CN108196537A - A kind of remote control unmanned boat start and stop and the device and method of anchoring - Google Patents
A kind of remote control unmanned boat start and stop and the device and method of anchoring Download PDFInfo
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- CN108196537A CN108196537A CN201711417665.2A CN201711417665A CN108196537A CN 108196537 A CN108196537 A CN 108196537A CN 201711417665 A CN201711417665 A CN 201711417665A CN 108196537 A CN108196537 A CN 108196537A
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- 238000004873 anchoring Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 50
- 238000005266 casting Methods 0.000 claims abstract description 20
- 230000002159 abnormal effect Effects 0.000 claims abstract description 7
- 230000008033 biological extinction Effects 0.000 claims abstract description 7
- 230000002045 lasting effect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
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- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses the device and method of a kind of remote control unmanned boat start and stop and anchoring, including bank base control and monitor console, start-up and shut-down control module, wireless communication module, power supply module, master control system and electric windlass；Power supply module is powered for unmanned boat；Master control system is used for the power distribution that ship is controlled to carry equipment and electric windlass anchor or action of casting anchor；Bank base control and monitor console sends power-up/down instruction, anchor/instruction by wireless communication module to unmanned boat；Start-up and shut-down control module receives bank base control and monitor console and powers on instruction and cut-offing instruction and power supply module is controlled to power on or power off, and start-up and shut-down control module monitors the heartbeat signal of master control system by internal communication bus and alarm signal and power supply module controlled to power off according to the heartbeat extinction time or Abnormal lasting of master control system；The anchor that master control system receives bank base control and monitor console instructs and casts anchor instruction and electric windlass is controlled to unmoor or cast anchor.The present invention can realize the start and stop and anchoring of remote control unmanned boat.
Description
Technical field
The present invention relates to unmanned boat technical field, more specifically to a kind of remote control unmanned boat start and stop and anchoring
Device and method.
Background technology
Unmanned boat can carry different application modules, be surveyed in security protection patrol, waters as emerging intelligent platform
It paints, water quality monitoring, operation etc. assisted to have broad application prospects.Unmanned boat can substitute manual control routine ships and light boats,
Operation has many advantages, such as round-the-clock, high-precision, high efficiency, can significantly improve waters industry in dangerous, pollution, complex water areas
Working efficiency and safety.The start and stop of remote control unmanned boat are one of functions of unmanned boat indispensability with anchoring, its implementation with
Realization degree is horizontal to the functionization for promoting unmanned boat and security performance is of great significance.
Invention content
The technical problem to be solved in the present invention is, provides device and the side of a kind of remote control unmanned boat start and stop and anchoring
Method.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of remote control unmanned boat start and stop and anchor
The device of pool, including bank base control and monitor console, start-up and shut-down control module, wireless communication module, power supply module, master control system and electronic anchor
Machine；The power supply module is powered for unmanned boat, and the start-up and shut-down control module and wireless communication module are by boat-carrying battery powered；It is described
Master control system includes control module, communication module and sensor, for the navigation of unmanned boat, ship to be controlled to carry the power distribution of equipment
And electric windlass is unmoored or action of casting anchor；The bank base control and monitor console powers on finger by wireless communication module to unmanned boat transmission
It enables, cut-offing instruction, anchor instruction, cast anchor instruction and navigational duty；The bank base control and monitor console and start-up and shut-down control module pass through nothing
Line communication module carries out information exchange, and the start-up and shut-down control module receives powering on instruction and cut-offing instruction and controlling for bank base control and monitor console
Power supply module processed is powered on or is powered off, the start-up and shut-down control module by internal communication bus monitor master control system heartbeat signal and
Alarm signal simultaneously controls power supply module power-off according to the heartbeat extinction time or Abnormal lasting of master control system；The bank base prison
It controls platform and master control system and information exchange is carried out by wireless communication module, the anchor that the master control system receives bank base control and monitor console refers to
Enable and cast anchor instruction and control electric windlass unmoor or cast anchor.
In said program, the wireless communication module uses data radio station or 4G communication modules.
In said program, the start-up and shut-down control module uses low power dissipation design, selects low power consumption CPU and low-power consumption periphery
Device；The start-up and shut-down control module, in standby mode, CPU entrance is waken up when receiving control instruction in no control instruction
Operating status.
In said program, the power supply module uses double loop power supply, is powered on and powered off by control contactor
Seamless switching.
In said program, the electric windlass includes controller, windlass and pulling force sensor, and the electric windlass receives
The anchor instruction of master control system, the working condition for instructing and windlass being fed back to master control system of casting anchor；The control of the electric windlass
Device obtains the Water Depth Information of sonar detection by internal communication bus, calculates the required length of chain cable that casts anchor, controls the windlass
Rotating speed and the time, windlass cast anchor action be finished after according to the data of the pulling force sensor judgement cast anchor whether into
Work(, controller stores length of chain cable after casting anchor successfully；The controller of the electric windlass controls anchor according to the length of chain cable of storage
The anchor stopping action of machine.
In said program, the bank base control and monitor console passes through monitoring center control panel or portable control cabinet or remote-control key
Operation sends out instruction.
The present invention also provides a kind of method of remote control unmanned boat start and stop and anchoring, using above-mentioned remote control unmanned boat
Start and stop and the device of anchoring, this method include the following steps：
Step 1), opens the master switch of unmanned boat, and the start-up and shut-down control module and wireless communication module continue charging operation；
Step 2), the bank base control and monitor console transmission power on instruction, power on to instruct to reach by the wireless communication module and open
Stopping control module, the first via power supply that the start-up and shut-down control module first passes through power supply module is powered on to the master control system of unmanned boat,
It monitors the voltage and current numerical value of the master control system and judges to power on whether succeed, if powering on unsuccessful, the start-up and shut-down control
Module is powered on by the second road power supply of power supply module to the master control system of unmanned boat, and the first via of the power supply module is electric
Source exception information is sent to bank base control and monitor console；
Step 3), the master control system electrifying startup, the ambient condition information of sensor detection unmanned boat are simultaneously sent to
Bank base control and monitor console, when the ambient enviroment of unmanned boat meets anchor condition, the bank base control and monitor console sends anchor instruction, anchor instruction
Master control system is reached by the wireless communication module, the master control system will unmoor to instruct and be converted into control command and pass through interior
Portion's bus is sent to the controller of electric windlass, the startup of controller control windlass, working speed and the time of the electric windlass
And the working condition of windlass is monitored until anchor action is completed；
Step 4), unmanned boat start completion, the master control system receive the navigational duty that bank base control and monitor console is assigned and control
Unmanned boat enters operational configuration, and the start-up and shut-down control module continues to monitor the electricity of double loop power supply and current supply circuit state and in office
Power supply switching is carried out when one electric quantity of power supply deficiency or current supply circuit failure；
Step 5), during unmanned boat navigation, the start-up and shut-down control module monitors master control system by internal communication bus
Heartbeat signal and alarm signal and according to the heartbeat extinction time or Abnormal lasting of master control system control power supply module break
Electricity；
Step 6), navigational duty terminates after unmanned boat returns port, around the sensor detection unmanned boat of the master control system
Environmental information is simultaneously sent to bank base control and monitor console, the ambient enviroment of unmanned boat satisfaction cast anchor condition when, the bank base control and monitor console is sent
It casts anchor instruction, instruction of casting anchor reaches master control system by the wireless communication module, and the master control system instruction that will cast anchor is converted
Into control command and pass through the controller that internal bus is sent to electric windlass, the controller of the electric windlass passes through internal logical
Believe that bus obtains the Water Depth Information of sonar detection, calculate the required length of chain cable that casts anchor, control rotating speed and the time of the windlass,
It is cast anchor and whether succeeded according to the judgement of the data of the pulling force sensor after the action of casting anchor of windlass is finished；
Step 7), after casting anchor successfully, the controller storage length of chain cable of the electric windlass, the bank base control and monitor console is sent
Cut-offing instruction, cut-offing instruction reach start-up and shut-down control module by the wireless communication module, and the start-up and shut-down control module is broken simultaneously
The two-way power supply of power supply module is opened, realizes the power-off to unmanned boat master control system.
Implement the device and method of a kind of remote control unmanned boat start and stop of the present invention and anchoring, have the advantages that：
1st, the present invention can realize the start and stop and anchoring of remote control unmanned boat, be brought greatly just for unmanned boat application
Profit.
2nd, start-up and shut-down control module independently of unmanned boat master control system, can effectively avoid master control system failure can in the present invention
The accident that can cause.
3rd, each function module task is well defined in the present invention, monitors and manages step by step, the reliability of effective lifting device.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is a kind of structure diagram of the device of remote control unmanned boat start and stop and anchoring.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific embodiment of the present invention.
As shown in Figure 1, the present invention provides the device of a kind of remote control unmanned boat start and stop and anchoring, monitored including bank base
Platform, start-up and shut-down control module, wireless communication module, power supply module, master control system and electric windlass.Power supply module is supplied for unmanned boat
Electricity, power supply module is using double loop power supply and passes through the seamless switching that control contactor is powered on and powered off, and ensures that unmanned boat is held
Continuous, stable power-supplying.Start-up and shut-down control module uses low power dissipation design, selects low power consumption CPU and low-power consumption peripheral components；Start-up and shut-down control
Module is in no control instruction in standby mode, and when receiving control instruction, wake-up CPU enters operating status.Wireless telecommunications
Module uses data radio station or 4G communication modules.Start-up and shut-down control module and wireless communication module are by boat-carrying battery powered, it is ensured that
The two can continue charging operation.Master control system includes control module, communication module and necessary sensor, such as inertial navigation, radar, sound
It receives, the sensors such as camera, weather station, after unmanned boat normally starts, master control system is responsible for that the navigation of unmanned boat, ship is controlled to carry
Power distribution and the electric windlass anchor of equipment or action of casting anchor.Bank base control and monitor console passes through monitoring center control panel or portable
Control cabinet or remote-control key operation send out power on instruction, cut-offing instruction, anchor instruction, cast anchor instruction and navigational duty, bank base
Control and monitor console sends above-metioned instruction by wireless communication module to unmanned boat；Above-metioned instruction is monitored by the display of bank base control and monitor console
Action process and as a result, in addition, can also check master control system passback unmanned boat ambient condition information, sentenced according to site environment
Whether disconnected start and stop, anchoring operation are in due course.Bank base control and monitor console and start-up and shut-down control module carry out information exchange by wireless communication module,
Start-up and shut-down control module receives powering on instruction and cut-offing instruction and power supply module being controlled to power on or power off for bank base control and monitor console；Unmanned boat
During navigation, heartbeat signal and alarm signal and basis that start-up and shut-down control module passes through internal communication bus monitoring master control system
Heartbeat extinction time or Abnormal lasting the control power supply module power-off of master control system.Bank base control and monitor console and master control system pass through
Wireless communication module carries out information exchange, and the anchor that master control system receives bank base control and monitor console instructs and casts anchor instruction and controls electronic
Windlass unmoors or casts anchor, wherein, electric windlass includes controller, windlass and pulling force sensor, and electric windlass receives master control system
Anchor instruction, cast anchor instruction and to master control system feedback windlass working condition；The controller of electric windlass is logical by inside
Believe that bus obtains the Water Depth Information of sonar detection, calculate the required length of chain cable that casts anchor, rotating speed and the time of windlass are controlled, in anchor
Whether the action of casting anchor of machine is cast anchor after being finished according to the judgement of the data of pulling force sensor succeeds, and controller is deposited after casting anchor successfully
Store up length of chain cable；The controller of electric windlass controls the anchor stopping of windlass to act according to the length of chain cable of storage.
The present invention also provides a kind of method of remote control unmanned boat start and stop and anchoring, using above-mentioned remote control unmanned boat
Start and stop and the device of anchoring, this method include the following steps：
Step 1), opens the master switch of unmanned boat, and start-up and shut-down control module and wireless communication module continue charging operation；
Step 2), the transmission of bank base control and monitor console power on instruction, power on instruction and reach start-up and shut-down control mould by wireless communication module
Block, the first via power supply that start-up and shut-down control module first passes through power supply module are powered on to the master control system of unmanned boat, monitor master control system
Voltage and current numerical value and judge to power on and whether succeed, if power on it is unsuccessful, start-up and shut-down control module pass through power supply module the
Two road power supplys are powered on to the master control system of unmanned boat, and the first via abnormity of power supply information of power supply module is sent to bank base monitoring
Platform；
Step 3), master control system electrifying startup, the ambient condition information of sensor detection unmanned boat are simultaneously sent to bank base
Control and monitor console, when the ambient enviroment of unmanned boat meets anchor condition, bank base control and monitor console sends anchor instruction, and anchor instruction passes through wireless
Communication module reaches master control system, master control system will unmoor instruction be converted into control command and pass through internal bus be sent to it is electronic
The controller of windlass, the startup of controller control windlass, working speed and the time of electric windlass and the working condition for monitoring windlass
Until anchor action is completed；
Step 4), unmanned boat start completion, master control system receive the navigational duty that bank base control and monitor console is assigned and control nobody
Ship enters operational configuration, and start-up and shut-down control module continues to monitor the electricity of double loop power supply and current supply circuit state and in any power supply electricity
Power supply switching is carried out when amount deficiency or current supply circuit failure；
Step 5), during unmanned boat navigation, start-up and shut-down control module monitors the heart of master control system by internal communication bus
It jumps signal and alarm signal and power supply module power-off is controlled according to the heartbeat extinction time or Abnormal lasting of master control system；
Step 6), navigational duty terminate after unmanned boat returns port, the ambient enviroment of the sensor detection unmanned boat of master control system
Information is simultaneously sent to bank base control and monitor console, the ambient enviroment of unmanned boat satisfaction cast anchor condition when, the transmission of bank base control and monitor console is cast anchor instruction,
Instruction of casting anchor reaches master control system by wireless communication module, and the master control system instruction that will cast anchor is converted into control command and passes through interior
Portion's bus is sent to the controller of electric windlass, and the controller of electric windlass obtains the water of sonar detection by internal communication bus
Deeply convince breath, calculate the required length of chain cable that casts anchor, rotating speed and the time of windlass are controlled, after the action of casting anchor of windlass is finished
It is cast anchor and whether succeeded according to the judgement of the data of pulling force sensor；
Step 7), after casting anchor successfully, the controller storage length of chain cable of electric windlass, bank base control and monitor console sends power-off and refers to
It enables, cut-offing instruction reaches start-up and shut-down control module by wireless communication module, and start-up and shut-down control module simultaneously switches off the two of power supply module
Road power supply realizes the power-off to unmanned boat master control system.
The embodiment of the present invention is described above in conjunction with attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned specific embodiment is only schematical rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, present inventive concept and scope of the claimed protection are not being departed from, can also made very much
Form, these are belonged within the protection of the present invention.
Claims (7)
1. a kind of remote control unmanned boat start and stop and the device of anchoring, which is characterized in that including bank base control and monitor console, start-up and shut-down control mould
Block, wireless communication module, power supply module, master control system and electric windlass；The power supply module is powered for unmanned boat, the start and stop
Control module and wireless communication module are by boat-carrying battery powered；The master control system includes control module, communication module and sensing
Device, for controlling, the navigation of unmanned boat, ship carry the power distribution of equipment and electric windlass is unmoored or action of casting anchor；The bank base
Control and monitor console powers on instruction, cut-offing instruction, anchor instruction, cast anchor instruction and navigation times by wireless communication module to unmanned boat transmission
Business；The bank base control and monitor console and start-up and shut-down control module carry out information exchange, the start-up and shut-down control module by wireless communication module
Powering on instruction and cut-offing instruction and power supply module being controlled to power on or power off for bank base control and monitor console is received, the start-up and shut-down control module is led to
Cross internal communication bus monitor master control system heartbeat signal and alarm signal and according to the heartbeat extinction time of master control system or
Abnormal lasting control power supply module power-off；The bank base control and monitor console and master control system are by wireless communication module into row information
Interaction, the anchor that the master control system receives bank base control and monitor console instruct and cast anchor instruction and electric windlass is controlled to unmoor or cast anchor.
2. a kind of remote control unmanned boat start and stop according to claim 1 and the device of anchoring, which is characterized in that the nothing
Line communication module uses data radio station or 4G communication modules.
3. a kind of remote control unmanned boat start and stop according to claim 1 and the device of anchoring, which is characterized in that described to open
Stop control module using low power dissipation design, select low power consumption CPU and low-power consumption peripheral components；The start-up and shut-down control module is in no control
In standby mode during system instruction, when receiving control instruction, wake-up CPU enters operating status.
4. a kind of remote control unmanned boat start and stop according to claim 1 and the device of anchoring, which is characterized in that the confession
Electric module uses double loop power supply, the seamless switching for being powered on and being powered off by control contactor.
5. a kind of remote control unmanned boat start and stop according to claim 1 and the device of anchoring, which is characterized in that the electricity
Dynamic windlass includes controller, windlass and pulling force sensor, and the electric windlass receives the anchor instruction of master control system, instruction of casting anchor
And the working condition of windlass is fed back to master control system；The controller of the electric windlass obtains sonar by internal communication bus and visits
The Water Depth Information of survey calculates the required length of chain cable that casts anchor, rotating speed and the time of the windlass is controlled, in the action of casting anchor of windlass
It is cast anchor and whether succeeded according to the judgement of the data of the pulling force sensor after being finished, controller stores cable-length after casting anchor successfully
Degree；The controller of the electric windlass controls the anchor stopping of windlass to act according to the length of chain cable of storage.
6. a kind of remote control unmanned boat start and stop according to claim 1 and the device of anchoring, which is characterized in that the bank
Base monitoring platform sends out instruction by monitoring center control panel or the operation of portable control cabinet or remote-control key.
7. a kind of remote control unmanned boat start and stop and the method for anchoring, which is characterized in that using any one of claim 1-6 institutes
The device of the start and stop of remote control unmanned boat and anchoring is stated, this method includes the following steps：
Step 1), opens the master switch of unmanned boat, and the start-up and shut-down control module and wireless communication module continue charging operation；
Step 2), the bank base control and monitor console transmission power on instruction, power on instruction and reach start and stop control by the wireless communication module
Molding block, the first via power supply that the start-up and shut-down control module first passes through power supply module are powered on to the master control system of unmanned boat, monitoring
The voltage and current numerical value of the master control system simultaneously judges to power on whether succeed, if powering on unsuccessful, the start-up and shut-down control module
It is powered on by the second road power supply of power supply module to the master control system of unmanned boat, and the first via power supply of the power supply module is different
Normal information is sent to bank base control and monitor console；
Step 3), the master control system electrifying startup, the ambient condition information of sensor detection unmanned boat are simultaneously sent to bank base
Control and monitor console, when the ambient enviroment of unmanned boat meets anchor condition, the bank base control and monitor console sends anchor instruction, and anchor instruction passes through
The wireless communication module reaches master control system, and the master control system will unmoor to instruct and be converted into control command and pass through internal total
Line is sent to the controller of electric windlass, and the startup of controller control windlass, working speed and the time of the electric windlass simultaneously supervise
The working condition of windlass is surveyed until anchor action is completed；
Step 4), unmanned boat start completion, the master control system receive the navigational duty that bank base control and monitor console is assigned and control nobody
Ship enters operational configuration, and the start-up and shut-down control module continues to monitor the electricity of double loop power supply and current supply circuit state and in any electricity
Power supply switching is carried out when source not enough power supply or current supply circuit failure；
Step 5), during unmanned boat navigation, the start-up and shut-down control module monitors the heart of master control system by internal communication bus
It jumps signal and alarm signal and power supply module power-off is controlled according to the heartbeat extinction time or Abnormal lasting of master control system；
Step 6), navigational duty terminate after unmanned boat returns port, the ambient enviroment of the sensor detection unmanned boat of the master control system
Information is simultaneously sent to bank base control and monitor console, the ambient enviroment of unmanned boat satisfaction cast anchor condition when, the bank base control and monitor console transmission is cast anchor
Instruction, instruction of casting anchor reach master control system by the wireless communication module, and the master control system instruction that will cast anchor is converted into controlling
System orders and passes through the controller that internal bus is sent to electric windlass, and the controller of the electric windlass is total by intercommunication
Line obtains the Water Depth Information of sonar detection, calculates the required length of chain cable that casts anchor, rotating speed and the time of the windlass is controlled, in anchor
Whether the action of casting anchor of machine is cast anchor after being finished according to the judgement of the data of the pulling force sensor succeeds；
Step 7), after casting anchor successfully, the controller storage length of chain cable of the electric windlass, the bank base control and monitor console sends power-off
Instruction, cut-offing instruction reach start-up and shut-down control module by the wireless communication module, and the start-up and shut-down control module simultaneously switches off confession
The two-way power supply of electric module, realizes the power-off to unmanned boat master control system.
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| CN201711417665.2A CN108196537B (en) | 2017-12-25 | 2017-12-25 | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship |
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| CN201711417665.2A CN108196537B (en) | 2017-12-25 | 2017-12-25 | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship |
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| CN108196537A true CN108196537A (en) | 2018-06-22 |
| CN108196537B CN108196537B (en) | 2020-11-27 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733538A (en) * | 2018-12-29 | 2019-05-10 | 智慧航海（青岛）科技有限公司 | A kind of unmanned ship is independently unmoored control method |
| CN109733536A (en) * | 2018-12-19 | 2019-05-10 | 智慧航海（青岛）科技有限公司 | The control method and system that unmanned anchorage regardless methods are made decisions on one's own |
| CN109733537A (en) * | 2018-12-19 | 2019-05-10 | 智慧航海（青岛）科技有限公司 | A kind of unmanned ship independently casts anchor control method and system |
| CN111240293A (en) * | 2020-03-23 | 2020-06-05 | 榆林学院 | Electrical control system |
| CN111552287A (en) * | 2020-04-27 | 2020-08-18 | 四方智能(武汉)控制技术有限公司 | Unmanned ship automatic energy supply system and method based on intelligent dock |
| CN111559463A (en) * | 2020-05-25 | 2020-08-21 | 智慧航海（青岛）科技有限公司 | Control method and system for intelligent ship anchor equipment |
| CN111615122A (en) * | 2020-04-17 | 2020-09-01 | 珠海云洲智能科技有限公司 | Communication method, device and terminal for unmanned ship formation |
| CN114360234A (en) * | 2021-12-23 | 2022-04-15 | 中交第四航务工程局有限公司 | Wireless remote control system and method for ship |
| CN114455051A (en) * | 2022-01-06 | 2022-05-10 | 珠海云洲智能科技股份有限公司 | Unmanned equipment control method and device and unmanned equipment |
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