CN112947040B - Unmanned naval vessel bimodulus control system of physics isolation - Google Patents
Unmanned naval vessel bimodulus control system of physics isolation Download PDFInfo
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- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
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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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25242—Relay
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Abstract
The invention discloses a physically-isolated unmanned ship dual-mode control system, which comprises a control circuit, a remote control module and a computer control module, wherein the remote control module and the computer control module are communicated with the control circuit; the switching part comprises a relay K8, a relay KA20 and a relay KA1 which are connected in series, the speed regulating part comprises terminals B02 and DA1+ which are communicated with a speed regulating port of the motor controller, and terminals B01 and DA1 which are communicated with a ground terminal port, and terminals B02, DA1+, B01 and DA 1-which are communicated with the motor controller through an electromagnetic switch KA 1.
Description
Technical Field
The invention relates to the field of automatic control of ships and boats, in particular to a physically-isolated unmanned ship dual-mode control system.
Background
The unmanned ships can be classified into fully autonomous unmanned ships having autonomous decision making, autonomous navigation and obstacle avoidance, and autonomous environment sensing capabilities, semi-autonomous unmanned ships navigating and performing tasks according to a preset program, and remote unmanned ships having no autonomous navigation capability. Compared with the traditional manned boat, the unmanned boat can be operated in all-weather and all-water-area environments, has high operation efficiency and low cost, does not have the advantages of potential safety hazards and the like, and is widely applied to the occasions of environment monitoring and management, emergency rescue, resource exploration and the like.
The operation modes of the unmanned ship mainly include remote driving, remote control and autonomous cruising. The autonomous cruise mode means that the ship navigates according to a path planned in advance by a ship-mounted computer, position and attitude information is updated through a ship-mounted GPS module in the navigation process, environmental information is sensed in real time through sensors such as a laser radar and a millimeter wave radar, the ship travels according to the planned path if no obstacle exists in the planned path, and the ship needs to be re-planned according to information detected by the sensors to avoid the obstacle if the obstacle exists. The existing path planning, navigation, obstacle avoidance and sensor detection technologies are not mature, and when some complex water area environments or GPS signals are shielded and the unmanned ship is out of control when a laser radar visual angle is blind, the unmanned ship may collide with obstacles to cause irreparable loss. Therefore, when the unmanned ship is in an emergency such as fast collision with an obstacle or deviation from a planned route during autonomous cruising, manual operation is needed to realize safe operation.
At present, a manual control mode commonly used for an unmanned ship is either a remote control mode or a mode of sending a command by a computer terminal, and a method of dual-mode control of computer control and remote control mode is only used. The remote control mode has the problems of long-distance communication signal failure and easy weather interference, but has low cost and easy maintenance; the computer control communication distance is not limited, all-weather indifferent work can be realized, but the cost is higher, and the maintenance is difficult. Therefore, how to realize coexistence of dual-mode control of computer and remote control and seamless switching between the two modes is a major difficulty in automatic control of unmanned ships and boats.
Disclosure of Invention
The invention aims to provide a physically-isolated unmanned ship dual-mode control system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a physically-isolated unmanned ship dual-mode control system comprises a control circuit, a remote control module and a computer control module, wherein the remote control module and the computer control module are communicated with the control circuit; the control circuit comprises a power supply, and a switching part, a speed regulating part and a gear shifting part which are connected with the power supply;
the switching part comprises a relay K8, a relay KA20, a relay KA1 and a relay KA2 which are connected in series, the relay K8 is in signal communication with the computer control module and is used for accessing a computer control signal, the relay KA20 is in signal communication with the remote control module and is used for accessing a remote control signal, and the relays KA1 and KA2 respectively control the on-off of signals of the left-path motor controller and the right-path motor controller;
the speed regulation part comprises terminals B02 and DA1+ communicated with a speed regulation port of the motor controller, and terminals B01 and DA 1-communicated with a ground terminal port, wherein the terminals B02, DA1+, B01 and DA 1-are communicated with the motor controller through an electromagnetic switch KA1, the terminals B01 and B02 are communicated with the remote control module through signals to receive remote control signals, and the terminals DA1+, DA 1-and the computer control module are communicated through signals to receive computer control signals.
As a further scheme of the invention: the terminals B01 and B02 are communicated with the motor controller through a normally closed electromagnetic switch KA1, and the terminals DA1+, DA 1-are communicated with the motor controller through a normally open electromagnetic switch KA 1.
As a further scheme of the invention: the gear shifting part comprises a remote control gear shifting switch and a computer control gear shifting switch which are connected in parallel, and the two sections of the remote control gear shifting switch and the computer control gear shifting switch which are connected in parallel are respectively communicated with a 5V port and a gear signal port of the motor controller.
As a further scheme of the invention: the remote control gear shifting switch comprises a normally closed electromagnetic switch KA1, switches A35 and A37, and the computer control gear shifting switch comprises a normally open electromagnetic switch KA1 and a switch K1.
As a further scheme of the invention: the remote control module comprises a transmitter, a receiver, a rocker, a display screen and an operation mode selector switch, and the control circuit is provided with the receiver for receiving a signal transmitted by the transmitter.
As a further scheme of the invention: the computer control module is installed on a ship or a mobile terminal.
As a further scheme of the invention: the computer control module comprises a computer control panel, the computer control panel adopts an embedded single chip microcomputer, the computer control panel is connected with a shipborne industrial personal computer through a communication interface, and the computer control panel adopts an embedded real-time operating system.
As a further scheme of the invention: the motor controller is provided with a plurality of motors for driving ships, and each motor controller is at least connected with one motor.
As a further scheme of the invention: the relay K8 has a self-protection function.
As a further scheme of the invention: the relay KA1 is connected with a relay KA2 in parallel
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a dual-mode control method of an unmanned ship, which is not influenced by environment and climate factors and can work all weather, aiming at the characteristics that the current remote control mode of the unmanned ship is not suitable for remote control, is easily influenced by climate and can not work all weather, and the communication distance of a computer network is not limited.
2. The invention abstractly separates hardware required by computer control and remote control to form two control loops, improves the fault tolerance of the unmanned ship control system, has no any association of control authorities between the computer and the remote controller, does not influence the other control mode when any control mode is out of control, and realizes the complete physical isolation of the two modes of the computer and the remote control.
3. The invention adopts the industrial control computer and the embedded operating system as well as the backup of each other, adopts the redundancy design, enhances the robustness of the unmanned ship control system, and ensures that even if one control system fails, the other control system can work normally and is not influenced.
4. The invention designs a motor control circuit, which can realize seamless switching between a remote control mode and a computer control mode of an unmanned ship and realize adjustment of the running direction and the power of the unmanned ship through a relay.
Drawings
FIG. 1 is a schematic diagram of a control circuit according to the present embodiment;
FIG. 2 and FIG. 3 are schematic views of the panel structure of the remote control of the present embodiment;
FIG. 4 and FIG. 5 are diagrams showing the relationship between the pushing angle of the rocker and the power of the present embodiment;
FIG. 6 is a schematic diagram of a control structure of a signal transmitter/receiver of the remote controller according to the present embodiment;
FIG. 7 is a schematic diagram of a computer control board structure according to the present embodiment;
FIG. 8 is a schematic diagram of signal access and shift switch switching at the remote control end according to the present embodiment;
FIG. 9 is a schematic diagram of a computer-controlled client interface according to the present embodiment;
in the figure: 1-transmitter, 11-rocker, 12-display screen, 13-operation mode switch, 14-A10 key, 15-transmitting module, 2-receiver, 21-receiving module and 22-relay control board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, a physically-isolated unmanned ship dual-mode control system is characterized by including a control circuit, and a remote control module and a computer control module which are communicated with the control circuit, where the control circuit is connected to at least one motor controller, the motor controller is connected to a plurality of motors, and a plurality of motors are provided for driving a ship, and each motor controller is connected to at least one motor.
The remote control module comprises an intelligent remote controller 1, a remote control panel is arranged in the remote controller, a transmitter, a receiver, a rocker, a display screen and a control switch are arranged on the remote control panel, a control circuit is provided with the receiver for receiving a signal transmitted by the transmitter, the computer control module is installed on a ship or a mobile terminal and comprises a computer control panel, the computer control panel adopts an embedded single chip microcomputer, the computer control panel is connected with a ship-mounted industrial personal computer through a communication interface, and the computer control panel adopts an embedded real-time operating system.
The control circuit comprises a power supply, a switching part, a speed regulating part and a gear shifting part, wherein the switching part, the speed regulating part and the gear shifting part are connected with the power supply.
The switching part comprises a relay K8, a relay KA20 and a relay KA1 which are connected in series, the relay K8 is in signal communication with the computer control module and used for accessing a computer control signal, the relay K8 has a self-protection function, the relay KA20 is in signal communication with the remote control module and used for accessing a remote control signal, and the relay KA1 is connected with the relay KA2 in parallel.
The speed regulation part comprises a terminal B02 and a terminal DA1+ communicated with a speed regulation port of the motor controller, a terminal B01 and a terminal DA 1-communicated with a ground terminal port, a terminal B02, a terminal DA1+, a terminal B01 and a terminal DA 1-are communicated with the motor controller through an electromagnetic switch KA1, a terminal B01 and a terminal B02 are communicated with a remote control module through signals and are used for receiving remote control signals, a terminal DA1+, a terminal DA 1-are communicated with a computer control module through signals and are used for receiving computer control signals, a terminal B01 and a terminal B02 are communicated with the motor controller through a normally closed electromagnetic switch KA1, a terminal DA1+ and a terminal DA 1-are communicated with the motor controller through a normally open electromagnetic switch KA1, and a right-way motor controller is controlled through a KA 2.
The gear shifting part comprises a remote control gear shifting switch and a computer control gear shifting switch which are connected in parallel, the two sections of the remote control gear shifting switch and the computer control gear shifting switch which are connected in parallel are respectively communicated with a 5V port and a gear signal port of the motor controller, the remote control gear shifting switch comprises a normally closed electromagnetic switch KA1, a switch A35 and a switch A37, and the computer control gear shifting switch comprises a normally open electromagnetic switch KA1 and a switch K1
Example 1
Referring to fig. 1-8, the present embodiment breaks through the situation that redundancy and interlock cannot be obtained at the same time, and adopts an interlock and redundancy circuit design to implement seamless switching between the computer operation mode and the remote control operation mode.
When a remote control operation mode needs to be adopted, the operation mode change-over switch 13 on the panel of the intelligent remote controller 1 is switched to a remote control gear, after the system is powered on, the control circuit, the remote controller module and the computer control module are all in an initial state, and all control relays of the remote controller are in a power-off state. As shown in fig. 1, a relay KA20 for a remote controller control signal in a control circuit is opened, and a normally closed contact thereof is in a closed state. Meanwhile, the relay K8 of the computer control signal of the computer control board in the control circuit is also disconnected, and the normally open contact of the relay K8 is in an open state. At the moment, the computer remote control switching relays KA1 and KA2 in the control circuit are both turned off, and in the state: KA1 and KA2 are open at the normally open contact and closed at the normally closed contact in the motor controller, it can be seen that the remote controller speed signal input terminals B02 and B01 in the motor controller are closed at this time, as shown in fig. 5, by pushing the rocker lever 11 of the remote controller transmitter in the forward or backward direction (along the Y axis), the receiver 2 will generate an analog voltage between the terminals B01 and B02 after receiving the signal, a voltage is applied to the speed signal of the motor controller, the magnitude of the voltage is proportional to the forward pushing direction of the remote lever 11, i.e. the rotation speed of the motor is proportional to the angle of the rocker lever 11, and when the voltage exceeds 0.5V, the commutation relay a36 (forward) or a37 (backward) is closed with a35, in this case, the motor is operated forward when the gear signal of the motor control circuit is suspended, the 5V is operated in the reverse direction, so that the rocker lever 11 is only pushed in the backward direction to connect a35 and a37, the motor runs in reverse.
When the intelligent remote controller is in a computer control mode, the operation mode change-over switch 13 on the panel of the intelligent remote controller 1 is switched to a computer gear, and the unmanned ship is controlled by a computer at the moment. An intelligent ship control client shown in fig. 9 is installed on an industrial personal computer or an intelligent mobile terminal, and the ship running direction and the power magnitude can be set, namely, a computer control mode. In the embodiment, a 232 communication interface in a computer control panel is connected with a shipborne industrial personal computer, after receiving a command requested to be controlled by the industrial personal computer, a relay K8 of the computer control panel in a motor control circuit shown in fig. 1 is closed, KA1 and KA2 relays in the motor control circuit are closed, meanwhile, a normally open contact of the K8 relay is self-protected, a KA1 normally closed contact in the control circuit is opened, a normally open contact of KA1 is closed, a computer end speed regulation signal input end DA1+ and DA 1-in the motor controller are connected, at the moment, the control voltage and the reversing of a remote controller do not have control authority any more, only the computer control panel has the control authority, when the computer control panel has the authority, the industrial personal computer sends a command of the direction and the rotating speed (the rotating speed is in direct proportion to the voltage), a voltage signal (0-5V) in direct proportion to the rotating speed is generated between DA1+ and DA 1-terminals of the computer control panel, the normally open contact of KA1 communicates to the speed regulation port of controller, the rotational speed of control motor, and the signal of motor just reversing is controlled by the normally open contact of KA1 and the switch K1 of computer control board, and when switch K1 on the computer control board is in the off-state, the motor corotation, otherwise, when switch K1 on the computer control board is in the on-state, the motor reversal.
The seamless switching of remote control and computer control, under computer control authority state, when pressing the A10 button 14 on the intelligent remote controller 1 panel, the relay KA20 of receiver 2 is closed, as shown in FIG. 8, the normally closed contact of A44 and A45 disconnection this moment, relay KA1 and relay KA2 outage release, its normally open contact disconnection, normally closed contact is closed, the motor control circuit returns to initial condition, the remote controller has control authority this moment, the computer does not have control authority. The normally open contact of the computer control signal relay K8 has a self-protection function, so when the remote controller control signal relay KA20 is powered off, the normally closed contact is closed, the computer remote control switching control relays KA1 and KA2 are powered on again, the normally open contact is closed, the normally closed contact is opened, and the computer side obtains the unmanned ship control right again. The timing and commutation of the computer operating mode is described in example 2. Therefore, the repeated switching between the computer and the remote controller can be realized, the control authority between the computer and the remote controller is not associated, when any control mode is out of control, the other control mode is not influenced, and the complete physical isolation of the two modes of the computer and the remote control is realized in a real sense.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A physically-isolated unmanned ship dual-mode control system is characterized by comprising a control circuit, a remote control module and a computer control module, wherein the remote control module and the computer control module are communicated with the control circuit; the control circuit comprises a power supply, and a switching part, a speed regulating part and a gear shifting part which are connected with the power supply;
the switching part comprises a relay K8, a relay KA20, a relay KA1 and a relay KA2 which are connected in series, the relay K8 is in signal communication with the computer control module and is used for accessing a computer control signal, the relay KA20 is in signal communication with the remote control module and is used for accessing a remote control signal, and the relays KA1 and KA2 respectively control the on-off of signals of the left-path motor controller and the right-path motor controller;
the speed regulation part comprises terminals B02 and DA1+ communicated with a speed regulation port of the motor controller, and terminals B01 and DA 1-communicated with a ground terminal port, wherein the terminals B02, DA1+, B01 and DA 1-are communicated with the motor controller through an electromagnetic switch KA1, the terminals B01 and B02 are communicated with the remote control module through signals for receiving remote control signals, the terminals DA1+, DA 1-are communicated with the computer control module through signals for receiving computer control signals, the terminals B01 and B02 are communicated with the motor controller through a normally closed electromagnetic switch KA1, and the terminals DA1+ and DA 1-are communicated with the motor controller through a normally open electromagnetic switch KA1,
the shift portion includes parallel connection's remote control shift switch, computer control shift switch, remote control shift switch, computer control shift switch parallelly connected back two sections respectively with motor controller's 5V port, gear signal port intercommunication, the remote control shift switch includes normally closed electromagnetic switch KA1, switch A35, A37, the computer control shift switch includes normally open electromagnetic switch KA1, switch K1.
2. The physically isolated unmanned ship dual-mode control system as claimed in claim 1, wherein the remote control module comprises a transmitter, a receiver, a rocker, a display screen, and an operation mode switch, and the control circuit is provided with a receiver for receiving a signal transmitted by the transmitter.
3. The physically isolated unmanned ship dual-mode control system as claimed in claim 1, wherein the computer control module is installed on a ship or a mobile terminal.
4. The physically-isolated unmanned ship dual-mode control system as claimed in claim 1, wherein the computer control module comprises a computer control board, the computer control board is an embedded single chip microcomputer, the computer control board is connected with a ship-borne industrial personal computer through a communication interface, and the computer control board is an embedded real-time operating system.
5. The physically isolated unmanned ship dual-mode control system as claimed in claim 1, wherein there are a plurality of said motor controllers, a plurality of said motors for driving ships are provided, and at least one said motor is connected to each said motor controller.
6. The physically isolated unmanned ship dual-mode control system as claimed in claim 1, wherein the relay K8 has a self-protection function.
7. The physically isolated unmanned ship dual mode control system as claimed in claim 1, wherein the relay KA1 is connected in parallel with the relay KA 2.
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| CN202110127893.6A CN112947040B (en) | 2021-01-29 | 2021-01-29 | Unmanned naval vessel bimodulus control system of physics isolation |
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| CN202110127893.6A CN112947040B (en) | 2021-01-29 | 2021-01-29 | Unmanned naval vessel bimodulus control system of physics isolation |
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| CN113848879B (en) * | 2021-08-27 | 2023-06-06 | 航天时代(青岛)海洋装备科技发展有限公司 | Unmanned transformation system of unmanned ship control system |
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| CN107145145A (en) * | 2017-04-21 | 2017-09-08 | 华中科技大学 | A kind of autonomous unmanned boat of dual control |
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2021
- 2021-01-29 CN CN202110127893.6A patent/CN112947040B/en active Active
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|---|---|---|---|---|
| DE2529408A1 (en) * | 1975-07-02 | 1977-01-20 | Kockums Mekaniska Verkstads Ab | Fog signal circuit for ship - with several remote switches linked to master relay to give periodic signal |
| JPS63155304A (en) * | 1986-12-19 | 1988-06-28 | Shin Caterpillar Mitsubishi Ltd | Radio control device for travelling system of unmanned self-traveling object |
| CN107145145A (en) * | 2017-04-21 | 2017-09-08 | 华中科技大学 | A kind of autonomous unmanned boat of dual control |
| CN211352570U (en) * | 2020-02-29 | 2020-08-25 | 重庆红江机械有限责任公司 | Marine navigation signal lamp controller |
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