CN201725222U - Small-sized water surface robot device - Google Patents

Abstract

The utility model relates to a small-sized water surface robot device, which comprises a ship body, a driving device and a control device, wherein the control device comprises a water flow sensor, a navigation device and a central controller; the navigation device comprises a GPS (Global Position System) sensor, an electronic compass and an inertia navigation module and realizes automatic navigation. The utility model has small volume, light weight, energy consumption saving, manual labor saving, low cost and convenient use. The navigation method of the utility model can optimize a running path and saves energy resources and simultaneously prevents turnover and collision and avoids barriers to achieve the goal of stable running.

Description

Small-size water surface robot device

Technical field

The utility model relates to water surface robot device, especially a kind of small-size water surface robot device that has automaton.

Background technology

Water surface robot is also referred to as unmanned boat, is the surface platform of the intelligence that nobody controls, and can carry various purpose monitoring exploring equipments and carry out different application.It is used and just progressively obtains at present promoting.Control and the water surface robot that needs fully independently to travel for nobody, air navigation aid is most important.Navigation algorithm is meant that after inputing to the unmanned boat destination, water surface robot drives towards the destination according to self position.To pass through mathematical operation during this time, send instruction for the screw propeller of self, rudder for ship (if the twin screw hull then is a differential of adjusting two oars), constantly proofread and correct, finally arrive the method for destination.

Still there is not specially optimization air navigation aid at present at small-size water surface robot (about 1 meter of length).The small-size water surface robot volume is little, in light weight, is subjected to water currents big during navigation, often is difficult to walk out predetermined route.Every kept fore to aim at the destination when present air navigation aid all was per.When water surface robot navigates by water at the water surface, can be subjected to water currents.And in present navigation algorithm, because current inconvenience when water surface robot travels is accurately measured with sensor, the influence of current generally all is to lean on the direction of real-time calibration vessel to overcome.Like this, the path of ship from the starting point to the terminal point can be a curve, and the curvature of curve depends primarily on water velocity, ship's speed and emending frequency.Generally for the miniature self-service ship, because the restriction of maximal rate and the quality of ship own, this curvature is generally all bigger.Thereby increased unnecessary energy consumption, and prolonged the time that arrives the destination.When water level fluctuation is big, if the excessive danger that shipwreck also can occur of small-size water surface robot excessive velocities corner.If when running into obstacle, situation also might bump.

The utility model content

The purpose of this utility model provides a kind of small-size water surface robot device that has automaton.

The purpose of this utility model is achieved by the following technical solution:

Small-size water surface robot device comprises hull and the drive unit and the control device that are located on the hull, and described control device comprises water flow rate sensor, guider and central controller;

Described guider comprises gps satellite alignment sensor, electronic compass and inertial navigation module;

Described guider is connected with the central controller circuit;

Described control device is connected with the drive unit circuit, and realizes the self-navigation to hull.

As optimal technical scheme of the present utility model, described inertial navigation module comprises three-axis gyroscope or 3-axis acceleration sensor.

As optimal technical scheme of the present utility model, described control device also comprises radar and laser range sensor.

As optimal technical scheme of the present utility model, described drive unit comprises battery and drive motor.

The beneficial effects of the utility model are: with respect to prior art, the volume of the utility model small-size water surface robot is little, in light weight, adopts driven by power, and self non-pollution discharge is compared argosy, has not only saved energy consumption, saved manpower, and cost is lower.

Description of drawings

Fig. 1 is a structural representation of the present utility model;

Fig. 2 is the utility model small-size water surface robot turning synoptic diagram;

Fig. 3 is small-size water surface robot angular velocity omega and a displacement d graph of a relation in the utility model Δ t time;

Fig. 4 is that the utility model t is constantly towards the ht synoptic diagram.

Among the figure: 1. hull, 2. central controller, 3.GPS satnav sensor, 4. inertial navigation module, 5. radar, 6, laser range sensor, 7. water flow rate sensor, 8. drive motor, 9. battery, 10. electronic compass.

Embodiment

The utility model is described in further detail below in conjunction with accompanying drawing and specific embodiment:

As shown in Figures 1 to 4, small-size water surface robot device comprises hull 1 and the drive unit and the control device that are located on the hull 1, and described control device comprises water flow rate sensor 7, guider and central controller 2; Described guider comprises gps satellite alignment sensor 3, electronic compass 10 and inertial navigation module 4; Described guider is connected with central controller 2 circuit; Described control device is connected with the drive unit circuit, and realizes the self-navigation to hull 1.

In the present embodiment, described inertial navigation module 4 comprises three-axis gyroscope or 3-axis acceleration sensor.Described control device also comprises radar 5 and laser range sensor 6.Described drive unit comprises battery 9 and drive motor 8.

The small-size water surface robot self-adaptive flow optimizing navigation method, this method may further comprise the steps:

(1) small-size water surface robot obtains its absolute coordinates by the signal of central controller reception GPS alignment sensor;

(2) central controller receives the signal of inertial navigation module, obtains acceleration, the angular velocity of small-size water surface robot, and to gained acceleration or angular velocity integration, obtains real-time speed and angle;

(3) central controller receives the data of laser range sensor or radar, distance between judgement and the place ahead barrier;

(4) central controller receives the data of electronic compass, obtains the direction of advancing;

(5) central controller receives the data of water flow rate sensor, obtains the speed of current.

(6) after central controller is handled above-mentioned gained data, by the course of drive unit and steering gear control small-size water surface robot.

Small-size water surface robot of the present utility model comprises following several ability.

The self-adapting flow navigation:

After the central controller of small-size water surface robot is received the geographic coordinate of destination in some way, can from gps receiver, read current latitude and longitude coordinates, and be translated into the initial point of horizontal ordinate.Small-size water surface robot next can from digital compass read self towards, and by calculating accessory drive and steering gear.

In the process of moving, every certain time interval, central controller can read current latitude and longitude coordinates from gps receiver, and to be transformed into the starting point be the horizontal ordinate system of initial point, obtains current k position coordinates X constantly _k, Y _kSimultaneously central controller from digital compass read current k constantly towards h _kLike this, central controller just can calculate this k constantly small-size water surface robot towards the drift angle.By the mathematical model of small-size water surface robot, can calculate at next time interval k+1 before the moment instruction of propulsion system and steering gear.

This mathematical model is based on some static equations that obtain by the hydrostatic experiment.As, the relation of radius of turn r, angular velocity omega and revolution speed of propeller v, rudder for ship angle θ, or the relation (twin screw) of radius of turn r, angular velocity omega and revolution speed of propeller v1, v2.Mathematic(al) representation is,

$\left[\begin{array}{c}r\\ \mathrm{\ω}\end{array}\right]=g\left(\left[\begin{array}{c}v\\ \mathrm{\θ}\end{array}\right]\right)$ Or $\left[\begin{array}{c}r\\ \mathrm{\ω}\end{array}\right]=g\left(\left[\begin{array}{c}{v}_1\\ v_2\end{array}\right]\right)$

At t constantly, the position is that (Xt Yt), is oriented ht.Suppose that control command does not change, behind a very short time Δ t, the position may be calculated:

$(X_{t+\mathrm{\&Delta;t}},Y_{t+\mathrm{\&Delta;t}})=(x_t+d\&times;\sin (\frac{\mathrm{\&omega;}\&CenterDot;\mathrm{\&Delta;<figure-callout\; id="2"\; label="t"\; filenames="HDA0000021215420000011.png"\; state="\{\{state\}\}">t</figure-callout>}}{2}+h_t),Y_t+d\&times;\cos (\frac{\mathrm{\&omega;}\&CenterDot;\mathrm{\&Delta;<figure-callout\; id="2"\; label="t"\; filenames="HDA0000021215420000011.png"\; state="\{\{state\}\}">t</figure-callout>}}{2}+h_t))$

D is the displacement that small-size water surface robot was passed by in the Δ t time.The size of d is relevant with the radius of circular motion, and is promptly relevant with the size of revolution speed of propeller and rudder angle.We can obtain respective value with minor function by smooth water test:

d＝d(r)

We just can make it accurately to arrive the destination based on this controlling models of further deriving small-size water surface robot.For the single screw small-size water surface robot, its Three Degree Of Freedom nonlinear Static mathematical model is as follows:

$x_k=f(x_{k-1},u_k)+w_k=f(\left[\begin{array}{c}{X}_{k-1}\\ Y_{k-1}\\ h_{k-1}\end{array}\right],\left[\begin{array}{c}{v}_k\\ {\mathrm{\&theta;}}_k\\ 0\end{array}\right])+w_k=\left[\begin{array}{c}{X}_{k-1}+d\left(r_k\right)\&times;\sin ({\mathrm{\&omega;}}_k/2+h_{k-1})\\ Y_{k-1}+d\left(r_k\right)\&times;\cos ({\mathrm{\&omega;}}_k/2+h_{k-1})\\ h_{k-1}+{\mathrm{\&omega;}}_k\end{array}\right]+w_k,$

Wherein,

$r_k=\left[\begin{array}{cc}1& 0\end{array}\right]\left[\begin{array}{c}{r}_k\\ \mathrm{\&omega;}\end{array}\right]=\left[\begin{array}{cc}1& 0\end{array}\right]g\left(\left[\begin{array}{c}{v}_k\\ {\mathrm{\&theta;}}_k\end{array}\right]\right)$

${\mathrm{\&omega;}}_k=\left[\begin{array}{cc}0& 1\end{array}\right]\left[\begin{array}{c}{r}_k\\ {\mathrm{\&omega;}}_k\end{array}\right]=\left[\begin{array}{cc}0& 1\end{array}\right]g\left(\left[\begin{array}{c}{v}_k\\ {\mathrm{\&theta;}}_k\end{array}\right]\right)$

w _k～N (0, Q _k), x _kBe k time of day constantly, and be to get from (k-1) state constantly.u _kExpression (k-1) is to k control command constantly.

The noise of gps receiver and electronic compass can be used the white Gaussian noise model.We have realized that a Kalman filter reduces this noise like.The measurement model of nonlinear system is:

z _k＝h(x _k)+m _k；m _k～N(0，R _k)

Kalman filter is divided two stages.At phase one (forecast period), we are in order to descend prediction equation NextState and predicated error covariance:

$x_{k|k-1}=F_k{x}_{k-1|k-1}+B_{k-1}{U}_{k-1}=\left[\begin{array}{c}{X}_{k-1}+d\left(r_k\right)\&times;\sin ({\mathrm{\&omega;}}_k/2+h_{k-1})\\ Y_{k-1}+d\left(r_k\right)\&times;\cos ({\mathrm{\&omega;}}_k/2+h_{k-1})\\ h_{k-1}+{\mathrm{\&omega;}}_k\end{array}\right]$

P _k|k-1＝F _kP _k-1|k-1F _k ^T+Q _k-1

In subordinate phase (update stage), GPS and electronic compass Data Update, kalman gain, time of day and true error covariance are also upgraded synchronously:

K _k＝P _k|k-1H _k ^T(H _kP _k|k-1H _k ^T+R _k) ^-1

x _k|k＝x _k|k-1+K _k(z _k-H _kx _k|k-1)

P _k|k＝(I-K _kH _k)F _k|k-1

In practice, small-size water surface robot is because own wt is light, and volume is little, and is very responsive to the influence of current.We have added a current residual quantity and have offset the influence of current to forecast model in mathematical model.We suppose that adjacent two state k-1 and k water (flow) direction and speed constantly are constant.This hypothesis is of practical significance very much, also simplifies our calculated amount.We are to predicted state x _K|k-1Adjust, added the current z of laststate _K-1-x _K-1|k-2

x _k|k＝x _k|k-1+z _k-1-x _k-1|k-2+K _k(z _k-h(x _k|k-1+z _k-1-x _k-1|k-2))

Shift onto and can prove through strict mathematics, following formula is a convergent.Illustrate that above equation can play the negative function to flow action.

With classic method keep in real time fore aim at the destination different be that this algorithm is not calibrated the direction of fore, but according to the streamflow regime of laststate, calculates desirable

And by inverse function g ^-1Obtain

Perhaps

Make that the position of small-size water surface robot remains on the line of destination and starting point as much as possible at k constantly, rather than the position in the k-1 moment and the line of destination.Like this, just significantly improved the running efficiency of small-size water surface robot, made its driving path very near straight line, thereby saved electric weight and time.

The anti-ability of turning over:

Every certain time interval, central controller can read angular velocity data from three all gyroscopes, calculates the angle of small-size water surface robot rolling and pitching by integration.When stormy waves was excessive, if the excessive velocities of small-size water surface robot, perhaps corner was excessive, all can turn over dangerously.The rolling of a safety of definition and the critical angle of pitching if any one current angle surpasses safety value, mean that then small-size water surface robot has the danger of turning over.At this moment, central controller will be out of danger small-size water surface robot by propulsion system deceleration and steering gear are reduced modes such as steering angle.

When running into electromagnetic interference (EMI), if electronic compass generation saltus step, small-size water surface robot can be done integration to the time to the angular velocity that gyroscope detects, and calculates the angle of its rotation, is added on the preceding angle of electronic compass saltus step.Ship can disorient at no time like this.Coincide when the angle that electronic compass again can be in a long time calculated with central processing unit, think that then electromagnetic interference (EMI) disappears.

When small-size water surface robot gps receiver loss signal, central processing unit can be done integration to the time to the data of acceleration transducer, can monitor the change of small-size water surface robot speed on three directions in space.The speed stack of writing down during the change value of this speed and loss signal, central processing unit can calculate the change of small-size water surface robot coordinate accurately.

Keep away the barrier ability:

Every certain time interval, central controller can receive data from radar, and calculating is the position of the barrier of distant place, and whether barrier moves through calculating as can be known again.If do not move, central controller is path planning again, gets around barrier; If moving obstacle, central controller can move on.After continuing to move ahead, barrier or rolled away from can not cause bumping against; Or near small-size water surface robot, and this moment is owing to can't discern apart from too near radar.Central authorities' control meeting confirms that by laser range sensor barrier has not had the risk of collision or emit instruction, stops propulsion system and steering gear, waits for that barrier leaves.

Claims (4)

1. a small-size water surface robot device comprises hull and the drive unit and the control device that are located on the hull, and it is characterized in that: described control device comprises water flow rate sensor, guider and central controller;

Described guider comprises gps satellite alignment sensor, electronic compass and inertial navigation module;

Described guider is connected with the central controller circuit;

Described control device is connected with the drive unit circuit, and realizes the self-navigation to hull.

2. small-size water surface robot device according to claim 1 is characterized in that: described inertial navigation module comprises three-axis gyroscope or 3-axis acceleration sensor.

3. small-size water surface robot device according to claim 1 is characterized in that: described control device also comprises radar and laser range sensor.

4. small-size water surface robot device according to claim 1 is characterized in that: described drive unit comprises battery and drive motor.

Images