CN113763751A - Method and device for communication maintenance of unmanned ship, unmanned ship and storage medium - Google Patents
Method and device for communication maintenance of unmanned ship, unmanned ship and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 53
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- 238000005259 measurement Methods 0.000 claims abstract description 35
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The embodiment of the application provides a method and a device for keeping communication of an unmanned ship, the unmanned ship and a computer storage medium, wherein the method comprises the following steps: acquiring inertial measurement data of the unmanned ship; acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship; and judging whether the Z-axis direction data of the unmanned ship is abnormal or not, and if so, rotating the radio frequency antenna of the unmanned ship by a preset angle. The technical problem that communication cannot be normally carried out after the unmanned ship is turned over in the prior art is solved.
Description
Technical Field
The application relates to the technical field of unmanned ships, in particular to a method and a device for communication maintenance of an unmanned ship, the unmanned ship and a storage medium.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task by means of accurate satellite positioning and self sensing. The unmanned ship integrates various high and new technologies, and can be applied to the fields of environmental monitoring, search and rescue, security patrol and the like.
At present, when the unmanned ship encounters some heavy waves or turns over suddenly in the sailing process, the antenna is buried in water and cannot communicate with the remote controller, and the unmanned ship cannot be controlled to sail continuously. It becomes very inconvenient to retrieve the unmanned ship offshore.
Disclosure of Invention
In order to solve the above problems, the present application provides a method, an apparatus, an unmanned ship, and a computer storage medium for communication maintenance of the unmanned ship.
In a first aspect, an embodiment of the present application provides a method for maintaining communication of an unmanned ship, where the method includes:
acquiring inertial measurement data of the unmanned ship;
acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship;
and judging whether the Z-axis direction data of the unmanned ship is abnormal or not, and if so, rotating the radio frequency antenna of the unmanned ship by a preset angle.
In the implementation process, the position information of the current unmanned ship can be quickly acquired by acquiring the inertial measurement data measured by the unmanned ship, for example, the current unmanned ship is in a normal running state, or the current unmanned ship has a certain inclination angle. And Z-axis direction data in the inertia measurement data represents the turning degree of the current unmanned ship, so that after the inertia measurement data is obtained, whether the Z-axis direction data is abnormal or not is further judged, if the Z-axis direction data is abnormal, the unmanned ship is turned over at the moment, the situation that the unmanned ship cannot normally communicate due to the fact that the antenna is in water should be prevented, and the specific method is to rotate the radio frequency antenna by a preset angle. Based on the above embodiment, the unmanned ship can still maintain communication when the unmanned ship overturns.
Further, the step of judging whether the Z-axis direction data of the unmanned ship is abnormal includes judging whether the Z-axis direction data of the unmanned ship is smaller than a preset value; if so, judging that the data in the Z-axis direction of the unmanned ship is abnormal; and if not, judging that the data in the Z-axis direction of the unmanned ship is not abnormal.
In the implementation process, the specific numerical value of the Z-axis direction data is compared with a preset value, if the Z-axis direction data is smaller than the preset value, the current unmanned ship can be judged not to overturn, and the radio frequency antenna does not need to be rotated by a preset angle; if the data in the Z-axis direction are larger than the preset value, it can be judged that the unmanned ship is turned over at present and the radio frequency antenna needs to be rotated by a preset angle. Based on the above embodiment, whether the unmanned ship overturns or not can be quickly judged.
Further, the step of judging whether the Z-axis direction data of the unmanned ship is abnormal includes judging whether the Z-axis direction data is smaller than a preset value and the duration time exceeds a time threshold; if yes, judging that the data in the Z-axis direction is abnormal; and if not, judging that the data in the Z-axis direction is not abnormal.
In the implementation process, the unmanned ship is provided with the device for preventing the unmanned ship from overturning, and when the unmanned ship overturns, the device for preventing the unmanned ship from overturning can automatically rotate the unmanned ship to a normal state; therefore, when the Z-axis direction data of the unmanned ship is in an abnormal state in a short time, it cannot be directly judged that the overturn has occurred. Further, a time threshold value is set, if the Z-axis direction data is smaller than a preset value or not and the duration time exceeds the time threshold value, the unmanned ship is overturned at the moment, the overturning device is automatically prevented from being incapable of acting, and the Z-axis direction data is judged to be abnormal at the moment. Otherwise, judging that the data in the Z-axis direction are not abnormal, and not rotating the radio frequency antenna by a preset angle. Based on the above embodiment, whether the unmanned ship overturns can be accurately judged.
Further, the step of rotating the radio frequency antenna by a preset angle includes controlling a driving motor to rotate, so that the driving motor drives the radio frequency antenna to rotate.
In the implementation process, the driving motor is controlled to rotate, and further, the driving motor drives the radio frequency antenna to rotate. Based on the embodiment, the antenna can be rapidly rotated by the preset angle, and normal communication of the unmanned ship is ensured.
Further, after rotating the radio frequency antenna of the unmanned ship by a preset angle, the method further includes:
and judging whether the communication of the unmanned ship is normal or not, if so, stopping rotating the radio frequency antenna, and if not, continuously acquiring the inertia measurement data of the unmanned ship.
In the implementation process, after the radio frequency antenna is rotated, the communication of the unmanned ship is not necessarily normal, so that the communication capability of the current unmanned ship needs to be tested, and if the communication of the unmanned ship is normal, the rotation of the radio frequency antenna can be stopped; and if the communication capacity of the unmanned ship is abnormal, continuously acquiring the inertia measurement data of the unmanned ship, and judging again. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
Further, the step of judging whether the communication of the unmanned ship is normal includes:
the radio frequency antenna acquires data of the remote controller;
judging whether data of a remote controller is received or not;
if so, judging that the communication of the unmanned ship is normal;
if not, judging that the communication of the unmanned ship is abnormal.
In the implementation process, whether the communication of the unmanned ship is normal is obtained by judging whether the information interaction process between the unmanned ship and the remote controller is smoothly carried out. Based on the above embodiment, the communication condition of the unmanned ship can be quickly judged.
Further, after stopping rotating the rf antenna, the method further includes:
and adjusting the reverse rotation logic of the ascending and descending motor of the unmanned ship so as to ascend the unmanned ship.
In the implementation process, after the radio frequency antenna is adjusted, the reverse rotation logic of the ascending and descending motor of the unmanned ship is controlled, so that the unmanned ship ascends, and the radio frequency antenna is further prevented from being damaged. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
In a second aspect, the present application provides an apparatus for unmanned ship to maintain communication, the apparatus comprising:
the acquisition module is used for acquiring inertial measurement data of the unmanned ship and acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship;
a judging module for judging whether the Z-axis direction data of the unmanned ship is abnormal or not,
and the rotating module is used for rotating the radio frequency antenna of the unmanned ship by a preset angle.
In the implementation process, the inertial measurement data measured by the unmanned ship is acquired through the acquisition module, so that the position information of the current unmanned ship can be quickly acquired, for example, the current unmanned ship is in a normal running state, or the current unmanned ship has a certain inclination angle. And Z-axis direction data in the inertia measurement data represents the turning degree of the current unmanned ship, so that after the inertia measurement data is obtained, the judgment module further judges whether the Z-axis direction data is abnormal or not, if the Z-axis direction data is abnormal, the unmanned ship turns over at the moment, the situation that the unmanned ship cannot normally communicate due to the fact that the antenna is in water should be prevented, and the specific method is that the rotation module rotates the radio frequency antenna by a preset angle. Based on the above embodiment, the unmanned ship can still maintain communication when the unmanned ship overturns.
In a third aspect, the present application provides an unmanned ship comprising a radio frequency antenna and means for maintaining communication with the unmanned ship.
In a fourth aspect, the present application provides a computer storage medium having stored therein computer program instructions which, when read and executed by a processor of a computer, perform the method of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for maintaining communication of an unmanned ship according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a process of determining whether Z-axis direction data of an unmanned ship is abnormal according to an embodiment of the present application;
fig. 3 is another schematic flow chart illustrating a process of determining whether Z-axis direction data of an unmanned ship is abnormal according to the embodiment of the present application;
fig. 4 is a schematic structural composition diagram of a device for maintaining communication of an unmanned ship according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task by means of accurate satellite positioning and self sensing. The unmanned ship integrates various high and new technologies, and can be applied to the fields of environmental monitoring, search and rescue, security patrol and the like. At present, the unmanned ship has the technical defect that the unmanned ship cannot be controlled to continue sailing after the antenna is buried in water and cannot communicate with a remote controller after certain waves or sharp turns are turned over in the sailing process.
In order to solve the technical problem, the application provides a method and a device for communication maintenance of an unmanned ship, the unmanned ship and a computer storage medium.
Example 1
Referring to fig. 1, an embodiment of the present application provides a method for maintaining communication of an unmanned ship, including:
s1: acquiring inertial measurement data of the unmanned ship;
s2: acquiring Z-axis direction data of the unmanned ship according to the inertia measurement data of the unmanned ship;
s3: judging whether the Z-axis direction data of the unmanned ship is abnormal or not, if so, executing S4; if not, executing S1;
s4: and rotating the radio frequency antenna of the unmanned ship by a preset angle.
It should be noted that the above mentioned coordinate system of the Z-axis direction is a default coordinate system of the inertial measurement unit of the unmanned ship, and the Z-axis is perpendicular to the horizontal plane. In some embodiments, the preset angle may be 180 degrees.
In the above embodiment, the position information of the current unmanned ship can be quickly obtained by obtaining the inertial measurement data measured by the unmanned ship, for example, the current unmanned ship is in a normal driving state, or the current unmanned ship has a certain inclination angle. And Z-axis direction data in the inertia measurement data represents the turning degree of the current unmanned ship, so that after the inertia measurement data is obtained, whether the Z-axis direction data is abnormal or not is further judged, if the Z-axis direction data is abnormal, the unmanned ship is turned over at the moment, the situation that the unmanned ship cannot normally communicate due to the fact that the antenna is in water should be prevented, and the specific method is to rotate the radio frequency antenna by a preset angle. Based on the above embodiment, the unmanned ship can still maintain communication when the unmanned ship overturns.
Referring to fig. 2, in one possible implementation, S3 may include the following sub-steps:
s31: judging whether the Z-axis direction data of the unmanned ship is smaller than a preset value, if so, executing S32, and if not, executing S33;
s32: judging that the Z-axis direction data of the unmanned ship is abnormal;
s33: and judging that the Z-axis direction data of the unmanned ship is not abnormal.
For example, when the Z-axis direction data is less than 0, it may be determined that an abnormality occurs in the current Z-axis direction data.
In the above embodiment, the specific value of the Z-axis direction data is compared with a preset value, and if the Z-axis direction data is smaller than the preset value, it can be determined that the current unmanned ship is not overturned, and the radio frequency antenna does not need to be rotated by a preset angle; if the data in the Z-axis direction are larger than the preset value, it can be judged that the unmanned ship is turned over at present and the radio frequency antenna needs to be rotated by a preset angle. Based on the above embodiment, whether the unmanned ship overturns or not can be quickly judged.
Referring to fig. 3, in one possible implementation, S3 may further include the following sub-steps:
s34: judging whether the Z-axis direction data is smaller than a preset value and the duration time exceeds a time threshold, if so, executing S35, and if not, executing S36;
s35: judging that data in the Z-axis direction are abnormal;
s36: and judging that the data in the Z-axis direction is not abnormal.
In the embodiment, the unmanned ship is provided with the automatic overturn preventing device, and when the unmanned ship overturns, the overturn preventing device of the unmanned ship can automatically rotate the unmanned ship to a normal state; therefore, when the Z-axis direction data of the unmanned ship is in an abnormal state in a short time, it cannot be directly judged that the overturn has occurred. Further, a time threshold value is set, if the Z-axis direction data is smaller than the preset value or not and the duration time exceeds the time threshold value, the situation that the unmanned ship overturns at the moment and the automatic overturning preventing device cannot work is indicated, and the Z-axis direction data is judged to be abnormal at the moment. Otherwise, judging that the data in the Z-axis direction are not abnormal, and not rotating the radio frequency antenna by a preset angle. Based on the above embodiment, whether the unmanned ship overturns can be accurately judged.
In one possible implementation, S4 may include the following steps:
and controlling the driving motor to rotate so that the driving motor drives the radio frequency antenna to rotate.
In the above embodiment, the driving motor is controlled to rotate, and further, the driving motor drives the radio frequency antenna to rotate. Based on the embodiment, the antenna can be rapidly rotated by the preset angle, and normal communication of the unmanned ship is ensured.
In a possible implementation, after rotating the rf antenna of the unmanned ship by a preset angle, the method further includes:
and judging whether the communication of the unmanned ship is normal or not, if so, stopping rotating the radio frequency antenna, and if not, continuously acquiring the inertia measurement data of the unmanned ship.
In the above embodiment, after the radio frequency antenna is rotated, the communication of the unmanned ship is not necessarily normal, so that the communication capability of the current unmanned ship needs to be tested, and if the communication of the unmanned ship is normal, the rotation of the radio frequency antenna can be stopped; and if the communication capacity of the unmanned ship is abnormal, continuously acquiring the inertia measurement data of the unmanned ship, and judging again. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
In a possible implementation manner, the step of judging whether the communication of the unmanned ship is normal comprises the following steps:
the radio frequency antenna acquires data of the remote controller;
judging whether data of a remote controller is received or not;
if yes, judging that the communication of the unmanned ship is normal;
if not, judging that the communication of the unmanned ship is abnormal.
In the above embodiment, whether the communication of the unmanned ship is normal is obtained by judging whether the information interaction process between the unmanned ship and the remote controller is smoothly performed. Based on the above embodiment, the communication condition of the unmanned ship can be quickly judged.
In some embodiments, after the radio frequency antenna rotates, if the communication of the unmanned ship is abnormal, the previous work needs to be repeated again, that is, the inertia measurement data measured by the unmanned ship is obtained again, and the overturning condition of the unmanned ship is further judged.
In a possible implementation, after stopping rotating the rf antenna, the method further includes:
and adjusting the reverse rotation logic of the ascending and descending motor of the unmanned ship so as to ascend the unmanned ship.
In the above embodiment, after the radio frequency antenna is adjusted, the reverse rotation logic of the ascending and descending motor of the unmanned ship is controlled, so that the unmanned ship ascends, and the radio frequency antenna is further prevented from being damaged. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
In some embodiments, the unmanned ship can also utilize a motor with reverse rotation logic to continue sailing in a reversed state.
Example 2
Referring to fig. 4, the present application provides an apparatus for unmanned ship to maintain communication, the apparatus comprising:
the acquisition module 1 is used for acquiring inertial measurement data of the unmanned ship and acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship;
the judging module 2 is used for judging whether the data in the Z-axis direction of the unmanned ship is abnormal or not,
and the rotating module 3 is used for rotating the radio frequency antenna of the unmanned ship by a preset angle.
In the above embodiment, the inertial measurement data measured by the unmanned ship is obtained by the obtaining module 1, so that the position information of the current unmanned ship can be quickly obtained, for example, the current unmanned ship is in a normal driving state, or the current unmanned ship has a certain inclination angle. And the Z-axis direction data in the inertia measurement data represents the turning degree of the current unmanned ship, so that after the inertia measurement data is acquired, the judgment module 2 further judges whether the Z-axis direction data is abnormal, if the Z-axis direction data is abnormal, the unmanned ship is turned over at the moment, the situation that the unmanned ship cannot normally communicate due to the fact that the antenna is in water should be prevented, and the specific way is that the rotation module 3 rotates the radio frequency antenna by a preset angle. Based on the above embodiment, the unmanned ship can still maintain communication when the unmanned ship overturns.
In a possible implementation manner, the judging module 2 is further configured to judge whether Z-axis direction data of the unmanned ship is smaller than a preset value; if so, judging that the data in the Z-axis direction of the unmanned ship is abnormal; and if not, judging that the data in the Z-axis direction of the unmanned ship is not abnormal.
In the above embodiment, the judgment module 2 compares the specific numerical value of the Z-axis direction data with a preset value, and if the Z-axis direction data is smaller than the preset value, it can be judged that the unmanned ship is not turned over currently, and the radio frequency antenna does not need to be rotated by a preset angle; if the data in the Z-axis direction are larger than the preset value, it can be judged that the unmanned ship is turned over at present and the radio frequency antenna needs to be rotated by a preset angle. Based on the above embodiment, whether the unmanned ship overturns or not can be quickly judged.
In a possible implementation manner, the judging module 2 is further configured to judge whether the Z-axis direction data is smaller than a preset value and the duration time exceeds a time threshold; if yes, judging that the data in the Z-axis direction is abnormal; if not, judging that the data in the Z-axis direction is not abnormal.
In the embodiment, the unmanned ship is provided with the automatic overturn preventing device, and when the unmanned ship overturns, the overturn preventing device of the unmanned ship can automatically rotate the unmanned ship to a normal state; therefore, when the Z-axis direction data of the unmanned ship is in an abnormal state in a short time, it cannot be directly judged that the overturn has occurred. Further, a time threshold value is set, if the Z-axis direction data is smaller than the preset value or not and the duration time exceeds the time threshold value, the unmanned ship is overturned at the moment and the overturning device is automatically prevented from being out of action, and the judgment module 2 judges that the Z-axis direction data is abnormal at the moment. Otherwise, judging that the data in the Z-axis direction are not abnormal, and not rotating the radio frequency antenna by a preset angle. Based on the above embodiment, whether the unmanned ship overturns can be accurately judged.
In a possible embodiment, the rotating module 3 is further configured to control the driving motor to rotate, so that the driving motor drives the rf antenna to rotate.
In the above embodiment, the rotating module 3 first controls the driving motor to rotate, and further, the driving motor drives the rf antenna to rotate. Based on the embodiment, the antenna can be rapidly rotated by the preset angle, and normal communication of the unmanned ship is ensured.
In a possible implementation manner, the determining module 2 is further configured to determine whether the communication of the unmanned ship is normal after the radio frequency antenna of the unmanned ship rotates by a preset angle, if so, stop rotating the radio frequency antenna, and if not, continue to obtain the inertial measurement data of the unmanned ship.
In the above embodiment, after the rotation module 3 rotates the radio frequency antenna, the communication of the unmanned ship is not necessarily normal, so that the judgment module 2 needs to test the communication capability of the current unmanned ship, and if the communication of the unmanned ship is normal, the rotation of the radio frequency antenna can be stopped; and if the communication capacity of the unmanned ship is abnormal, continuously acquiring the inertia measurement data of the unmanned ship, and judging again. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
In a possible implementation manner, the determining module 2 is further configured to obtain data of the remote controller by the radio frequency antenna; judging whether data of a remote controller is received or not; if yes, judging that the communication of the unmanned ship is normal; if not, judging that the communication of the unmanned ship is abnormal.
In the above embodiment, the determining module 2 determines whether the communication of the unmanned ship is normal by determining whether the information interaction process between the unmanned ship and the remote controller is performed smoothly. Based on the above embodiment, the communication condition of the unmanned ship can be quickly judged.
In a possible embodiment, the turning module 3 is also used to adjust the reverse turning logic of the unmanned ship's ascent and descent motor after stopping rotating the rf antenna to cause the unmanned ship to ascend.
In the above embodiment, after the radio frequency antenna is adjusted, the rotation module 3 controls the reverse rotation logic of the ascending and descending motor of the unmanned ship to ascend the unmanned ship, thereby further ensuring that the radio frequency antenna is not damaged. Based on the embodiment, the communication capacity of the unmanned ship can be further ensured.
Example 3
The embodiment of the application provides an unmanned ship, including radio frequency antenna and embodiment 2 unmanned ship keep the device of communication, wherein, radio frequency antenna and unmanned ship keep the rotation module 3 of the device of communication and be connected, rotate module 3 and be used for rotatory preset angle with unmanned ship's radio frequency antenna.
Example 4
The embodiment of the application provides a computer storage medium, wherein computer program instructions are stored in the computer storage medium, and when the computer program instructions are read and run by a processor of a computer, the method of the embodiment 1 is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for communication maintenance of an unmanned ship, comprising:
acquiring inertial measurement data of the unmanned ship;
acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship;
and judging whether the Z-axis direction data of the unmanned ship is abnormal or not, and if so, rotating the radio frequency antenna of the unmanned ship by a preset angle.
2. The method for maintaining communication of the unmanned ship according to claim 1, wherein the step of determining whether the data in the Z-axis direction of the unmanned ship is abnormal includes:
judging whether the Z-axis direction data of the unmanned ship is smaller than a preset value;
if so, judging that the data in the Z-axis direction of the unmanned ship is abnormal;
and if not, judging that the data in the Z-axis direction of the unmanned ship is not abnormal.
3. The method for maintaining communication of the unmanned ship according to claim 2, wherein the step of determining whether the data in the Z-axis direction of the unmanned ship is abnormal includes:
judging whether the Z-axis direction data is smaller than a preset value and the duration time exceeds a time threshold value;
if yes, judging that the data in the Z-axis direction is abnormal;
and if not, judging that the data in the Z-axis direction is not abnormal.
4. The method for communication maintenance of an unmanned ship according to claim 2, wherein the step of rotating the rf antenna by a preset angle comprises:
and controlling a driving motor to rotate so that the driving motor drives the radio frequency antenna to rotate.
5. The method for communication maintenance of an unmanned ship according to claim 1, wherein after rotating the radio frequency antenna of the unmanned ship by a preset angle, the method further comprises:
and judging whether the communication of the unmanned ship is normal or not, if so, stopping rotating the radio frequency antenna, and if not, continuously acquiring the inertia measurement data of the unmanned ship.
6. The method for communication maintenance of an unmanned ship according to claim 5, wherein the step of determining whether the unmanned ship is in normal communication comprises:
acquiring data of a remote controller through a radio frequency antenna of the unmanned ship;
judging whether data of a remote controller is received or not;
if so, judging that the communication of the unmanned ship is normal;
if not, judging that the communication of the unmanned ship is abnormal.
7. The method of claim 6, wherein after stopping rotating the RF antenna, further comprising:
and adjusting the reverse rotation logic of the ascending and descending motor of the unmanned ship so as to ascend the unmanned ship.
8. An apparatus for communication maintenance of an unmanned ship, comprising:
the acquisition module is used for acquiring inertial measurement data of the unmanned ship and acquiring Z-axis direction data of the unmanned ship according to the inertial measurement data of the unmanned ship;
a judging module for judging whether the Z-axis direction data of the unmanned ship is abnormal or not,
and the rotating module is used for rotating the radio frequency antenna of the unmanned ship by a preset angle.
9. An unmanned ship, comprising a radio frequency antenna and means for maintaining communication with the unmanned ship of claim 8.
10. A computer storage medium having stored therein computer program instructions which, when read and executed by a processor of a computer, perform the method of any one of claims 1-7.
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Application publication date: 20211207 |