CN113665776B - Rudder angle control method, rudder angle control device and rudder angle control box - Google Patents
Rudder angle control method, rudder angle control device and rudder angle control box Download PDFInfo
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- CN113665776B CN113665776B CN202110886901.5A CN202110886901A CN113665776B CN 113665776 B CN113665776 B CN 113665776B CN 202110886901 A CN202110886901 A CN 202110886901A CN 113665776 B CN113665776 B CN 113665776B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
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Abstract
The application discloses a rudder angle control method, a rudder angle control device, a rudder angle control box and a computer readable storage medium. The rudder angle control method comprises the following steps: after a rudder angle neutral control instruction is received, acquiring a feedback value output by a rudder neutral sensor; if the feedback value is a preset first value, steering is carried out based on the steering angle neutral control instruction; and if the feedback value is a preset second value, stopping steering. Through the scheme, the unmanned equipment can eliminate rudder mid-position oscillation caused by rudder angle delay caused by the structure to a certain extent.
Description
Technical Field
The present application relates to the field of device control technologies, and in particular, to a rudder angle control method, a rudder angle control device, a rudder angle control box, and a computer-readable storage medium.
Background
For unmanned devices, such as unmanned ships, there are some problems in their autonomous driving state: the rudder angle feedback precision and the mechanical structure of the rudder connecting rod limit, so that obvious control delay is realized, the rudder angle jitter is easy to generate when the program controls the unmanned ship to steer back to the neutral position, the heading swings back and forth when the rudder angle of the unmanned ship is in the neutral position, the unmanned ship cannot be stabilized, and an S-shaped path is formed when the unmanned ship moves straight.
Disclosure of Invention
The application provides a rudder angle control method, a rudder angle control device, a rudder angle control box and a computer readable storage medium, which can enable unmanned equipment to eliminate rudder neutral oscillation caused by rudder angle delay caused by a structure to a certain extent.
In a first aspect, the present application provides a rudder angle control method applied to a rudder angle control box of an unmanned aerial vehicle, including:
after a rudder angle neutral control instruction is received, acquiring a feedback value output by a rudder neutral sensor;
if the feedback value is a preset first value, steering is carried out based on the steering angle neutral control instruction;
and if the feedback value is a preset second value, stopping steering.
In a second aspect, the present application provides a rudder angle control device applied to a rudder angle control box of an unmanned aerial device, including:
the first acquisition module is used for acquiring a feedback value output by the rudder neutral sensor after receiving a rudder angle neutral control instruction;
the first control module is used for steering based on the steering angle neutral control instruction if the feedback value is a preset first value;
and the second control module is used for stopping steering if the feedback value is a preset second value.
In a third aspect, the present application provides a control method applied to a general-purpose control box of a control apparatus for controlling a component to perform a circular motion or a reciprocating motion; the control method comprises the following steps:
when a driving instruction aiming at the specified position is received, acquiring a general feedback value output by a sensor at the specified position;
if the general feedback value is a preset third value, controlling the component to move to the specified position based on the driving instruction;
and if the general feedback value is a preset fourth value, stopping controlling the assembly.
In a fourth aspect, the present application provides a control device, which is applied to a universal control box of a control apparatus for controlling a component to perform a circular motion or a reciprocating motion; the control device includes:
the second acquisition module is used for acquiring a general feedback value output by the sensor at the specified position after receiving a driving instruction for the specified position;
a third control module, configured to control the component to move to the specified position based on the driving instruction if the general feedback value is a preset third value;
and the fourth control module is used for stopping controlling the components if the general feedback value is a preset fourth value.
In a fifth aspect, the present application provides a rudder angle controlling box comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the computer program.
In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of the first aspect; alternatively, the computer program as described above, when executed by a processor, performs the steps of the method as described above for the third aspect.
In a seventh aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as described in the first aspect above; alternatively, the computer program as described above, when executed by one or more processors, performs the steps of the method as described above in the third aspect.
Compared with the prior art, the application has the beneficial effects that: the novel assembly of the rudder neutral position sensor is added into the unmanned equipment, and the rudder angle control box does not judge whether the current rudder angle returns to the neutral position based on the output of the rudder angle sensor any more, but judges whether the current rudder angle returns to the neutral position based on the output of the rudder neutral position sensor. Specifically, after the rudder angle control box receives a rudder angle neutral control instruction, a feedback value output by a rudder neutral sensor may be acquired first, if the feedback value is a preset first value, steering is performed based on the rudder angle neutral control instruction, and if the feedback value is a preset second value, steering is stopped. Through the process, the pilotless device can eliminate rudder neutral oscillation caused by rudder angle delay caused by the structure to a certain extent. It is to be understood that, the beneficial effects of the second to seventh aspects may be referred to the relevant description of the first aspect, and are not repeated herein.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart of an implementation of a rudder angle control method provided by an embodiment of the present application;
fig. 2 is an exemplary diagram of an installation position of a rudder neutral position sensor and a rudder neutral position sensing piece in a ship according to an embodiment of the present disclosure;
fig. 3 is an exemplary diagram illustrating the movement of a rudder connecting rod and a stern machine when a ship rudder left according to an embodiment of the present application;
fig. 4 is an exemplary diagram illustrating the movement of a rudder connecting rod and a stern machine when a ship steers a right rudder according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a rudder angle control device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a rudder angle control box according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solutions proposed in the embodiments of the present application, the following description is given by way of specific examples.
A rudder angle control method provided in an embodiment of the present invention will be described below by taking an unmanned ship facility (hereinafter, simply referred to as a ship) as an example. Referring to fig. 1, the rudder angle control method is applied to a rudder angle control box, and mainly describes control of steering in a ship sailing process. The rudder angle control method comprises the following steps:
and 101, acquiring a feedback value output by a rudder neutral sensor after receiving a rudder angle neutral control instruction.
In the present embodiment, the drone incorporates a new assembly of a rudder neutral sensor. The rudder median sensor is used for detecting whether the rudder angle of the current unmanned equipment is in a preset median range or not. Specifically, if the rudder angle of the current unmanned device is not in the preset neutral range, the feedback value output by the rudder neutral sensor is a preset first value (for example, "0"); on the contrary, if the rudder angle of the current unmanned aerial vehicle is already in the preset neutral range, the feedback value output by the rudder neutral sensor is a preset second value (for example, "1"). It can be understood that the detection of the rudder center position by the rudder center position sensor is not limited to a single position, but a center position range is set, and as long as the rudder angle is within the center position range, the current rudder angle can be considered to return to the center position.
And the main control of the unmanned equipment sends a rudder angle neutral control instruction to the rudder angle control box when the requirement of returning to the rudder angle neutral position exists. It can be understood that the rudder angle neutral position control instruction is used for instructing the rudder angle control box to steer towards one side, so that the rudder angle can return to the neutral position. The rudder angle control box is connected with the middle position sensor, so that the rudder angle control box can obtain a feedback value output by the rudder middle position sensor after receiving the rudder angle middle position control instruction.
And 102, if the feedback value is a preset first value, steering based on the rudder angle neutral control instruction.
In the embodiment of the present application, it has been described in step 101 that when the rudder angle of the current unmanned device is not in the preset neutral range, the feedback value output by the rudder neutral sensor is the preset first value. Thus, when the feedback value acquired by the rudder angle control box is the first value, the rudder angle control box knows that the rudder angle of the current drone is not in the neutral range. At this time, steering needs to be continued based on the steering angle neutral position control command until the steering angle returns to the neutral position.
In some embodiments, the rudder angle neutral control instruction comprises a left rudder opening neutral control instruction and a right rudder opening neutral control instruction; it can be understood that when the current rudder angle is on the right side, the middle position of the rudder angle returning should be steered to the left, and the middle position control instruction of the rudder angle at the moment is specifically a left steering middle position control instruction; when the current rudder angle is on the left side, the rudder angle returning middle position needs to steer to the right, and the rudder angle middle position control instruction at the moment is specifically a right steering middle position control instruction. Then this step may specifically be: if the rudder angle median control instruction is a left rudder opening median control instruction, performing left rudder opening; and if the rudder angle median control instruction is a right rudder opening median control instruction, performing right rudder opening.
And 103, stopping steering if the feedback value is a preset second value.
In the embodiment of the present application, it has been described in step 101 that when the rudder angle of the current unmanned aerial vehicle is already in the preset neutral range, the feedback value output by the rudder neutral sensor is the preset second value. Thus, when the feedback value acquired by the rudder angle control box is the second value, the rudder angle control box knows that the rudder angle of the current unmanned device is already in the neutral range. At the moment, no matter how many rudder angle values are fed back by the rudder angle sensor, the rudder angle is considered to be in the middle position, and no rudder beating is needed any more; that is, the current steering operation may be stopped. The unmanned equipment can realize straight line driving without rudder angle shake.
In some embodiments, the drone has multiple modes of navigation, and rudder angle dithering tends to occur only in the navigation mode, the drone mode. Based on the method, the rudder angle control box can detect the navigation mode of the unmanned equipment; the operation of step 101 is only executed when the unmanned device is in the unmanned mode, and the feedback value output by the rudder center sensor is obtained after the rudder angle center control instruction is received.
In some embodiments, a rudder neutral sensor may be used to sense the signal emitted by the sensed object. It can be understood that when the sensed object is closer to the rudder center sensor, the stronger the signal intensity of the signal emitted by the sensed object sensed by the rudder center sensor is; on the contrary, when the sensed object is far away from the rudder center sensor, the signal strength of the signal sent by the sensed object sensed by the rudder center sensor is weaker. By adjusting the mounting positions of the rudder neutral position sensor and the sensed object, the sensing range of the rudder neutral position sensor and the sensed range of the sensed object are overlapped in the preset direction in the rudder angle neutral position state (namely, the rudder angle is in the preset neutral position range). In addition, the signal intensity of the signal sensed by the rudder center sensor when the sensing range of the rudder center sensor is just overlapped with the sensed range of the sensed object can be recorded, and the signal intensity can be set to be preset intensity. Therefore, when the signal intensity of the signal sensed by the rudder neutral position sensor is lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a first value and is used for indicating that the rudder angle does not return to the neutral position; when the signal intensity of the signal sensed by the rudder middle position sensor is not lower than the preset intensity, the feedback value output by the rudder middle position sensor is a second value and used for indicating that the rudder angle returns to the middle position;
alternatively, the rudder center sensor may be used to sense the distance between the sensed object and itself (i.e., the rudder center sensor), for example, the distance may be estimated by the signal emitted from the rudder center sensor and the reflected signal. When the distance sensed by the rudder neutral position sensor is out of the preset distance range, the feedback value output by the rudder neutral position sensor is a first value; and when the distance sensed by the rudder neutral position sensor is within the preset distance range, the feedback value output by the rudder neutral position sensor is a second value.
In some embodiments, the rudder neutral sensor may be specifically configured to sense a rudder neutral sensing strip; when the rudder center sensor does not sense the rudder center sensing piece, the feedback value output by the rudder center sensor is a first value; when the rudder neutral position sensor senses the rudder neutral position sensing piece, the feedback value output by the rudder neutral position sensor is a second value. The position of the rudder middle position sensor and the position of the rudder middle position sensing piece are adjusted and set, so that the rudder middle position sensor can sense the rudder middle position sensing piece when the rudder angle middle position state is detected (namely, the rudder angle is in the preset middle position range), and the rudder middle position sensor cannot sense the rudder middle position sensing piece when the rudder angle is not in the middle position state (namely, the rudder angle is out of the middle position range), so that the rudder middle position sensor can detect whether the rudder angle is in the middle position range or not.
In some embodiments, referring to fig. 2, fig. 2 shows an example of the installation positions of the rudder neutral position sensor and the rudder neutral position sensing piece in the ship. The following is shown in this fig. 2:
in the state that the rudder angle returns to the middle position, the distance 201 between the rudder middle position sensor and the rudder middle position induction sheet records the numerical value of the distance as A;
an effective sensed width range 202 of the rudder middle position sensing piece records the width value of the width range as B;
the effective sensing width range 203 of the rudder neutral position sensor, and the width value of the width range is recorded as C;
a rudder connecting rod 206 for connecting a structural member of the left stern machine 204 and the right stern machine 205, the rudder connecting rod 206, the left stern machine 204 and the right stern machine 205 moving simultaneously when the rudder is turned, the rudder connecting rod 206 moving rightward when the left rudder is turned, and the rudder connecting rod 206 moving leftward when the right rudder is turned;
a rudder center sensing piece 207 which can be fixed at the rudder connecting rod 206;
the rudder neutral sensor 208 may be fixed at the hull 209 of the vessel.
For example only, the rudder center sensor may use a non-contact sensor (e.g., a hall sensor), or may use a contact sensor (e.g., a flexible contact switch), and only if the sensing range of the rudder center sensor overlaps with the sensed range of the rudder center sensing strip (or the sensed object) in a preset direction, the rudder center sensor may be triggered to output the second value as the feedback value, where the preset direction is: in a direction parallel to the central axis of the hull of the vessel. The (sensed) range in the preset direction can be understood as a (sensed) width range, as shown in fig. 2: the sensing range of the rudder center sensor is overlapped with the sensed range of the rudder center sensing piece (or sensed object) in the preset direction, and what is actually meant is that the effective sensing width range of the rudder center sensor is overlapped with the effective sensed width range of the rudder center sensing piece (sensed object).
It is understood that the sensing range of the rudder neutral position sensor and the sensed range of the rudder neutral position sensing piece (or sensed object) can be adjusted. Different types of sensors can be adopted according to the requirements of specific use scenes of the unmanned equipment, and different types of objects can be adopted as rudder neutral position sensing pieces (or sensed objects). The sensing range of the rudder center position sensor and the sensed range of the rudder center position sensing piece (or sensed object) are not limited herein.
Taking fig. 2 as an example, as can be seen from fig. 2, in this mounting manner, as long as the effective sensing width range of the rudder neutral position sensor overlaps with the effective sensed width range of the rudder neutral position sensing piece (sensed object), it is considered that the rudder neutral position sensor is in the rudder neutral position state, and the rudder neutral position sensor can be triggered to output the second value; therefore, the trigger range of the position sensor in the rudder is 2B + C, and the trigger range can improve the robustness of the system, namely: the trigger condition of the position sensor in the rudder is changed from one point to a short distance (2b + c) to buffer the instability caused by the transmission delay of the system signal feedback. By way of example only, for ease of understanding, the following scenarios may be envisioned:
it is assumed that the rudder angle gradually decreases from 10 ° during the rudder angle regression neutral process. And at the moment T0, the rudder angle is reduced to 3 degrees, at the moment, the relative position of the rudder center sensor and the rudder center sensing piece is matched with the trigger range of the rudder center sensor, and the rudder center sensor can be triggered to output a second value. The rudder angle control box realizes the operation of stopping the rudder operation by the stop signal based on the second value. Because the stop signal still has certain time delay in the transmission process, the actual time T1 actually stops the helm striking, and the helm striking operation is still continuously executed in the time period from the time T0 to the time T1, so that the helm angle at the time T1 is smaller than that at the time T0, namely, the helm angle at the time T1 is closer to the middle position.
It can be understood that if the rudder neutral sensor uses a non-contact sensor, a > 0; if the rudder center sensor is a contact sensor, a =0, it should be noted that the rudder center sensing piece may be a retractable elastic piece, and the retractable elastic piece may be retracted due to contact with the rudder center sensor when the rudder angle returns to the center.
Please refer to fig. 3 and 4. Fig. 3 shows an example of the movement of the rudder linkage and the stern machine when the ship steers the left rudder; fig. 4 shows an example of the movement of the rudder linkage and the stern machine when the ship steers the right rudder. It can be seen that the ship steers left/right by driving the stern engine to swing left/right, specifically: when the ship steers the left rudder, the bow rotates leftwards, and the stern rotates rightwards; when the ship drives the right rudder, the bow rotates rightwards, and the stern rotates leftwards.
Of course, the positions of the rudder middle position sensing piece and the rudder middle position sensor can also be turned, namely the rudder middle position sensing piece is fixed on the ship body, and the rudder middle position sensor is fixed on the rudder connecting rod.
In some embodiments, the rudder neutral position sensor can also output a feedback value thereof to the main control, so that the main control can also know whether the current rudder angle returns to the neutral position in time. When the master control determines that the current rudder angle has returned to the neutral position based on the received feedback value, the master control may stop sending the rudder angle neutral control instruction to the rudder angle control box.
In some embodiments, a general control method may also be proposed based on similar ideas as the rudder angle control method proposed in the foregoing. The control method has strong flexibility, can be applied to a universal control box of various control devices, and can be used for controlling components of the corresponding control devices to execute circular motion or reciprocating motion; the control method comprises the following steps: when a driving instruction for a specified position is received, acquiring a general feedback value output by a specified position sensor; if the general feedback value is a preset third value, controlling the component to move to the specified position based on the driving instruction; and if the universal feedback value is a preset fourth value, stopping controlling the component. It is understood that, through previous debugging of the specified position sensor, the third value can be set as: the value output by the specified position sensor when the component is not at the specified position; setting the fourth value to: the value output by the specified position sensor when the component is at the specified position.
For example only, the control device may be a general driving device (i.e. a driving device operated by a driver), an unmanned device, a robot, etc., and is not limited herein.
Therefore, in the embodiment of the application, a new assembly, namely the rudder neutral position sensor, is added to the unmanned device, and the rudder angle control box does not judge whether the current rudder angle returns to the neutral position based on the output of the rudder angle sensor any more, but judges whether the current rudder angle returns to the neutral position based on the output of the rudder neutral position sensor. Specifically, after the rudder angle control box receives a rudder angle neutral control instruction, a feedback value output by a rudder neutral sensor may be acquired first, if the feedback value is a preset first value, steering is performed based on the rudder angle neutral control instruction, and if the feedback value is a preset second value, steering is stopped. Through the process, the pilotless device can eliminate rudder neutral oscillation caused by rudder angle delay caused by the structure to a certain extent.
Corresponding to the rudder angle control method provided above, the embodiment of the present application further provides a rudder angle control device. The rudder angle control device is applied to a rudder angle control box of unmanned equipment. As shown in fig. 5, the rudder angle control device 500 in the embodiment of the present application includes:
the first obtaining module 501 is configured to obtain a feedback value output by a rudder neutral sensor after receiving a rudder angle neutral control instruction;
a first control module 502, configured to steer based on the steering angle neutral control instruction if the feedback value is a preset first value;
and a second control module 503, configured to stop steering if the feedback value is a preset second value.
Optionally, the rudder angle control device 500 further includes:
the detection module is used for detecting the navigation mode of the unmanned equipment;
accordingly, the first obtaining module 501 is specifically configured to, if the unmanned aerial vehicle is in the unmanned mode, obtain a feedback value output by the rudder neutral position sensor after receiving the rudder angle neutral position control instruction.
Optionally, the rudder neutral position sensor is configured to sense a signal emitted by a sensed object; when the signal intensity of the signal sensed by the rudder center sensor is lower than a preset intensity, the feedback value output by the rudder center sensor is a first value; when the signal intensity of the signal sensed by the rudder neutral position sensor is not lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a second value;
or the rudder neutral position sensor is used for sensing the distance between the sensed object and the rudder neutral position sensor; when the distance sensed by the rudder neutral position sensor is out of a preset distance range, the feedback value output by the rudder neutral position sensor is a first value; and when the distance sensed by the rudder neutral position sensor is within the preset distance range, the feedback value output by the rudder neutral position sensor is a second value.
Optionally, the rudder neutral position sensor is used for sensing a rudder neutral position sensing piece; when the rudder center sensor does not sense the rudder center sensing piece, the feedback value output by the rudder center sensor is a first value; when the rudder neutral position sensor senses the rudder neutral position sensing piece, the feedback value output by the rudder neutral position sensor is a second value.
Optionally, the unmanned device is a ship; the rudder center position sensing piece is fixed on a rudder connecting rod of the ship, and the rudder center position sensor is fixed on a ship body of the ship; alternatively, the rudder neutral position sensor may be fixed to the hull, and the rudder neutral position sensor may be fixed to the rudder link.
Optionally, in the rudder angle neutral position state, the sensing range of the rudder neutral position sensor overlaps with the sensed range of the sensed object in a preset direction, or, in the rudder angle neutral position state, the sensing range of the rudder neutral position sensor overlaps with the sensed range of the rudder neutral position sensing strip in the preset direction, where the overlapping range is settable, and the preset direction is: a direction parallel to the central axis of the hull of said vessel.
Optionally, the rudder angle neutral control instruction includes a left rudder hitting neutral control instruction and a right rudder hitting neutral control instruction; the first control module 502 is specifically configured to steer leftward if the rudder angle neutral control instruction is a left steering neutral control instruction when the feedback value is a preset first value, and steer rightward if the rudder angle neutral control instruction is a right steering neutral control instruction.
Therefore, in the embodiment of the application, a new assembly of the rudder neutral position sensor is added into the unmanned equipment, and the rudder angle control box does not judge whether the current rudder angle returns to the neutral position based on the output of the rudder angle sensor any more, but judges whether the current rudder angle returns to the neutral position based on the output of the rudder neutral position sensor. Specifically, after the rudder angle control box receives a rudder angle neutral control instruction, a feedback value output by a rudder neutral sensor may be acquired first, if the feedback value is a preset first value, steering is performed based on the rudder angle neutral control instruction, and if the feedback value is a preset second value, steering is stopped. Through the process, the pilotless device can eliminate rudder neutral oscillation caused by rudder angle delay caused by the structure to a certain extent.
Corresponding to the rudder angle control method provided by the above, the embodiment of the application also provides a rudder angle control box, and the rudder angle control box is integrated in the unmanned equipment; referring to fig. 6, the unmanned control box 6 in the embodiment of the present application includes: a memory 601, one or more processors 602 (only one shown in fig. 6), and computer programs stored on the memory 601 and executable on the processors. Wherein: the memory 601 is used for storing software programs and units, and the processor 602 executes various functional applications and data processing by running the software programs and units stored in the memory 601 so as to acquire resources corresponding to preset events. Specifically, the processor 602 implements the following steps by running the above-mentioned computer program stored in the memory 601:
after a rudder angle neutral control instruction is received, acquiring a feedback value output by a rudder neutral sensor;
if the feedback value is a preset first value, steering is carried out based on the steering angle neutral control instruction;
and if the feedback value is a preset second value, stopping steering.
Assuming that the above is the first possible embodiment, in a second possible embodiment provided based on the first possible embodiment, before acquiring the feedback value output by the rudder neutral position sensor after receiving the rudder angle neutral position control command, the processor 602 further implements the following steps by running the computer program stored in the memory 601:
detecting a navigation mode of the unmanned equipment;
correspondingly, the obtaining of the feedback value output by the rudder neutral position sensor after receiving the rudder angle neutral position control command includes:
and if the unmanned equipment is in the unmanned mode, acquiring a feedback value output by a rudder neutral sensor after receiving a rudder angle neutral control instruction.
In a third possible embodiment based on the first possible embodiment, the rudder neutral position sensor is configured to sense a signal emitted by a sensed object; when the signal intensity of the signal sensed by the rudder neutral position sensor is lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a first value; when the signal intensity of the signal sensed by the rudder center sensor is not lower than the preset intensity, the feedback value output by the rudder center sensor is a second value;
or the rudder neutral position sensor is used for sensing the distance between the sensed object and the rudder neutral position sensor; when the distance sensed by the rudder neutral position sensor is out of a preset distance range, the feedback value output by the rudder neutral position sensor is a first value; and when the distance sensed by the rudder center sensor is within the preset distance range, the feedback value output by the rudder center sensor is a second value.
In a fourth possible embodiment based on the first possible embodiment, the rudder neutral position sensor is configured to sense a rudder neutral position sensing piece; when the rudder center sensor does not sense the rudder center sensing piece, the feedback value output by the rudder center sensor is a first value; when the rudder neutral position sensor senses the rudder neutral position sensing piece, the feedback value output by the rudder neutral position sensor is a second value.
In a fifth possible embodiment provided on the basis of the four possible embodiments, the unmanned aerial vehicle is a ship; the rudder neutral position sensor is fixed to a rudder link of the ship, and the rudder neutral position sensor is fixed to a hull of the ship; alternatively, the rudder neutral position sensor may be fixed to the hull, and the rudder neutral position sensor may be fixed to the rudder link.
In a sixth possible embodiment based on the three possible embodiments or the four possible embodiments, in the rudder angle neutral state, a sensing range of the rudder neutral position sensor and a sensed range of the sensed object overlap in a preset direction, or in the rudder angle neutral state, the sensing range of the rudder neutral position sensor and the sensed range of the rudder neutral position sensing piece overlap in a preset direction, where an overlap range may be set, and the preset direction is: a direction parallel to the central axis of the hull of said vessel.
In a seventh possible embodiment based on the one possible embodiment, the rudder angle neutral control command includes a left steering neutral control command and a right steering neutral control command; the steering based on the steering angle neutral position control command comprises:
if the rudder angle median control instruction is a left rudder opening median control instruction, performing left rudder opening;
and if the steering angle middle position control instruction is a right steering middle position control instruction, steering to the right.
It should be understood that, in the embodiment of the present Application, the Processor 602 may be a Central Processing Unit (CPU), and the Processor may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. The general purpose processor may be a microprocessor, or may be any conventional processor, etc.
Therefore, in the embodiment of the application, a new assembly, namely the rudder neutral position sensor, is added to the unmanned device, and the rudder angle control box does not judge whether the current rudder angle returns to the neutral position based on the output of the rudder angle sensor any more, but judges whether the current rudder angle returns to the neutral position based on the output of the rudder neutral position sensor. Specifically, after the rudder angle control box receives a rudder angle neutral control instruction, a feedback value output by a rudder angle neutral sensor may be obtained first, if the feedback value is a preset first value, steering is performed based on the rudder angle neutral control instruction, and if the feedback value is a preset second value, steering is stopped. Through the process, the pilotless device can eliminate rudder neutral oscillation caused by rudder angle delay caused by the structure to a certain extent.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of external device software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules or units is only one logical functional division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer readable memory, read-only memory (ROM), random Access Memory (RAM), electrical carrier signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease according to the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (7)
1. A rudder angle control method applied to a rudder angle control box of an unmanned aerial vehicle, comprising:
after a rudder angle neutral control instruction is received, acquiring a feedback value output by a rudder neutral sensor;
if the feedback value is a preset first value, steering is carried out based on the steering angle neutral control instruction;
if the feedback value is a preset second value, stopping steering;
the rudder neutral position sensor is used for sensing a signal sent by a sensed object; when the signal intensity of the signal sensed by the rudder neutral position sensor is lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a first value; when the signal intensity of the signal sensed by the rudder neutral position sensor is not lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a second value;
or the rudder neutral position sensor is used for sensing the distance between the sensed object and the rudder neutral position sensor; when the distance sensed by the rudder center sensor is out of a preset distance range, a feedback value output by the rudder center sensor is a first value; and when the distance sensed by the rudder neutral position sensor is within the preset distance range, the feedback value output by the rudder neutral position sensor is a second value.
2. A rudder angle controlling method according to claim 1, wherein before the feedback value output from the rudder neutral sensor is acquired after the rudder angle neutral control command is received, the rudder angle controlling method includes:
detecting a navigation mode in which the unmanned equipment is located;
correspondingly, after receiving the rudder angle neutral position control instruction, acquiring a feedback value output by the rudder neutral position sensor, including:
and if the unmanned equipment is in an unmanned mode, acquiring a feedback value output by a rudder neutral sensor after receiving a rudder angle neutral control instruction.
3. A rudder angle controlling method according to claim 1, wherein in the rudder angle neutral state, a sensing range of the rudder neutral sensor and a sensed range of a sensed object overlap in a preset direction, wherein the overlapping range is settable, and the preset direction is: in a direction parallel to the central axis of the hull of the vessel.
4. The rudder angle controlling method according to claim 1, wherein the rudder angle neutral control command includes a left rudder turn neutral control command and a right rudder turn neutral control command; the steering based on the rudder angle neutral position control instruction comprises the following steps:
if the steering angle middle position control instruction is a left steering middle position control instruction, steering to the left;
and if the steering angle middle position control instruction is a right steering middle position control instruction, steering to the right.
5. A rudder angle control device applied to a rudder angle control box of an unmanned aerial device, comprising:
the first acquisition module is used for acquiring a feedback value output by a rudder middle position sensor after receiving a rudder angle middle position control instruction;
the first control module is used for steering based on the steering angle neutral control instruction if the feedback value is a preset first value;
the second control module is used for stopping steering if the feedback value is a preset second value;
the rudder neutral position sensor is used for sensing a signal sent by a sensed object; when the signal intensity of the signal sensed by the rudder neutral position sensor is lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a first value; when the signal intensity of the signal sensed by the rudder neutral position sensor is not lower than the preset intensity, the feedback value output by the rudder neutral position sensor is a second value;
or the rudder neutral position sensor is used for sensing the distance between the sensed object and the rudder neutral position sensor; when the distance sensed by the rudder center sensor is out of a preset distance range, a feedback value output by the rudder center sensor is a first value; and when the distance sensed by the rudder center sensor is within the preset distance range, the feedback value output by the rudder center sensor is a second value.
6. Rudder angle control box comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the method according to any one of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
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| JPS6038290A (en) * | 1983-08-11 | 1985-02-27 | Mitsubishi Electric Corp | Autopilot device for sailing ship |
| CN101881970B (en) * | 2010-06-04 | 2011-09-14 | 哈尔滨工程大学 | Twin-rudder synchronization control method of ship |
| CN102530223A (en) * | 2010-12-31 | 2012-07-04 | 上海宏曲电子科技有限公司 | Passive direct laser rudder angular position sending device |
| JP2014076755A (en) * | 2012-10-11 | 2014-05-01 | Suzuki Motor Corp | Watercraft control system, watercraft control method, and program |
| KR102028559B1 (en) * | 2012-10-30 | 2019-11-04 | 대우조선해양 주식회사 | Apparatus To Control Rudder Angle For Ship |
| CN106774341A (en) * | 2017-01-20 | 2017-05-31 | 四方继保（武汉）软件有限公司 | Unmanned boat kinetic control system and motion control method |
| CN109375620B (en) * | 2018-10-12 | 2020-06-02 | 深圳市今天国际智能机器人有限公司 | Method and device for controlling steering wheel to return to original point by using single photoelectric sensor |
| KR102228594B1 (en) * | 2019-09-06 | 2021-03-16 | 엘아이지넥스원 주식회사 | Method and device for adjusting zero point of underwater vehicle rudder |
| JP2021116011A (en) * | 2020-01-28 | 2021-08-10 | ナブテスコ株式会社 | Vessel |
| CN111352341B (en) * | 2020-03-18 | 2022-09-30 | 上海海事大学 | Ship navigation control online self-adaptive adjustment system and method |
| CN111559488B (en) * | 2020-05-25 | 2022-05-06 | 智慧航海（青岛）科技有限公司 | Intelligent ship rudder equipment automatic control method and system |
| CN112650112B (en) * | 2020-12-18 | 2024-02-27 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
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