CN104267736A

CN104267736A - Autonomous control method and device of sailing ship and sailing ship

Info

Publication number: CN104267736A
Application number: CN201410462433.9A
Authority: CN
Inventors: 王智锋; 林天麟
Original assignee: Wisdom City System Service (china) Co Ltd
Current assignee: Shenzhen City Zhongzhi Kechuang Robot Co., Ltd.
Priority date: 2014-09-11
Filing date: 2014-09-11
Publication date: 2015-01-07
Anticipated expiration: 2034-09-11
Also published as: WO2016037444A1; CN104267736B

Abstract

The invention discloses an autonomous control method and device of a sailing ship and the sailing ship. The method includes the steps of setting at least one waypoint; acquiring navigation information of the sailing ship and setting the next waypoint from the position where the sailing ship is located as a target waypoint; determining an expected course vector according to the relative azimuth of the sailing ship and the target waypoint and the true wind direction; controlling the sail state of the sailing ship according to relative wind direction information; controlling the rudder angle according to the current course of the sailing ship and the expected course vector so as to reach or track the expected course; judging whether the sailing ship has reached the target waypoint or not, judging whether the target waypoint is a navigation terminal point if the sailing ship has reached the target waypoint, and ending the process if the target waypoint is the navigation terminal point. According to the autonomous control method and device of the sailing ship and the sailing ship, the complete control method for autonomous navigation of the sailing ship is provided for the autonomous navigation process of the sailing ship, and autonomous control over the sailing ship is systematically achieved through division of a course area, calculation of the expected course vector, control over the rudder angle, control over the unfolding area and the adjustment angle of a sail, assisted propelling of a propeller and the like.

Description

The autonomous control method of a kind of sailing boat, device and sailing boat

Technical field

The present invention relates to unmanned sailing boat field, particularly relate to the autonomous control method of a kind of sailing boat, device and sailing boat.

Background technology

In prior art, unmanned sailing boat is the up-to-date product of Robotics and yachtsmanship cross development.Unmanned sailing boat is using wind-force as thrust power, can carry out the tasks such as guard's patrol, scientific investigation, environment measuring at sea for a long time, when can avoid mankind's operation at sea for a long time, and the problems such as the safety that may run into, supply.

As everyone knows, sailing boat rides the sea needs in the face of various complex situations.But in the prior art, the unmanned autonomous navigation technology comprising sailing boat is mainly concentrated on sail is carried out from main control.

Be only applicable to the Heading control of large transport ship as the control method of supplementary navigation instrument using sail, because large transport ship and the structure of skiff have larger different, principle of work and manipulation principle also have larger difference; Therefore, the control program that galleon adopts well can not be applicable to skiff; On the other hand, only using sail as supplementary navigation instrument, can not realize to hull from main control.

And, by known to the analysis of prior art achievement and relate art literature, the research and development achievement of existing unmanned sailing boat mainly lays particular emphasis on the realization of sailing boat automatic control system hardware, a kind of control method of the globality be applied in sail autonomous driving is not had yet, in the navigation process of sailing boat, the control action such as generation, the control of sail state, the control of rudder angle to navigation path can not be realized well.

Summary of the invention

Fundamental purpose of the present invention is to provide the autonomous control method of a kind of sailing boat, device and sailing boat, is intended to systematically to realize the automatic generation in sail navigation path, the automatic control of sail state, the automatic control function of rudder angle, improves independently handling.

To achieve these objectives, the present invention proposes the autonomous control method of a kind of sailing boat, comprises the following steps:

In navigation path, at least one way point is set;

Target course point determining step: the sail information obtaining sailing boat, is set to target course point by next way point of sailing boat position;

Desired course determining step: determine the course vector expected according to the relative orientation of sailing boat and target course point and the direction of true wind;

Rate-determining steps: the sail state controlling sailing boat according to apparent wind to information; The course vector of the course current according to sailing boat and expectation, controls the rudder angle of sailing boat to reach or to follow the tracks of desired course;

Determining step: judge whether sailing boat arrives target course point; If do not arrive, then return desired course determining step; If arrive, then judge whether target course point is navigation terminal further; If not, then return target course point determining step; If so, then process ends.

Preferably, desired course determining step comprises:

Obtain the information of true wind;

According to the wind direction information of true wind, divide course district centered by sailing boat, course district at least comprises district, windward unnavigability district, crosswind district with the wind;

According to the relative position of target course point and sailing boat, calculate the relative bearing of target course point relative to sailing boat;

According to the course district residing for relative bearing determination target course point; Course district residing for target course point obtains the course vector expected.

Preferably, the information obtaining true wind comprises:

Obtain the wind speed information relative to the apparent wind of sailing boat hull and wind direction information;

Vector operation is carried out to the wind speed information of speed of a ship or plane information, course information, apparent wind and the wind direction information of apparent wind, obtains wind speed information relative to the true wind of bank and wind direction information according to the result of Vector operation.

Preferably, the course vector of the course current according to sailing boat and expectation, the rudder angle controlling sailing boat comprises to reach or to follow the tracks of desired course:

The actual heading of sailing boat is controlled by the deflection of rudder;

The actual heading of sailing boat is made to reach or follow the tracks of desired course by controlling rudder angle.

Preferably, the sail state controlling sailing boat according to apparent wind to information comprises:

According to the wind direction information of apparent wind, control sail adjustment angle.

Preferably, rate-determining steps also comprises:

Obtain the attitude angle of sailing boat, wherein, attitude angle comprises course angle, the angle of pitch and roll angle;

When the angle of pitch presets dangerous values more than first or when roll angle presets dangerous values more than second, send the distress signal that sailing boat is tumbled, and terminate navigation.

The invention allows for a kind of sailing boat automatic control device, this device comprises:

Way point arranges module, for arranging at least one way point in navigation path;

Target course point determination module, for obtaining the sail information of sailing boat, is set to target course point by next way point of sailing boat position;

Desired course determination module, for the course vector determining to expect according to the relative orientation of sailing boat and target course point and the direction of true wind;

Control module, for controlling the sail state of sailing boat to information according to apparent wind; The course vector of the course current according to sailing boat and expectation, controls the rudder angle of sailing boat to reach or to follow the tracks of desired course;

Judge module, comprises the first judging unit and the second judging unit, wherein,

First judging unit is for judging whether sailing boat arrives target course point; If do not arrive, then return desired course determining step, if arrive, then notify the second judging unit;

Second judging unit is for judging whether target course point is navigation terminal; If not, then return target course point determining step, if so, then terminate.

Preferably, desired course determination module comprises: true wind information acquisition unit, course Division unit, relative bearing determining unit and course district determining unit, wherein,

True wind information acquisition unit is for obtaining the information of true wind;

Course Division unit is used for the wind direction information according to true wind, and centered by sailing boat, divide course district, course district at least comprises district, windward unnavigability district, crosswind district with the wind;

Relative bearing determining unit is used for the relative position according to target course point and sailing boat, calculates the relative bearing of target course point relative to sailing boat;

Course district determining unit is used for the course district residing for relative bearing determination target course point.

Preferably, true wind information acquisition unit also for,

Vector operation is carried out to the wind speed information of speed of a ship or plane information, course information, apparent wind and the wind direction information of apparent wind, obtains wind speed information relative to the true wind of bank and wind direction information according to the result of Vector operation;

Control module comprises the first real navigation control module and the second real navigation control module, wherein,

First real navigation control module is used for the actual heading being controlled sailing boat by the deflection of rudder;

Second real navigation control module is used for making the actual heading of sailing boat reach or follow the tracks of desired course by controlling rudder angle.

Control module also comprises sail adjustment angle control module, for the wind direction information according to apparent wind, controls sail adjustment angle.

Control module also comprises attitude angle acquiring unit and distress signal processing unit, wherein,

Attitude angle acquiring unit is for obtaining the attitude angle of sailing boat, and wherein, attitude angle comprises course angle, the angle of pitch and roll angle;

Distress signal processing unit is used for when the angle of pitch presets dangerous values more than first or when roll angle presets dangerous values more than second, sends the distress signal that sailing boat is tumbled, and terminates navigation.

The invention allows for a kind of sailing boat, comprise hull, sail, rudder, drive unit and propulsion plant, this sailing boat also comprises above-mentioned sailing boat automatic control device.

Implement the autonomous control method of sailing boat of the present invention, in the autonomous navigation process of sailing boat, by the calculating of the division to course district, desired course vector, the control method that the sailing boat of a set of globality independently navigates by water is provided, systematically realize the automatic generation in sail navigation path, the automatic control of sail state, the automatic control function of rudder angle, improve independently handling.

Simultaneously, implement sailing boat automatic control device of the present invention, by the control of rudder angle, sail open area and the control adjusting angle, angle of rake auxiliary pushing, and the Inertial Measurement Unit of sailing boat provides the attitude information of hull in overall inertial coordinates system, comprise course angle, the angle of pitch and roll angle, the warp of sailing boat is obtained by GPS, Position Latitude data, the speed of a ship or plane and course information, the wind speed and direction of the apparent wind relative to hull is provided by wind sensor, the signal of wind sensor is received by controller, according to the autonomous control algorithm of sailing boat, calculate the controlled quentity controlled variable of rudder and sail, and perform corresponding control action, systematically achieve the autonomous unmanned navigation of sailing boat.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:

Fig. 1 is the process flow diagram of the autonomous control method of sailing boat provided by the invention;

Fig. 2 is the process flow diagram of the autonomous control method of sailing boat that present pre-ferred embodiments provides;

Fig. 3 is the refinement process flow diagram of the Solid rocket engine of the autonomous control method of sailing boat of the present invention;

The refinement process flow diagram of the desired course vector calculation of the autonomous control method of Fig. 4 sailing boat of the present invention;

Fig. 5 is the structured flowchart of the sailing boat automatic control device that present pre-ferred embodiments provides;

Fig. 6 is the hardware structure diagram of a kind of sailing boat provided by the invention;

Fig. 7 be the autonomous control method of sailing boat of the present invention impact point residing for cruising ground time relative orientation schematic diagram;

Fig. 8 is the ship base plane coordinate system schematic diagram of the autonomous control method of sailing boat of the present invention;

Fig. 9 is the vector correlation schematic diagram of the wind of the autonomous control method of sailing boat of the present invention;

Figure 10 is the demarcation schematic diagram of the wind sensor of the autonomous control method of sailing boat of the present invention.

Embodiment

Embodiment one

The process flow diagram of the autonomous control method of sailing boat that present pre-ferred embodiments provides as shown in Figure 1.The method comprises the following steps:

S1, navigation path at least one way point is set.Wherein, last way point is the navigation terminal of sailing boat.

Particularly, by the user of service of system or unmanned sailing boat, within the scope of air route, several way points are determined and number consecutively, set gradually way point M1, way point M2 ... way point Mn, wherein, way point M1 is first way point, way point Mn is last way point, is navigation terminal.The position of way point is described by longitude and latitude value.

S2, target course point determining step: the sail information obtaining sailing boat, is set to target course point by next way point of sailing boat position.

Particularly, from first way point, current goal point is set to; Sailing boat is once arrive current goal point, then arranging next way point is current goal point, until last way point.When sailing boat departs, way point M1 is set to target course point; Then, when sail navigation is to way point M1, target course point is replaced by way point M2; Follow-up way point is set gradually into target course point according to this, until way point Mn is set to target course point.

S3, desired course determining step: determine the course vector expected according to the relative orientation of sailing boat and target course point and the direction of true wind.

First, centered by sailing boat, divide course district, calculate the relative orientation of target course point and sailing boat, and the course district residing for relative orientation determination target course point.In this step:

The division in a, course district: according to wind direction information, is divided into the course district at least comprising district, windward unnavigability district, crosswind district with the wind by degree direction, 360 centered by sailing boat.In the present embodiment, four courses district will be divided into centered by sailing boat, be specially unnavigability district I, three o'clock wind district II windward, wind district, left side III, district IV with the wind.Wherein, unnavigability district I is the angular regions of positive each 45 degree of left and right against the wind windward, and in this region, sailing boat cannot navigate by water.District IV is the angular regions of each 30 degree of left and right just with the wind with the wind; To consider in district IV with the wind lower the and less stable of efficiency of navigation, district IV is considered the angular regions that should not navigate by water in the present invention with the wind.Unnavigability district I and two pieces of angular regions with the wind between district IV are three o'clock wind district II and wind district, left side III respectively windward; Sailing boat windward time, right side ship side institute to be three o'clock wind district II, left side ship side to being wind district, left side III; Three o'clock wind district II and wind district, left side III is navigable angular regions; Sailing boat will navigate by water in three o'clock wind district II and wind district, left side III two angular regions, close to and arrive current goal point.

The relative orientation of b, calculating current goal point and sailing boat, and the course district residing for relative orientation determination current goal point.By the relative position relation of current goal point and sailing boat, calculate the relative bearing of current goal point relative to sailing boat, by the course district residing for relative bearing determination current goal point.Because sailing boat circumference 360 degree has been divided into four courses district, the relative bearing of current goal point is inevitable have been comprised by the angular range in a certain course district, then think that current goal point belongs to this course district.

C, course district residing for current goal point obtain the course vector expected, the course of the course that com-parison and analysis sailing boat is current and expectation is vectorial, obtains the controlled quentity controlled variable to rudder.

Wherein, the course vector of expectation is obtained specifically:

When current goal point belongs to three o'clock wind district II or wind district, left side III, the vector of unit length being pointed to current goal point by the current location of sailing boat is desired course vector.That is, when current goal point belongs to three o'clock wind district II or wind district, left side III, sailing boat can directly navigate by water towards the direction of current goal point.

Current goal point be in windward unnavigability district I time, in order to avoid this angular regions, needing sailing boat to realize tacking, arriving current goal point with " Z " font navigation path.Set right side at the angle place, boundary of unnavigability district I and three o'clock wind district II windward and paste wind direction amount VII_I, set left side at the angle place, boundary of unnavigability district I and wind district, left side III windward and pastes wind direction amount VIII_I, wherein right side is pasted wind direction amount VII_I and left side to paste wind direction amount VIII_I is all that unit is vectorial.In order to realize tacking of sailing boat, needing alternately right side to be pasted wind direction amount VII_I and left side and pasting wind direction amount VIII_I and be set as desired course vector.Current goal point be in the wind district IV time, in order to improve efficiency of navigation and stability, needing sailing boat to avoid district's navigation with the wind, arriving current goal point with " Z " font navigation path.Right side vectorial VII_IV is with the wind set at the angle place, boundary of district Ι V and three o'clock wind district II with the wind, set left side vectorial VIII_IV with the wind at the angle place, boundary of district Ι V and wind district, left side III with the wind, wherein right side with the wind vectorial VII_IV and left side with the wind vectorial VIII_IV be all that unit is vectorial.Alternately by right side with the wind vectorial VII_IV and left side with the wind vectorial VIII_IV be set as desired course vector, to realize " Z " font navigation when current goal point is in district IV with the wind.

The course vector of the course that com-parison and analysis sailing boat is current and expectation, and obtain the controlled quentity controlled variable to rudder as follows:

The deflection of rudder can control the actual heading of sailing boat, makes the actual heading of sailing boat reach or follow the tracks of desired course by controlling rudder angle.If desired course is on the right side of actual heading, then rudder angle deflects to the right; If desired course is in the left side of actual heading, then rudder angle deflects left.

Finally, the course district residing for target course point obtains the course vector expected.

S4, rate-determining steps: the sail state controlling sailing boat according to apparent wind to information; The course vector of the course current according to sailing boat and expectation, controls the rudder angle of sailing boat to reach or to follow the tracks of desired course.

S5, determining step: judge whether sailing boat arrives target course point; If do not arrive, then return desired course determining step; If arrive, then judge whether target course point is navigation terminal further; If not, then return target course point determining step; If so, then process ends.

In above-mentioned determining step, judge whether each target course point arrived is last way point, if so, then judge to arrive above-mentioned navigation terminal.As above described in example, in sail navigation process, wherein any way point can be set to navigate by water terminal, or, when sailing boat needs long distance navigation, in order to meet the demands such as sailing boat maintenance, task process, multiple navigation holding point is chosen in above-mentioned way point, therefore, according to the demand, one or more Mn (n is arbitrary value) way point can be set to navigation holding point or navigation terminal by the present embodiment adaptively.

The beneficial effect of the present embodiment is, in the autonomous navigation process of sailing boat, by the calculating of the division to course district, desired course vector, the control method that the sailing boat of a set of globality independently navigates by water is provided, systematically realizes the automatic generation in sail navigation path, the automatic control of sail state, the automatic control function of rudder angle.See on the whole, on the one hand, improve sailing boat from main control can handling and accuracy, on the other hand, flight course planning adaptivity is higher.

Embodiment two

On the basis of above-described embodiment, step S201 as shown in Figure 2, longitude information and the latitude information of sailing boat is obtained by the global positioning module that sailing boat is built-in, simultaneously, the distance between sailing boat and above-mentioned target course point is calculated according to above-mentioned longitude information and above-mentioned latitude information, when above-mentioned distance is less than predetermined threshold value, then confirm that sailing boat arrives above-mentioned target course point.

Such as, above-mentioned threshold value is set to 200 meters, by longitude information and the latitude information of global positioning module Real-time Obtaining (can be understood as is obtain by predetermined period) sailing boat, calculate sailing boat current location, meanwhile, in the pre-stored data of backstage, transfer the position at current goal way point place, both are compared in same reference frame, judge whether actual range is between the two less than 200 meters, if be less than 200 meters, then think and arrives above-mentioned target course point.

Further, when the target course point arrived is navigation terminal, if the distance that above-mentioned threshold value is arranged is larger, simultaneously, judge to obtain above-mentioned actual pitch between the two far away time, then needing to do further accurately location, making it navigation to navigating by water terminal accurately.

The beneficial effect of the present embodiment is, is positioned by global pick device, and positioning result and backstage pre-stored data are compared analysis, judges whether sailing boat has arrived above-mentioned target course point according to comparative analysis result.Manipulation instruction is succinct, clear and definite, and the accuracy of data results is high.

Further, from existing navigation general knowledge, in sail navigation process, when the lateral drift amount of sailing boat is greater than certain value, adopt the sail information of global positioning module acquisition sailing boat comparatively accurate.But when the lateral drift amount of sailing boat is less than certain value, because lateral drift amount is less, now, the sail information obtained by global positioning module is also not accurate enough.

Therefore, if in the less situation of the lateral drift amount of sailing boat, if still adopt global positioning module to obtain the sail information of sailing boat, then the sail information of sailing boat may be caused to obtain not accurate enough defect.

The settling mode that the present embodiment proposes for the problems referred to above is, presets a sailing boat lateral drift value.When the lateral drift amount of sailing boat is greater than this default lateral excursion value, above-mentioned global positioning module is adopted to obtain the sail information of sailing boat, when sailing boat lateral drift amount is less than this default lateral excursion value, obtain above-mentioned sail information by the inertia measuring module that sailing boat is built-in.

Be appreciated that the beneficial effect of the present embodiment is, the mode combined with inertia measuring module by global positioning module obtains sail information, avoids when long-time use inertia measuring module, the defect that the accumulated error brought is larger.

Further, step S202 as shown in Figure 2, obtains angle of pitch numerical value and the roll angle numerical value of sailing boat hull by predetermined period by above-mentioned inertia measuring module.

Inertia measuring module is appreciated that it is the sensor including measurement of correlation function, is sensed angle of pitch numerical value and the roll angle numerical value of sailing boat hull by relevant sensor by predetermined period (such as, sensing once each second).

From existing navigation general knowledge, when the angle of pitch numerical value of sailing boat hull is greater than certain value, sailing boat has the danger of tumbling, and on the other hand, when the roll angle numerical value of sailing boat hull is greater than certain value, sailing boat also has the danger of tumbling.

Therefore, the present embodiment solves the problems of the technologies described above adopted technical scheme and is, in the navigation process of sailing boat, the angle of pitch for sailing boat hull arranges first and presets dangerous values, and arranges the second default dangerous values for the roll angle of sailing boat hull.

In sail navigation process, periodically sense angle of pitch numerical value and the roll angle numerical value of sailing boat hull.When the angle of pitch numerical value of sailing boat hull exceedes the above-mentioned first default dangerous values, then assert that sailing boat is in rollover conditions; When the roll angle numerical value of sailing boat hull exceedes the above-mentioned second default dangerous values, then assert that sailing boat is in rollover conditions.

Further, if through judging to show that sailing boat is in rollover conditions, then send an SOS, and navigation is terminated.

The beneficial effect of the present embodiment is, in the process that sailing boat independently navigates by water, the parameter of Real-time Obtaining sailing boat hull, and judge whether hull tumbles according to parameter, so that hull tumble or critical rollover conditions time, can send an SOS in time or early warning signal.

Further, step S206 as shown in Figure 2, in the process that sailing boat independently navigates by water, according to the open area of above-mentioned roll angle numerical evaluation sail.

Embodiment is as described below:

First, be sleeved on mast by one end of sail, the other end is then pulled by sail rope;

Situation one: sail can be wound on mast completely, now sail is not by wind action;

Situation two: sail can open completely, the sail area of now wind-engaging effect is maximum;

Situation three: sail portions also can be allowed to be wound on part on mast and open, now sail portions area is subject to wind action.

Then, according to the wind area of result of calculation adjustment sail.Be appreciated that, in the situations such as identical wind speed, wind direction, adjustment angle, the size of sail wind area determines sailing boat and obtains the size that the size of the propelling power of wind and sailing boat are subject to the rolling moment of wind, namely, sail wind area is larger, the propelling power that sailing boat obtains wind is larger, and meanwhile, the rolling moment that sailing boat is subject to wind is also larger.Wherein, rolling moment determines the roll angle of sailing boat, that is, rolling moment is larger, and the roll angle of sailing boat is larger.

Be in safe range at sailing boat roll angle that (this safe range can be in above-described embodiment, the safe range limited by the second default dangerous values, namely, the roll angle numerical value of sailing boat be less than second preset dangerous values can span), when the open area of sail is larger, larger propelling power can be obtained, but be unlikely to danger that sailing boat is tumbled.

In the scenario above, the sail size in sailing boat independently navigation process is adjusted as follows:

Such as, the size of sail represents with S_sail, and the mathematic(al) representation of sail size Control can be expressed as:

S_sail＝f(|∠Roll|)∈[0,1]·S_full

Wherein ∠ Roll is sailing boat roll angle, and ∠ Roll ∈ [﹣ R_max, R_max], the maximum safe lateral roll angle that R_max allows when being sailing boat normal/cruise, be appreciated that, maximum safe lateral roll angle described herein refers to critical the second default dangerous values in above-described embodiment, or, the maximum safe lateral roll angle value allowed when dangerous values is defined as sailing boat normal/cruise is preset by second.

In above-mentioned expression formula, S_full is the maximum sail area of sail when all opening; F () is monotonous descending function, and when sailing boat roll angle is larger, sail open area is less, and when sailing boat roll angle is less, sail open area is larger.

The beneficial effect of the present embodiment is, in the process that sailing boat independently navigates by water, by adjusting the wind area of sail and sail, thus makes sailing boat obtain larger propelling power.Simultaneously, calculated by above-mentioned mathematic(al) representation and adjust the sail size in sailing boat independently navigation process, thus making sailing boat in autonomous navigation process, while ensureing safe navigation, obtain optimum sail open area, achieve the control accurate to sail open area.

Further, step S207 as shown in Figure 2, step S208, step S209 and step S210, above-mentioned steps S207-S210 is directed to the dividing mode in course district in sailing boat independently navigation process, proposes following technical scheme:

A. course district is divided according to the wind direction information of above-mentioned true wind.

B. according to the relative position relation of current goal way point and sailing boat, the relative bearing of current goal way point relative to sailing boat is calculated.

C. the course district residing for above-mentioned relative bearing determination current goal way point.

Embodiment is as described below:

According to calculating the true wind direction of gained, the 360 degree of directions of the circumference centered by sailing boat being divided into four courses district, is unnavigability district I, three o'clock wind district II windward respectively, wind district, left side III, district IV with the wind.

Wherein, unnavigability district I is the angular regions of positive each 45 degree of left and right against the wind windward, and in this region, sailing boat cannot navigate by water.

District IV is the angular regions of each 30 degree of left and right just with the wind with the wind.

To consider in district IV with the wind lower the and less stable of efficiency of navigation, district IV is considered the angular regions that should not navigate by water in the present invention with the wind.

Unnavigability district I and two pieces of angular regions with the wind between district IV are three o'clock wind district II and wind district, left side III respectively windward.

Wherein, when sailing boat windward time, right side ship side institute to be three o'clock wind district II, left side ship side to being wind district, left side III.

Three o'clock wind district II and wind district, left side III is navigable angular regions.

Sailing boat will navigate by water in three o'clock wind district II and wind district, left side III two angular regions, close to and arrive current goal point.

Further, step S210 as shown in Figure 2, determines course district residing for current goal point as follows:

By the relative position relation of current goal point and sailing boat, calculate the relative bearing ∠ T of current goal point relative to sailing boat _b, by the course district residing for relative bearing determination current goal point.Meanwhile, can with reference to the vector correlation schematic diagram of figure 8 wind.

Particularly, in the present embodiment, if (∠ T _b﹣ ∠ W _s) ∈ [0, π/4) ∪ (7 π/4,2 π), then impact point is in unnavigability district I windward, is expressed as T ∈ I;

If (∠ T _b﹣ ∠ W _s) ∈ [π/4,5 π/6], then impact point is in three o'clock wind district II, is expressed as T ∈ II;

If (∠ T _b﹣ ∠ W _s) ∈ [7 π/6,7 π/4], then impact point is in left side wind district III, is expressed as T ∈ III;

If (∠ T _b﹣ ∠ W _s) ∈ (5 π/6,7 π/6), then impact point is in district IV with the wind, is expressed as T ∈ IV; Because sailing boat circumference 360 degree has been divided into four courses district, the relative bearing of current goal point is inevitable have been comprised by the angular range in a certain course district, then think that current goal point belongs to this course district.

The beneficial effect of the present embodiment is, by calculate current goal point relative to sailing boat relative bearing determination current goal point residing for course district, achieve in the process of independently navigating by water at sailing boat, to the accurate division in course district.

Further, step S211 as shown in Figure 2, step S212 and step S213, above-mentioned steps S211-S213 is directed in sailing boat independently navigation process, determine to expect navigation vector, follow the tracks of above-mentioned expectation navigation vector, and the embodiment at regulation and control sail adjustment angle, propose following technical scheme:

A, according to above-mentioned course district and current goal way point determination desired course vector.

B, by controlling rudder angle, making the actual heading of sailing boat reach or following the tracks of above-mentioned desired course.

C, according to the wind direction information of above-mentioned apparent wind, controls sail adjustment angle.

Wherein, desired course vector is determined as follows:

When current goal point belongs to three o'clock wind district II or wind district, left side III, the vector of unit length being pointed to current goal point by the current location of sailing boat is desired course vector.

When being appreciated that current goal point belongs to three o'clock wind district II or wind district, left side III, sailing boat can directly navigate by water towards the direction of current goal point.

Further, current goal point be in windward unnavigability district I time, in order to avoid this angular regions, need to control sailing boat, realization is tacked, such as, current goal point be in windward unnavigability district I time, first, control sailing boat and sail three o'clock wind district II or wind district, left side III into, then, when sailing boat is in three o'clock wind district II or wind district, left side III again, continue to select the non-district I of unnavigability windward to travel, repeat to travel in a manner described, arrive current goal point to make sailing boat with " Z " font navigation path.

Further, set right side at the angle place, boundary of unnavigability district I and three o'clock wind district II windward and paste wind direction amount VII_I, be appreciated that, when sailing boat pastes wind direction amount VII_I traveling according to the right side of above-mentioned setting, under the condition that navigation route is the shortest, avoid sailing boat and sail unnavigability district I windward into, thus make the optimization of flight course planning.

In like manner, set left side pastes wind direction amount VIII_I at the angle place, boundary of unnavigability district I and wind district, left side III windward, wherein right side is pasted wind direction amount VII_I and left side to paste wind direction amount VIII_I is all that unit is vectorial.

Further, in order to realize tacking of sailing boat, needing alternately right side to be pasted wind direction amount VII_I and left side and pasting wind direction amount VIII_I and be set as desired course vector.

Further, current goal point be in the wind district IV time, in order to improve efficiency of navigation and stability, needing sailing boat to avoid district's navigation with the wind, arriving current goal point with " Z " font navigation path.

Further, right side vectorial VII_IV is with the wind set at the angle place, boundary of district IV and three o'clock wind district II with the wind, set left side vectorial VIII_IV with the wind at the angle place, boundary of district IV and wind district, left side III with the wind, wherein right side with the wind vectorial VII_IV and left side with the wind vectorial VIII_IV be all that unit is vectorial.

Further, alternately by right side with the wind vectorial VII_IV and left side with the wind vectorial VIII_IV be set as desired course vector, to realize " Z " font navigation when current goal point is in district IV with the wind.

In the present embodiment, after determining above-mentioned expectation navigation vector, then by the deflection angle of control flaps, to follow the tracks of the desired course determined by above-mentioned expectation navigation vector.Embodiment is as described below:

First, be understandable that, in the autonomous navigation process of sailing boat, the deflection of rudder can control the actual heading of sailing boat, makes the actual heading of sailing boat reach or follow the tracks of desired course by controlling rudder angle.

Situation one: if desired course is on the right side of actual heading, then rudder angle deflects to the right;

Situation two: if desired course is in the left side of actual heading, then rudder angle deflects left.

In the present embodiment, if desired course vector and the actual heading vector of sailing boat between angle be expressed as ∠ Heading, its span [0,2 π);

Rudder angle is expressed as δ, and rudder angle δ just transfers to astarboard lateral deviation, and aport lateral deviation transfers to negative.

Therefore, can adopt the simplest proportional controlling means, be mapped on rudder angle δ by course angle ∠ Heading, mathematical description is:

As ∠ Heading ∈ [0, π], δ=Kp ∠ Heading

As ∠ Heading ∈ (π, 2 π), δ=﹣ Kp| ∠ Heading ﹣ 2 π |

Wherein Kp is scale-up factor.

Further, this step of rudder angle control also can adopt other existing control method, such as, the classical control methods such as PD control, PID control, fuzzy control, ANN (Artificial Neural Network) Control, should be understood that, the control methods such as above-mentioned PD control belong to prior art means, need not repeat at this.

After calculating rudder angle δ by above-mentioned mathematic(al) representation, control rudder for ship by the driving of sailing boat and control system and turn to δ angle, to complete the control to sailing boat rudder angle.

In the present embodiment, when after the control that sailing boat to complete according to above-mentioned steps rudder angle, then by the wind direction according to apparent wind, control sail adjustment angle.Embodiment is as described below:

First, be understandable that, the driving of sailing boat and control system directly can not control sail and adjust angle θ, drive and need first to loosen with control system the sail rope being connected to sail end, under wind action, sail just can be blown to a side, and the angle that now sail and sailing boat center line face are is that sail adjusts angle θ.

Therefore, to adjust the relation at angle as described below for the degree of tightness of sail and sail:

Sail is put more loose, and sail adjustment angle is larger;

Sail is drawn tighter, and sail adjustment angle is less.

Also namely, sail adjustment angle be passive depend on wind blow formation, be tied and control the length of rope in sail, so drive the length L_rope directly controlling sail rope with control system, indirectly to control sail adjustment angle θ.

Further, sail adjustment angle affects the propulsive efficiency of sail, generally speaking, sail is adjusted the wind direction ∠ W that angle control is apparent wind _bhalf about (as shown in Figure 6), mathematic(al) representation is

θ＝∠W _B/2

Wherein, driving with the expression formula of the length L_rope of the directly actuated sail rope of control system is

L_rope＝Ku·∠W _B

Wherein Ku is scale-up factor.

From above-mentioned embodiment, calculate sail pilot angle by above-mentioned mathematic(al) representation, meanwhile, by calculating the length of sail rope, directly by adjusting the length of sail rope to realize the adjustment to sail pilot angle.

Further, according to above-described embodiment, in the autonomous navigation process of sailing boat, circulation carry out by the orientation of wind and impact point determine the angle of course district and desired course, control flaps following the tracks of desired course, adjust sail and adjust the operations such as angle, until terminal is navigated by water in arrival.

Be appreciated that, implement the autonomous control method of sailing boat of the present invention, in the autonomous navigation process of sailing boat, by the control at the control of the calculating of the division in course district, desired course vector, rudder angle, sail open area and adjustment angle, systematically complete and automatically generate course, autonomous control flaps and sail, thus achieve sailing boat from main control.

Embodiment three

Fig. 3 is the refinement process flow diagram of the Solid rocket engine of the autonomous control method of sailing boat of the present invention.

In the process that sailing boat independently navigates by water, if determine that the sailing boat speed of a ship or plane is excessively slow, then start thruster and do auxiliary pushing.Open continually in order to avoid thruster and stop, further refinement can be made to this step as follows:

First, judge that thruster is current whether to run.

Do not run if above-mentioned steps judges that thruster is current, then continue to judge whether the speed of a ship or plane is less than setting threshold values Vmin.

If above-mentioned steps judges that the speed of a ship or plane is less than Vmin and sets up, then thruster runs, and does auxiliary pushing.

If above-mentioned steps judges that the speed of a ship or plane is less than Vmin and is false, then thruster still stops.

Run if above-mentioned steps judges that thruster is current, then continue to judge whether the speed of a ship or plane is greater than setting threshold values Vmax.

If above-mentioned steps judges that the speed of a ship or plane is greater than Vmax and sets up, then thruster is out of service.

If above-mentioned steps judges that the speed of a ship or plane is greater than Vmax and is false, then thruster continues to run.

Wherein, Vmin, Vmax are the speed of a ship or plane threshold values rule of thumb set respectively, demand fulfillment inequality condition Vmin<Vmax during setting.

The meaning of above-mentioned steps can be interpreted as, and when the speed of a ship or plane is less than Vmin, thruster starts; When the speed of a ship or plane is greater than Vmax, thruster stops; When the speed of a ship or plane is between Vmin and Vmax, thruster maintains current running status or halted state.

Embodiment four

The refinement process flow diagram of the desired course vector calculation of the autonomous control method of Fig. 4 sailing boat of the present invention.

Based on above-described embodiment, determine that desired course vector can be further refined as following steps:

First, S210, judges the course district residing for current goal point.

If current goal point is in three o'clock wind district II or wind district, left side III, then pointed to the vector of unit length T of current goal point by the current location of sailing boat _bbe desired course vector.(step S2111-S2115)

Vector T _bangle can be expressed as ∠ T _b.

If judge to obtain current goal point be in windward unnavigability district I time, then need to determine as follows new desired course vector:

Determine that wind direction amount V is pasted on right side _{iI_I}wind direction amount V is pasted with left side _{iII_I}.

Wherein the angle ∠ V of wind direction amount is pasted on right side _{iI_I}be rotate clockwise 45 degree again in positive upwind, the length of this vector is 1;

Wherein the angle ∠ V of wind direction amount is pasted in left side _{iII_I}be rotate counterclockwise 45 degree again in positive upwind, the length of this vector is 1.

Step S2112, judges that current desired course vector is that wind direction amount V is pasted on right side _{iI_I}or wind direction amount V is pasted in left side _{iII_I}.

So-called current desired course vector is exactly that a upper algorithm circulates determined course vector, if current course vector is neither right side subsides wind direction amount V _{iI_I}wind direction amount V neither be pasted in left side _{iII_I}, then suppose that current course vector is for pasting wind direction amount V in right side _{iI_I}.Be appreciated that according to different customs, if current course vector is neither wind direction amount V is pasted on right side _{iI_I}wind direction amount V neither be pasted in left side _{iII_I}time, also can suppose that current course vector is for pasting wind direction amount V in left side _{iII_I}.

S21121, according to the judgement of above-mentioned steps, if current course vector is for pasting wind direction amount V in right side _{iI_I}, then cardinal direction marker Vindex is set as 0.

Wind direction amount V is pasted on S21123, A, calculating right side _{iI_I}direction multiplier Multi0,

Multi0＝1﹢Jfactor·|0﹣Vindex|

Meanwhile, calculate left side and paste wind direction amount V _{iII_I}direction multiplier Multi2,

Multi2＝1﹢Jfactor·|2﹣Vindex|

Wherein, Jfactor is the rank factor that jumps, and be the constant rule of thumb set, Vindex is cardinal direction marker.Jump the current course of rank Effects of Factors at right side subsides wind direction amount V _{iI_I}wind direction amount V is pasted with left side _{iII_I}between mutual switching.

S21125, judges inequality one:

Multi2·|∠V _{III_I}﹣∠T _B|≦Multi0·|∠V _{II_I}﹣∠T _B|

Whether set up.Wherein, Multi2 is that wind direction amount V is pasted in left side _{iII_I}direction multiplier, ∠ T _bit is desired course vector T _bangle.

S21127, if the inequality in above-mentioned steps is set up, then new desired course vector is set as that wind direction amount V is pasted in left side _{iII_I}.

S21128, if the inequality in above-mentioned steps is false, then new desired course vector is still for wind direction amount V is pasted on right side _{iI_I}.

S21122, differentiates according to above-mentioned steps, if current course vector is for pasting wind direction amount V in left side _{iII_I}, then cardinal direction marker Vindex is set as 2.

Wind direction amount V is pasted on S21124, B, calculating right side _{iI_I}direction multiplier Multi0,

Multi0＝1﹢Jfactor·|0﹣Vindex|

Meanwhile, calculate the direction multiplier Multi2 that wind direction amount VIII_I is pasted in left side,

Multi2＝1﹢Jfactor·|2﹣Vindex|

S21126, judges inequality two:

Multi2·|∠V _{III_I}﹣∠T _B|≧Multi0·|∠V _{II_I}﹣∠T _B

Whether set up.Wherein, Jfactor is the rank factor that jumps, and be the constant rule of thumb set, Vindex is cardinal direction marker, ∠ T _bit is desired course vector T _bangle.

S21128, if the inequality in above-mentioned steps is set up, then new desired course vector is set as that wind direction amount V is pasted on right side _{iI_I}.

S21127, if the inequality in above-mentioned steps is false, then new desired course vector is still for wind direction amount V is pasted in left side _{iII_I}.

Current goal point be in windward unnavigability district I time, desired course vector root is gone up step S2111 according to this and is determined.

In navigation process, the current location of sailing boat points to the vector of unit length T of current goal point _bcan change in the moment, desired course vector also can paste wind direction amount V on right side _{iI_I}wind direction amount V is pasted with left side _{iII_I}between switch regularly.

If when determining course district residing for current goal point, judge current goal point be in the wind district IV time, then need to determine as follows new desired course vector:

S2115, calculates right side vectorial V with the wind _{iI_IV}with left side vectorial V with the wind _{iII_IV}.The angle ∠ V that wherein right side is with the wind vectorial _{iI_IV}be rotate counterclockwise on positive downwind 30 degree (namely positive upwind rotates clockwise 150 degree again), the length of this vector is 1 again; The angle ∠ V that wherein left side is with the wind vectorial _{iII_IV}be rotate clockwise on positive downwind 30 degree (namely positive upwind rotates counterclockwise 150 degree again), the length of this vector is 1 again.

S2116, judges that current desired course vector is right side vectorial V with the wind _{iI_IV}or left side vectorial V with the wind _{iII_IV}.If current course vector is neither right side vectorial V with the wind _{iI_IV}neither left side vectorial V with the wind _{iII_IV}, then suppose that current course vector is right side vectorial V with the wind _{iI_IV}.Be appreciated that according to different customs, if current course vector is neither right side vectorial V with the wind _{iI_IV}neither left side vectorial V with the wind _{iII_IV}time, also can suppose that current course vector is left side vectorial V with the wind _{iII_IV}.

S21161, according to the judgement of above-mentioned steps, if current course vector is right side vectorial V with the wind _{iI_IV}, then cardinal direction marker Vindex is set as 1.

S21163, A, calculating right side vectorial V with the wind _{iI_IV}direction multiplier Multi1,

Multi1＝1﹢Jfactor·|1﹣Vindex|

Wherein, Jfactor is the rank factor that jumps, and be the constant rule of thumb set, Vindex is cardinal direction marker, ∠ T _bit is desired course vector T _bangle.

Meanwhile, left side vectorial V is with the wind calculated _{iII_IV}direction multiplier Multi3,

Multi3＝1﹢Jfactor·|3﹣Vindex|

S21165, judges inequality three:

Multi3·|∠V _{III_IV}﹣∠T _B|≦Multi1·|∠V _{II_IV}﹣∠T _B|

S21167, if the inequality in above-mentioned steps is set up, then new desired course vector is set as left side vectorial V with the wind _{iII_IV}.

S21168, if inequality is false in above-mentioned steps, then new desired course vector is still right side vectorial V with the wind _{iI_IV}.

S21162, according to the differentiation of above-mentioned steps, if current course vector is left side vectorial V with the wind _{iII_IV}, then cardinal direction marker Vindex is set as 3.

S21164, B, calculating right side vectorial V with the wind _{iI_IV}direction multiplier Multi1,

Multi1＝1﹢Jfactor·|1﹣Vindex|

Multi3＝1﹢Jfactor·|3﹣Vindex|

S21166, judges inequality four:

Multi3·|∠V _{III_IV}﹣∠T _B|≧Multi1·|∠V _{II_IV}﹣∠T _B|

S21168, if inequality is set up in above-mentioned steps, then new desired course vector is set as right side vectorial V with the wind _{iI_IV}.

S21167, if inequality is false in above-mentioned steps, then new desired course vector is still left side vectorial V with the wind _{iII_IV}.

Current goal point be in the wind district IV time, desired course vector root is gone up step S2115 according to this and is determined.

Be appreciated that in navigation process, the current location of sailing boat points to the vector of unit length T of current goal point _bcan moment change, desired course vector also can on right side vectorial V with the wind _{iI_IV}with left side vectorial V with the wind _{iII_IV}between switch regularly, switch law is determined by above-mentioned calculating formula.

In the process of autonomous navigation, by above-mentioned algorithm steps, the desired course vector of sailing boat current goal point when different course district can be determined.

Step S212, after the desired course vector calculating different course district, then according to the control mode of above-described embodiment to rudder angle, implements corresponding regulation and control to rudder angle, the desired course vector determined to make actual heading vector follow the tracks of.

The beneficial effect of the present embodiment is, by above-mentioned detailed algorithm, to determine desired course vector, realizes the control accurate to expecting navigation vector.

Embodiment five

Fig. 5 is the structured flowchart of the sailing boat automatic control device that present pre-ferred embodiments provides.

This device comprises: way point arranges module 10, target course point determination module 20, desired course determination module 30, control module 40 and judge module 50.

First, module 10 is set by way point and at least one way point is set in navigation path; When after the setting operation completing way point, obtained the sail information of sailing boat by target course point determination module 20, next way point of sailing boat position is set to target course point.

In the process that sailing boat navigates by water to target course point, determined the course vector expected according to the direction of the relative orientation of sailing boat and target course point and true wind by desired course determination module 30.

Then, then control the sail state of sailing boat according to apparent wind to information by control module 40, and according to the course vector of the current course of sailing boat with expectation, the rudder angle of control sailing boat is to reach or to follow the tracks of desired course.

Finally, judge whether sailing boat arrives navigation terminal by judge module 50.

Particularly, judge module 50 comprises the first judging unit 51 and the second judging unit 52, wherein,

Judge whether sailing boat arrives target course point by the first judging unit 51; If do not arrive, then return desired course determining step, if arrive, then notify the second judging unit;

And then judge whether target course point is navigation terminal by the second judging unit 52; If not, then return target course point determining step, if so, then terminate.

Further, desired course determination module 30 comprises: true wind information acquisition unit 31, course Division unit 32, relative bearing determining unit 33 and course district determining unit 34.Particularly, this module completes corresponding function by following control mode:

First, the information of true wind is obtained by true wind information acquisition unit 31;

Then, by the wind direction information of course Division unit 32 according to described true wind, centered by sailing boat, course district is divided;

By the relative position of relative bearing determining unit 33 according to target course point and sailing boat, calculate the relative bearing of target course point relative to sailing boat;

Finally, by the course district of course district determining unit 34 residing for described relative bearing determination target course point.

Further, true wind information acquisition unit 31 also for,

Further, control module 40 comprises the first real navigation control module 41 and the second real navigation control module 42, wherein,

By the deflection of the first real navigation control module 41 control flaps, to control the actual heading of sailing boat;

Meanwhile, control rudder angle by the second real navigation control module 42, make the actual heading of sailing boat reach or follow the tracks of desired course.

Further, control module 40 also comprises sail adjustment angle control module 43.Sail adjustment angle control module 43, according to the wind direction information of described apparent wind, controls sail adjustment angle.

Further, control module 40 also comprises attitude angle acquiring unit 44 and distress signal processing unit 45, particularly:

Obtained the attitude angle of sailing boat by attitude angle acquiring unit 44, wherein, attitude angle comprises course angle, the angle of pitch and roll angle;

By distress signal processing unit 45 when the described angle of pitch presets dangerous values more than first or when roll angle presets dangerous values more than second, send the distress signal that sailing boat is tumbled, and terminate navigation.

The beneficial effect that above-mentioned module is brought is, in the autonomous navigation process of sailing boat, by the calculating of the division to course district, desired course vector, the control method that the sailing boat of a set of globality independently navigates by water is provided, systematically realizes the automatic generation in sail navigation path, the automatic control of sail state, the automatic control function of rudder angle.See on the whole, on the one hand, improve sailing boat from main control can handling and accuracy, on the other hand, flight course planning adaptivity is higher.

Embodiment six

Be illustrated in figure 6 the hardware structure diagram of a kind of sailing boat provided by the invention.

This sailing boat comprises: hull 1, sail 2, rudder 3, controller 4, thruster 5, inertia measuring module 6, global positioning module 7, wind sensor 8.

Wherein, hull 1, sail 2, rudder 3 constitute the body of sailing boat; Sail 2 is placed in the upper surface of hull 1, and is flexibly connected with hull 1; Rudder 3 is placed in the tail end of hull 1 and is electrically connected with controller 4; Controller 4 is arranged in the housing of hull 1, is appreciated that the space for receiving controller 4 has water-proof function; Thruster 5 is placed in the bottom of hull 1; Inertia measuring module 6 be placed in hull 1 in the middle part of, be appreciated that the installation position according to obtaining the maximum likelihood of inertia measurement and arrange this module; Global positioning module 7 is placed in the upper surface of hull 1, for receiving satellite signal; Wind sensor 8 is fixedly connected with by the upper surface of connecting link with hull 1.Be appreciated that controller 4 is electrically connected with above-mentioned sail 2, rudder 3, thruster 5, inertia measuring module 6, global positioning module 7 and wind sensor 8 respectively.

Be appreciated that, the sailing boat automatic control device that above-described embodiment five provides can be used as the controller 4 of the present embodiment, this sailing boat automatic control device is by the functional requirement preset, send corresponding control command to the sail 2 of this sailing boat, rudder 3, thruster 5, inertia measuring module 6, global positioning module 7 and wind sensor 8, complete corresponding operational motion to make it.

Be trimaran shown in Fig. 6, hardware system of the present invention is not limited to trimaran, also can be monomer sailing boat or catamaran.

Inertia measuring module 6 provides the attitude information in overall inertial coordinates system of hull 1, comprises course angle, the angle of pitch and roll angle.

Global positioning module 7 obtains the warp of sailing boat, Position Latitude data, the speed of a ship or plane and course information.

Wind sensor 8 provides the wind speed and direction of the apparent wind relative to hull.

Controller 4, receives each sensor signal and each data message, according to the autonomous control method of described sailing boat, calculates the controlled quentity controlled variable of rudder 3 and sail 2, and performs corresponding control action, realizes the autonomous unmanned navigation of sailing boat.

In another embodiment, when the sailing boat speed of a ship or plane is crossed slow, auxiliary pushing made by thruster 5.

Embodiment seven

Fig. 7 be the autonomous control method of sailing boat of the present invention impact point residing for cruising ground time relative orientation schematic diagram.

Wherein, shown in Fig. 7 a, 7b, 7c, { S} is bank base plane coordinate system, and the X-axis of this coordinate system points to positive north, and Y-axis sensing due east is initial axle clockwise direction with X-axis is positive angle value.{ S} is fixing global coordinate system to bank base plane coordinate system.

Embodiment eight

Fig. 8 is the ship base plane coordinate system schematic diagram of the autonomous control method of sailing boat of the present invention.

Wherein, shown in Fig. 8 a, Fig. 8 b, Fig. 8 c, { B} is respectively the ship base plane coordinate system { B} that the hull of monomer sailing boat, catamaran and trimaran is set up.

Be appreciated that this coordinate system is its true origin with the barycenter of hull in the monomer sailing boat coordinate system shown in Fig. 8 a; By barycenter point to fore and parallel with hull base plane be X-axis; What by barycenter, point to starboard is Y-axis; Be initial axle clockwise direction with X-axis be positive angle value.

In the catamaran coordinate system shown in Fig. 8 b, catamaran comprises the lash barge body that two take X-axis as symmetric relation.

In the trimaran coordinate system shown in Fig. 8 c, trimaran comprises a main hull and two sub-hulls, and wherein, main hull sets up coordinate by the mode of the monohull shown in Fig. 8 a, two sub-hulls, by the mode of the straddle barge shown in Fig. 7, are that symmetric relation sets up two sub-hulls with X-axis.

Be appreciated that the coordinate system of above-mentioned three hulls is all for its true origin with the barycenter of hull; By barycenter point to fore and parallel with hull base plane be X-axis; What by barycenter, point to starboard is Y-axis; Be initial axle clockwise direction with X-axis be positive angle value.{ B} is the local coordinate system along with hull moves together to ship base plane coordinate system.

Employing establishes bank base plane coordinate system with upper type, and { { B}, object is in order to consistent with the scaling method of GPS, wind sensor, Inertial Measurement Unit for S} and ship base plane coordinate system.

In the present embodiment, following optimal technical scheme is also had:

As illustrated in figs. 7 and 8, the X-axis of the bank base plane coordinate system used of whole control algolithm points to positive north, and Y-axis sensing due east is initial axle clockwise direction with X-axis is positive angle value.

Sailing boat hull is set up ship base plane coordinate system, the barycenter of hull is its true origin;

By barycenter point to fore and parallel with hull base plane be X-axis;

What by barycenter, point to starboard is Y-axis;

Be initial axle clockwise direction with X-axis be positive angle value.

Adopt and set up coordinate system with upper type, consistent with the scaling method of global positioning module 7, wind sensor 8, inertia measuring module 6 to ensure.

Embodiment nine

Fig. 9 is the vector correlation schematic diagram of the wind of the autonomous control method of sailing boat of the present invention.

Speed of a ship or plane V _s, apparent wind W _b, true wind W _sbetween vector correlation as shown in Figure 9, vector expression can be write as W _s=W _b﹢ V _s.

Further, because controller 4 directly can not control sail adjustment angle θ, controller 4 needs first to loosen the sail rope being connected to sail end, and under wind action, sail 2 just can be blown to a side, and the angle that now sail 2 and sailing boat center line face are is that sail adjusts angle θ.

As shown in Figure 9, sail is put more loose, and sail adjustment angle is larger; Sail is drawn tighter, and sail adjustment angle is less.That is, sail adjustment angle be passive depend on wind blow formation, be tied and control the length of rope in sail, so controller 4 directly controls the length L_rope of sail rope, adjust angle θ indirectly to control sail.

Embodiment ten

Be the angle calibration mode of wind sensor shown in Figure 10, wind sensor 8 is installed on the center line face of hull 1, and the X-axis of wind sensor 8 points to fore, fore front windward time apparent wind wind direction ∠ W _bfor zero degree, apparent wind is to being just in a clockwise direction.

The core of the whole control method of the present invention is division, the calculating of desired course vector, control, the sail open area of rudder angle in course district and adjusts the control at angle, angle of rake auxiliary pushing.Meanwhile, the autonomous control method of sailing boat of the present invention according to the relation between " target, wind, sailing boat " three, can generate course, autonomous control flaps and sail automatically, realizes unmanned autonomous navigation.

Can think, the present invention also enhances the independently handling and adaptivity of sailing boat in main control.

Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.

Claims

1. the autonomous control method of sailing boat, is characterized in that, described method comprises:

In navigation path, at least one way point is set;

Desired course determining step: determine the course vector expected according to the relative orientation of described sailing boat and described target course point and the direction of true wind;

Rate-determining steps: the sail state controlling sailing boat according to apparent wind to information; The course vector of the course current according to sailing boat and described expectation, controls the rudder angle of sailing boat to reach or to follow the tracks of described desired course;

Determining step: judge whether sailing boat arrives described target course point; If do not arrive, then return described desired course determining step; If arrive, then judge whether described target course point is navigation terminal further; If not, then return described target course point determining step; If so, then process ends.

2. the autonomous control method of sailing boat according to claim 1, is characterized in that, described desired course determining step comprises:

Obtain the information of true wind;

According to the wind direction information of described true wind, divide course district centered by sailing boat, described course district at least comprises district, windward unnavigability district, crosswind district with the wind;

According to the relative position of described target course point and sailing boat, calculate the relative bearing of described target course point relative to sailing boat;

The course district residing for described target course point is determined according to described relative bearing; Course district residing for described target course point obtains the course vector expected.

3. the autonomous control method of sailing boat according to claim 2, is characterized in that, the information of the true wind of described acquisition comprises:

Vector operation is carried out to the wind speed information of described speed of a ship or plane information, course information, apparent wind and the wind direction information of apparent wind, obtains wind speed information relative to the true wind of bank and wind direction information according to the result of described Vector operation.

4. the autonomous control method of sailing boat according to claim 1, is characterized in that, the course vector of the described course current according to sailing boat and described expectation, and the rudder angle controlling sailing boat comprises to reach or to follow the tracks of described desired course:

The actual heading of sailing boat is controlled by the deflection of rudder;

5. the autonomous control method of sailing boat according to claim 1, is characterized in that, the described sail state controlling sailing boat to information according to apparent wind comprises:

According to the wind direction information of described apparent wind, control sail adjustment angle.

6. the autonomous control method of the sailing boat according to any one of claim 1 to 5, is characterized in that, described rate-determining steps also comprises:

Obtain the attitude angle of sailing boat, wherein, described attitude angle comprises course angle, the angle of pitch and roll angle;

When the described angle of pitch presets dangerous values more than first or when described roll angle presets dangerous values more than second, send the distress signal that sailing boat is tumbled, and terminate navigation.

7. a sailing boat automatic control device, is characterized in that, described device comprises:

Desired course determination module, for the course vector determining to expect according to the relative orientation of described sailing boat and described target course point and the direction of true wind;

Control module, for controlling the sail state of sailing boat to information according to apparent wind; The course vector of the course current according to sailing boat and described expectation, controls the rudder angle of sailing boat to reach or to follow the tracks of described desired course;

First judging unit is for judging whether sailing boat arrives described target course point; If do not arrive, then return described desired course determining step, if arrive, then notify the second judging unit;

Second judging unit is for judging whether described target course point is navigation terminal; If not, then return described target course point determining step, if so, then terminate.

8. sailing boat automatic control device according to claim 7, is characterized in that, described desired course determination module comprises: true wind information acquisition unit, course Division unit, relative bearing determining unit and course district determining unit, wherein,

Described true wind information acquisition unit is for obtaining the information of true wind;

Described course Division unit is used for the wind direction information according to described true wind, and centered by sailing boat, divide course district, described course district at least comprises district, windward unnavigability district, crosswind district with the wind;

Described relative bearing determining unit is used for the relative position according to described target course point and sailing boat, calculates the relative bearing of described target course point relative to sailing boat;

Described course district determining unit is for determining the course district residing for described target course point according to described relative bearing.

9. sailing boat automatic control device according to claim 8, is characterized in that, described true wind information acquisition unit also for,

Obtain the wind speed information relative to the apparent wind of sailing boat hull and wind direction information; Vector operation is carried out to the wind speed information of described speed of a ship or plane information, course information, apparent wind and the wind direction information of apparent wind, obtains wind speed information relative to the true wind of bank and wind direction information according to the result of described Vector operation.

10. sailing boat automatic control device according to claim 7, is characterized in that, described control module comprises the first real navigation control module and the second real navigation control module, wherein,

Described first real navigation control module is used for the actual heading being controlled sailing boat by the deflection of rudder;

Described second real navigation control module is used for making the actual heading of sailing boat reach or follow the tracks of desired course by controlling rudder angle.

11. sailing boat automatic control devices according to claim 7 or 10, is characterized in that, described control module also comprises sail adjustment angle control module, for the wind direction information according to described apparent wind, control sail adjustment angle;

Described control module also comprises attitude angle acquiring unit and distress signal processing unit, wherein,

Described attitude angle acquiring unit is for obtaining the attitude angle of sailing boat, and wherein, described attitude angle comprises course angle, the angle of pitch and roll angle;

Described distress signal processing unit is used for when the described angle of pitch presets dangerous values more than first or when described roll angle presets dangerous values more than second, sends the distress signal that sailing boat is tumbled, and terminates navigation.

12. 1 kinds of sailing boats, comprise hull, sail, rudder, drive unit and propulsion plant, it is characterized in that, described sailing boat also comprises the sailing boat automatic control device as described in any one of claim 7 ~ 11.