptive control algorithm;

[0020] The adaptive control algorithm calculates the actual attitude of the unmanned helicopter based on the input flight parameters and the sea surface characteristics, and calculates the attitude deviation based on the desired attitude; then calculates the control variable according to the dynamic equation of the unmanned helicopter, and sends the control variable to the rotor drive system to adjust the rotor speed and pitch;

[0021] The dynamic equation of the unmanned helicopter is expressed as: in, For actual posture, For the expected attitude, is the first-order derivative of the attitude, is the second-order derivative of the attitude, attitude deviation is the inertia matrix of the unmanned helicopter; is the Coriolis force and centrifugal force matrix of the unmanned helicopter, is the gravity vector of the unmanned helicopter;

[0022] The control amount in, is the rate of change of attitude deviation, K p and K d are the proportional and derivative control gain matrices respectively.

[0023] Furthermore, the damping device is composed of a damper body, a sling sensor and a controller, and the sling sensor collects the sling swing parameters in real time and transmits them to the controller;

[0024] The sling swing parameters include the sling swing amplitude and swing frequency;

[0025] The controller calculates the swing speed according to the swing amplitude and the swing frequency, and adjusts the damping force of the damper according to the swing speed and the swing amplitude. The damping force calculation formula is:

[0026] in, is the swing amplitude, is the swing speed, F d is the damping force, c is the damping coefficient, and K is the stiffness coefficient.

[0027] Furthermore, the sling-unmanned boat dynamics model is expressed as:

[0028]

[0029] Among them, m is the mass of the unmanned boat, g is the acceleration due to gravity, is the vertical unit vector, T is the cable tension, is the sling direction unit vector, Indicates the location information of the unmanned boat The second derivative of F is the acceleration of the unmanned boat; env It is the disturbance force of the marine environment.

[0030] Furthermore, the auxiliary system includes a power system, a navigation system, and a sensor system. When the auxiliary system states are all normal, the self-check is passed;

[0031] The unmanned boat also includes a posture adjustment device;

[0032] After the self-test is passed, the power system is preheated and started when the unmanned boat is released from the sling;

[0033] After the unmanned boat is separated from the sling, it obtains sea surface status information through the sensor system;

[0034] According to the sea surface state information and the unmanned boat dynamic equation, the attitude adjustment device calculates the torque τ to be generated attr , to control the attitude of the unmanned boat;

[0035] The unmanned boat dynamic equation is expressed as

[0036]

[0037] Among them, I is the inertia matrix of the unmanned boat, is the Coriolis force and centrifugal force matrix of the unmanned boat, is the gravity vector of the UAV, is the attitude vector of the USV; and They are The first and second derivatives of .

[0038] Furthermore, the navigation system calculates and adjusts navigation parameters in real time based on real-time sea condition information, real-time position of the unmanned boat and a preset planned route.

[0039] Furthermore, the navigation parameter is the speed vector of the unmanned boat.

[0040] The velocity vector of the unmanned boat is calculated by the following formula:

[0041]

[0042] Among them, k p and k d is the control gain; is the velocity vector of the unmanned boat, The direction of the unmanned boat is determined by The size of determines the speed of the unmanned boat. Reserve the mission area location for the unmanned boat, The current position of the unmanned boat.

[0043] Furthermore, the unmanned helicopter and unmanned boat are respectively equipped with a satellite communication terminal, an ultra-short wave communication radio and a Bluetooth module. The satellite communication terminal is used to obtain sea condition information, the ultra-short wave communication radio serves as a communication link when the control technology is in operation, and the Bluetooth module serves as a backup communication link.

[0044] The communication link is encrypted and transmitted using the AES encryption algorithm.

[0045] Compared with the prior art, the advantages of the present invention are:

[0046] (1) This invention utilizes multi-sensor fusion to acquire the position, attitude, and velocity information of the unmanned helicopter in real time. Combined with an adaptive control algorithm, it can accurately sense and quickly respond to airflow disturbances. For example, when the IMU detects a tilt, the algorithm rapidly adjusts the rotor parameters, enabling the unmanned helicopter to maintain stable hovering and launch in complex offshore airflow environments. This significantly improves launch accuracy, keeping the launch position error within a range of ±5 meters.

[0047] (2) The damping device of the present invention can automatically adjust the damping force based on the swing amplitude and frequency of the sling. The predictive control algorithm can predict the sling swing trend in advance and actively compensate by controlling the attitude and movement of the unmanned helicopter. This greatly reduces the impact of the sling swing on the flight stability of the unmanned helicopter, reduces the risk of the unmanned helicopter losing control during the launch process, and improves the safety of the launch operation.

[0048] (3) The present invention adopts a redundant communication link design and combines multiple communication methods. Before deployment, satellite communication is used to obtain wide-area information to assist decision-making. During deployment, ultra-short wave is used to transmit status information in real time. Bluetooth is used as a backup link. Data encryption and error correction technology are also used. This ensures that information can be transmitted reliably in complex marine electromagnetic environments, providing strong support for the precise control of unmanned helicopters and the smooth deployment of unmanned boats.

[0049] (4) The pre-start system of the present invention remotely initiates a pre-start program before deployment, performs a self-check on each system of the unmanned boat, quickly starts the power system after deployment, uses the attitude adjustment device to quickly adapt to the sea surface conditions, and combines the pre-planned route with real-time sea condition information to quickly calculate navigation parameters to sail to the predetermined area. This achieves a rapid and stable startup of the unmanned boat after deployment, shortens the time it takes to enter the autonomous operation state, and improves the working efficiency of the entire marine unmanned operation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1 It is a framework diagram of the present invention;

[0052] Figure 2 Flow chart of the method of the present invention. DETAILED DESCRIPTION

[0053] To achieve the above objectives, the present invention is implemented through the following technical solutions: the present invention provides a control technology for an unmanned helicopter to launch an unmanned boat at sea, such as Figure 1 and Figure 2 Shown include:

[0054] 1. Unmanned helicopter flight attitude stabilization control module

[0055] 1.1 Sensor data collection:

[0056] A high-precision inertial measurement unit (IMU), global positioning system (GPS), and visual sensors are installed on the unmanned helicopter. The IMU should be mounted near the center of gravity of the unmanned helicopter, the GPS module should be installed in an unobstructed position to ensure stable reception of satellite signals, and the visual sensor should be mounted on the bottom of the helicopter so that its field of view covers the sea surface, identifying surface features and assisting in attitude adjustments.

[0057] In this embodiment, the IMU measures the angular velocity and acceleration of the unmanned helicopter in real time, the GPS provides the position and velocity information of the unmanned helicopter, and the visual sensor identifies sea surface features to assist in attitude adjustment;

[0058] The IMU, GPS, and vision sensors collect data at time intervals Δt, and the collected data is transmitted to the flight control computer through corresponding interfaces and communication protocols. For example, serial communication is used to send the data to a designated port of the flight control computer.

[0059] Define the angular velocity measured by the IMU at the kth acquisition as ω k , the acceleration is The location obtained by GPS is Speed ​​is

[0060] 1.2 Adaptive control algorithm:

[0061] In this embodiment, the adaptive control algorithm uses data collected by the IMU, GPS and vision sensor as input, and the adaptive control algorithm program is pre-stored in the flight control computer, and the adaptive control algorithm program is pre-written using a suitable programming language (such as C language or Python).

[0062] The adaptive control algorithm is used to control the control variable Δτ of the unmanned helicopter. The calculation process is as follows:

[0063] Define the desired posture of the unmanned helicopter as The current actual posture is Posture deviation According to the Newton-Euler equation, the dynamic equation of the unmanned helicopter can be expressed as:

[0064] in, is the inertia matrix of the unmanned helicopter, and the attitude of the unmanned helicopter Related; is the Coriolis force and centrifugal force matrix of the unmanned helicopter, and the attitude and angular velocity Related; is the gravity vector of the unmanned helicopter, and Related; τ is the control torque generated by the unmanned helicopter rotor.

[0065] In this embodiment, the adaptive control algorithm is based on the posture deviation And the unmanned helicopter dynamics equation, the required control quantity Δτ is calculated in real time, and it is calculated by the following formula:

[0066] Among them, K p and K d are the proportional and derivative control gain matrices respectively, is the rate of change of attitude deviation.

[0067] The control variable Δτ is sent to the unmanned helicopter's rotor drive system via a control signal, enabling real-time adjustment of the rotor speed n and blade pitch β. The relationship between the lift force F generated by the rotor and the rotor speed n and blade pitch β can be approximately expressed as:

[0068] F=ρAC T n 2β

[0069] Where ρ is the air density, A is the rotor swept area, and C T is the lift coefficient.

[0070] 2. Sling swing suppression module

[0071] 2.1 Damping device:

[0072] A damping device is installed on the sling connecting the unmanned helicopter and the unmanned boat, near the end of the unmanned helicopter. In this embodiment, the damping device consists of a damper body, a sling sensor, and a controller. Ensure that the damping device is securely installed and that the sensor can accurately monitor the sling's swing.

[0073] The sling sensor monitors the swing amplitude of the sling in real time and frequency The sling sensor can be a combination of an angle sensor and an acceleration sensor. The analog signal output by the sensor is converted into a digital signal through a signal conditioning circuit and then transmitted to the controller.

[0074] Assume that the measured value of the swing amplitude of the sling at the kth moment is φ k , the frequency measurement value is ω φ,k .

[0075] The controller automatically adjusts the damping force F of the damper according to the swing parameters based on the preset algorithm d Damping force F d With the swing amplitude φ and speed The relationship can be expressed as:

[0076]

[0077] Where c is the damping coefficient and K is the stiffness coefficient.

[0078] The controller is based on the measured φ k and ω φ,k Calculate Then calculate the damping force F that needs to be adjusted according to the above formula d The damper is driven by the control signal to adjust the damping force.

[0079] 2. Predictive control algorithm:

[0080] A dynamic model of the sling-unmanned boat system is established in the flight control computer of the unmanned helicopter.

[0081] In this embodiment, the mass m of the unmanned boat, the length l of the sling, and the marine environment interference force F are considered. envThe influence of factors such as the sling swing. The dynamic equation of the sling-unmanned boat system in the Cartesian coordinate system is:

[0082]

[0083] Where g is the acceleration due to gravity, is the vertical unit vector, T is the cable tension, is the sling direction unit vector, Indicates the location information of the unmanned boat The second derivative of is the acceleration of the unmanned boat.

[0084] In this embodiment, by analyzing and calculating the dynamic model of the sling-unmanned boat system, a predictive control algorithm is used to predict the swing parameters of the sling in the future.

[0085] For example, the predictive control algorithm can adopt a prediction method based on Kalman filtering or neural network to predict the swing direction and amplitude of the rope at the next moment according to the current swing parameters of the rope and the flight parameters (angular velocity, acceleration, position, speed, etc.) and attitude of the unmanned helicopter.

[0086] Assume that the prediction time domain is N, and the predicted sling swing amplitude is

[0087] The flight control computer adjusts the flight parameters and attitude of the unmanned helicopter in advance based on the prediction results, and actively compensates for the impact of the cable swing on the flight stability of the unmanned helicopter. For example, based on the predicted cable swing amplitude Calculate the attitude angle that the unmanned helicopter needs to adjust Calculated by the following formula:

[0088]

[0089] Among them, f1 is a function determined according to the system dynamics model and control strategy, This is the current posture of the unmanned helicopter.

[0090] 3. Communication support module during the delivery process

[0091] 3.1 Communication link establishment:

[0092] Install communication equipment such as satellite communication terminals, ultra-short wave communication radios, and Bluetooth modules on the unmanned helicopter and unmanned boat, respectively. Ensure that the satellite communication terminal antenna is properly oriented to receive satellite signals; the ultra-short wave communication radio antenna is properly installed to avoid obstructions; and the Bluetooth module is installed in a location that facilitates communication with other devices.

[0093] In this embodiment, the satellite communication terminal is used to obtain wide-area weather, sea conditions and other information, and serves as a backup communication link during the deployment process to ensure that a certain communication capability can be maintained when ultra-short wave communication is interrupted.

[0094] The ultra-short wave communication radio is used to transmit the status information of the unmanned helicopter and unmanned boat in real time during the deployment process, such as the location attitude speed Equipment operating status, etc.

[0095] The Bluetooth module serves as a short-range backup communication link and is used to transmit critical control and status information when ultra-short wave communication is severely interfered with.

[0096] In this embodiment, a corresponding communication protocol is configured for each communication link to ensure accurate data transmission. For example, satellite communication uses an internationally accepted satellite communication protocol, ultra-short wave communication uses a protocol suitable for maritime communication, and Bluetooth communication uses a standard Bluetooth communication protocol.

[0097] 3.2 Data encryption and error correction:

[0098] In this embodiment, during the communication process, the transmitted data is encrypted using an encryption algorithm to prevent the data from being stolen or tampered with. For example, the AES (Advanced Encryption Standard) algorithm is used, and the plaintext data is P, the key is K, and the encrypted data C is:

[0099] C=AES(P,K)

[0100] The same encryption key K is pre-set in the communication equipment of the unmanned helicopter and the unmanned boat. When data needs to be transmitted, the sender encrypts the plaintext data P to obtain C before sending it. After receiving C, the receiver uses the same key K to decrypt it and obtain the plaintext data P.

[0101] At the same time, error correction coding technology, such as cyclic redundancy check (CRC) code, is used to encode the transmitted data. Let the original data be D, the generating polynomial be G(x), and the CRC check code be R. The encoded data D' is:

[0102] D'=D·x m +R

[0103] Where m is the highest degree of the generating polynomial G(x).

[0104] Before sending data, the transmitter calculates a CRC checksum R based on the generator polynomial G(x) and appends it to the original data D to obtain D' before sending it. After receiving D', the receiver uses the checksum to detect any errors during data transmission and performs error correction to ensure data accuracy and integrity. After receiving the data, the receiver uses the checksum to detect any errors during data transmission and performs error correction to ensure data accuracy and integrity.

[0105] 4. Unmanned Boat Autonomous Navigation Start Module

[0106] 4.1 Pre-startup program settings:

[0107] In the control system of the unmanned boat, a pre-startup program is written. This program includes functional modules such as system self-test, power system preheating, and attitude adjustment device initialization.

[0108] Before the unmanned helicopter launches the unmanned boat, it sends a pre-start command to the unmanned boat via wireless communication to start the pre-start program. After the unmanned boat receives the command, the control system starts executing the pre-start program.

[0109] 4.2 System self-check and power start:

[0110] The pre-start program first performs a comprehensive self-check on the power system (such as engine, battery, etc.), navigation system (such as GPS, compass, etc.) and sensor system (such as wind speed sensor, water level sensor, etc.) of the unmanned boat. Assume that the power system state is S power , the navigation system status is S nav , the sensor system state is S sensor , when S power =normal, S nav =normal, S sensor = normal, the self-test has passed. The system status can be determined by reading the status registers or sensor output values ​​of the above systems.

[0111] After the self-test passes, the power system warms up and prepares for a quick start. For example, if the power system is an engine, preheating is performed by controlling the fuel injection system and ignition system; if it is a battery power system, pre-charging the battery and performing voltage testing are performed.

[0112] When the unmanned boat is released from the sling, the power system starts quickly. Assume that the thrust generated by the power system is F thrust , the power system startup time is t start ,satisfy:

[0113] F thrust =f2(tt start )

[0114] Where f2 is a function related to the characteristics of the power system, and t is the current time. The power system quickly generates thrust according to the preset startup program and parameters, allowing the unmanned boat to gain power.

[0115] 4.3 Attitude Adjustment and Autonomous Navigation:

[0116] After the attitude adjustment device (such as steering gear, balance wing, etc.) on the unmanned boat is separated from the sling, it quickly adjusts the attitude of the unmanned boat according to the sea surface state information obtained by its own sensor to keep it stable. Let the torque generated by the attitude adjustment device be τ attr , according to the dynamic equation of the unmanned boat:

[0117]

[0118] Among them, I is the inertia matrix of the unmanned boat, is the Coriolis force and centrifugal force matrix of the unmanned boat, is the gravity vector of the UAV, is the attitude vector of the USV; and They are The first and second derivatives of .

[0119] The attitude adjustment device calculates the torque τ required based on the attitude of the unmanned boat and the sea surface state information measured by the sensor. attr And achieve attitude adjustment by controlling the action of the servo or balance wing.

[0120] At the same time, the autonomous navigation system of the unmanned boat calculates the navigation parameters, such as heading ψ and speed v, based on the pre-planned route and the real-time sea surface status information (such as wind direction, wind speed, ocean current, etc.), and controls the unmanned boat to sail to the predetermined mission area. The current position of the unmanned boat is The navigation parameters are calculated using the following formula:

[0121]

[0122] Among them, k p and k d is the control gain, is the desired velocity vector of the unmanned boat, whose direction determines the heading ψ, and whose magnitude determines the speed v. During navigation, the autonomous navigation system continuously adjusts navigation parameters based on real-time information to ensure that the unmanned boat reaches its destination accurately and safely.

[0123] For example, the sea condition information and the position information of the unmanned boat are updated every certain time (such as 1s), the navigation parameters are recalculated, and the power system and attitude adjustment device of the unmanned boat are adjusted.

[0124] This embodiment uses an inertial measurement unit (IMU), a global positioning system (GPS), and a visual sensor for multi-sensor fusion to obtain real-time information on the position, attitude, and speed of the unmanned helicopter. It also adopts an adaptive control algorithm to adjust the rotor speed and pitch in real time according to the dynamic equation, effectively offsetting airflow interference and ensuring stability and high precision of hovering and delivery in complex marine airflow environments. The delivery position error can be controlled within ±5 meters.

[0125] In this embodiment, a damping device is installed at the connection point of the sling, which can automatically adjust the damping force according to the swing amplitude and frequency. At the same time, by establishing a dynamic model and adopting a predictive control algorithm, the swing trend is predicted in advance, and the impact on the flight stability of the unmanned helicopter is actively compensated, thereby reducing the risk of loss of control and improving the safety of delivery.

[0126] This embodiment utilizes a redundant communication link design that combines satellite, ultra-short wave, and Bluetooth communications. Satellite communication is used to acquire wide-area information before deployment, while ultra-short wave transmission of status information is used in real time during deployment. Bluetooth serves as a backup link. Technologies such as AES encryption and CRC error correction ensure reliable information transmission in complex electromagnetic environments, supporting precise control and smooth deployment.

[0127] Pre-start and rapid autonomous navigation of unmanned boats: A pre-start system is set up on the unmanned boat. Before being launched, the pre-start program is remotely started to perform system self-checks and power preheating. After being separated from the sling, the power system is quickly started. The attitude adjustment device is used to adjust the attitude according to the sea surface status information and to satisfy the dynamic equation. The autonomous navigation system calculates the navigation parameters according to the formula based on the route and sea condition information to achieve rapid and stable startup, shorten the time to enter the autonomous operation state, and improve work efficiency.

[0128] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control technology for deploying an unmanned boat from an unmanned helicopter at sea, characterized in that: Specifically: The flight parameters and sea surface characteristics of the unmanned helicopter are collected in real time, and the flight parameters and sea surface characteristics are input into the adaptive control algorithm. The adaptive control algorithm outputs the control quantity of the unmanned helicopter, and the unmanned helicopter adjusts the rotor speed and pitch based on the control quantity; A damping device is installed at the connection point of the sling between the unmanned helicopter and the unmanned boat. The damping device automatically adjusts the damping force according to the sling swing parameters. A sling-drone dynamics model was established, and a predictive control algorithm was used to predict the sling swing parameters in advance. The flight parameters and attitude of the unmanned helicopter were then adjusted based on the predicted sling swing parameters. Before the unmanned helicopter launches the unmanned boat, the unmanned boat starts the preset pre-start system and performs a self-check on the auxiliary system built into the unmanned boat. After the self-inspection is passed, the unmanned boat is separated from the sling, and the auxiliary system is started to guide the unmanned boat to the predetermined mission area.

2. The control technology according to claim 1, characterized in that: The flight parameter collection equipment includes: an inertial measurement unit (IMU), a global positioning system (GPS) and a visual sensor. The IMU collects the angular velocity and acceleration of the unmanned helicopter in real time, the GPS collects the position and speed of the unmanned helicopter in real time, and the visual sensor collects sea surface features in real time. The flight parameters include but are not limited to the angular velocity, acceleration, position and speed of the unmanned helicopter.

3. The control technology according to claim 1, characterized in that: The flight parameters and sea surface characteristics are collected at set time intervals and transmitted to the flight control computer; The flight control computer includes an adaptive control algorithm; The adaptive control algorithm calculates the actual attitude of the unmanned helicopter based on the input flight parameters and the sea surface characteristics, and calculates the attitude deviation based on the desired attitude; then calculates the control variable according to the dynamic equation of the unmanned helicopter, and sends the control variable to the rotor drive system to adjust the rotor speed and pitch; The dynamic equation of the unmanned helicopter is expressed as: in, For actual posture, For the expected attitude, is the first-order derivative of the attitude, is the second-order derivative of the attitude, attitude deviation is the inertia matrix of the unmanned helicopter; is the Coriolis force and centrifugal force matrix of the unmanned helicopter, is the gravity vector of the unmanned helicopter; The control amount in, is the rate of change of attitude deviation, K p and K d are the proportional and derivative control gain matrices respectively.

4. The control technology according to claim 1, characterized in that: The damping device is composed of a damper body, a sling sensor and a controller. The sling sensor collects the sling swing parameters in real time and transmits them to the controller. The sling swing parameters include the sling swing amplitude and swing frequency; The controller calculates the swing speed according to the swing amplitude and the swing frequency, and adjusts the damping force of the damper according to the swing speed and the swing amplitude. The damping force calculation formula is: in, is the swing amplitude, is the swing speed, F d is the damping force, c is the damping coefficient, and K is the stiffness coefficient.

5. The control technology according to claim 1, characterized in that: The sling-USV dynamic model is expressed as: Among them, m is the mass of the unmanned boat, g is the acceleration due to gravity, is the vertical unit vector, T is the cable tension, is the sling direction unit vector, Indicates the location information of the unmanned boat The second derivative of F is the acceleration of the unmanned boat; env It is the disturbance force of the marine environment.

6. The control technology according to claim 1, characterized in that: The auxiliary system includes a power system, a navigation system and a sensor system. When the auxiliary system status is normal, the self-test passes; The unmanned boat also includes a posture adjustment device; After the self-test is passed, the power system is preheated and started when the unmanned boat is released from the sling; After the unmanned boat is separated from the sling, it obtains sea surface status information through the sensor system; According to the sea surface state information and the unmanned boat dynamic equation, the attitude adjustment device calculates the torque τ to be generated attr , to control the attitude of the unmanned boat; The unmanned boat dynamic equation is expressed as Among them, I is the inertia matrix of the unmanned boat, is the Coriolis force and centrifugal force matrix of the unmanned boat, is the gravity vector of the UAV, is the attitude vector of the USV; and They are The first and second derivatives of .

7. The control technology according to claim 6, characterized in that: The navigation system calculates and adjusts the navigation parameters in real time based on real-time sea condition information, real-time position of the unmanned boat and a preset planned route.

8. The control technology according to claim 7, characterized in that: The navigation parameter is the speed vector of the unmanned boat, The velocity vector of the unmanned boat is calculated by the following formula: Among them, k p and k d is the control gain; is the velocity vector of the unmanned boat, The direction of the unmanned boat is determined by The size of determines the speed of the unmanned boat. Reserve the mission area location for the unmanned boat, The current position of the unmanned boat.

9. The control technology according to claim 1, characterized in that: The unmanned helicopter and unmanned boat are respectively equipped with a satellite communication terminal, an ultra-short wave communication radio and a Bluetooth module, wherein the satellite communication terminal is used to obtain sea condition information, the ultra-short wave communication radio serves as a communication link when the control technology is in operation, and the Bluetooth module serves as a backup communication link; The communication link is encrypted and transmitted using the AES encryption algorithm.

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