CN206601624U - A kind of unmanned boat navigation control system under water - Google Patents
A kind of unmanned boat navigation control system under water Download PDFInfo
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Abstract
The utility model discloses a kind of unmanned boat navigation control system under water, including, adjust the drive module of the navigation posture of unmanned boat, the posture acquisition module of acquisition attitude data and the controller for receiving sailing instructions and/or attitude data under water, the controller is connected with drive module and posture acquisition module respectively, the controller determines current flight direction according to attitude data and is compared with target navigation direction, determine offset, the adjustment data of drive module are calculated according to offset, and according to the navigation posture of adjustment data point reuse unmanned boat under water.By the utility model above-mentioned technical proposal user can be allowed to know the navigation posture of unmanned boat under water, and according to the navigation of navigation gesture stability unmanned boat under water, it is convenient for users to use and unmanned boat is automatically adjusted and corrected according to the navigation posture under water.
Description
Technical field
The utility model belongs to underwater robot field, specifically, is related to a kind of unmanned boat navigation control system under water.
Background technology
Underwater robot is also referred to as unmanned diving under water device, and it is a kind of under water people can be replaced to complete the dress of certain task
Put, in shape more like a microminiature submarine, its own shape of underwater robot is designed according to underwater operation requirement,
Underwater robot is to concentrate many technologies such as artificial intelligence, the fusion of detection identification information, intelligent control, the system integration to answer
For same underwater carrier, in nobody's industry control system, or under artificial progress semiautomatic control, geology, landform etc. are completed
Detection.
Current underwater robot can be realized takes photo by plane with landform, the detection of geology etc. under water, and the application of civilian aspect is also
Very limited, at present in addition to the unmanned boat as recreational use, demand of the unmanned boat in commercial market for fishing is more next
It is bigger, therefore propose higher and higher requirement for fishing unmanned boat.
Otherwise for unmanned boat under water how to be completed according to the attitude data of acquisition by three propellers under water without
People's ship navigates by water the adjustment of posture, as technical problem urgently to be resolved hurrily at present.
In view of this it is special to propose the utility model.
The content of the invention
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art to navigate there is provided a kind of unmanned boat under water
Row control system, can be according to the attitude data of acquisition, and user is by the way that unmanned boat is automatically performed navigation posture manually or under water
Adjustment.
In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：
The utility model proposes a kind of unmanned boat navigation control system under water, including, adjust the navigation of unmanned boat under water
The drive module of posture, the posture acquisition module for obtaining attitude data and the controller for receiving sailing instructions and/or attitude data,
The controller is connected with drive module and posture acquisition module respectively, and the controller determines current flight according to attitude data
Direction is simultaneously compared with target navigation direction, determines offset, the adjustment data of drive module, and root are calculated according to offset
According to the navigation posture of adjustment data point reuse unmanned boat under water.
Preferably, the posture acquisition module is set on circuit boards, including, the detection equilibrium criterion of unmanned boat under water
Gyroscope, the magnetometer for detecting the accelerometer of the acceleration information of unmanned boat under water and detection bearing data；
The circuit board is provided with least two magnetometers, and at least two magnetometer is overlapped to stack and placed or with circuit
Plate is that symmetrical plane is symmetricly set on circuit board both sides.
Preferably, the drive module includes, set under water in front of unmanned boat center of gravity adjustment unmanned boat under water it is vertical
The vertical pusher of the motion in direction, it is separately positioned on the control of the unmanned boat two sides of tail under water advance of unmanned boat under water, retreats
With the horizontal propeller of turning.
Preferably, in addition to according to following order to obtain the positional information of mobile target and controlling driving to mobile target
The intelligence that module is followed to mobile target follows module, and the intelligence follows module to be connected with the controller.
Preferably, the controller obtains mobile target and the current distance of unmanned boat under water, and follows mould using intelligence
Block control drive module keeps current distance to be tracked mobile target.
Preferably, the controller can be obtained according to posture acquisition module equilibrium criterion and acceleration information, it is determined that
The pitching data and rolling data of unmanned boat, determination is combined under water by pitching data, rolling data and bearing data under water
The current flight direction of unmanned boat, is compared determination offset by current flight direction and target navigation direction, works as offset
Start the navigation direction that drive module adjusts unmanned boat under water during more than setting offset threshold.
Preferably, the controller according to the operational configuration of unmanned boat itself determine target navigate by water direction, or according to
The sailing instructions that family is sent determine that target navigates by water direction.
Preferably, including, the pitching offset of pitching data-bias equilbrium position can be calculated, when pitching offset exceeds
When setting pitching offset threshold, start the vertical pusher in drive module, unmanned boat under water is adjusted to bowing for equilbrium position
Face upward adjusting module.
Preferably, including, the rolling offset of rolling data-bias equilbrium position can be calculated, when rolling offset exceeds
When setting rolling offset threshold, it will be adjusted to flat by unmanned boat under water using the vertical pusher and horizontal propeller in drive module
The rolling adjusting module of weighing apparatus position.
Preferably, including, be capable of the azimuth deviation amount of computer azimuth data and target bearing, when azimuth deviation amount is beyond setting
During orientation offset threshold, start the horizontal propeller in drive module, unmanned boat under water is adjusted to the orientation of target bearing
Adjusting module.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art.
By the utility model above-mentioned technical proposal user can be allowed to know the navigation posture of unmanned boat under water, and according to this
The navigation of gesture stability unmanned boat under water is navigated by water, and unmanned boat is automatically adjusted and corrected according to the navigation posture under water,
It is convenient for users to use.
User just can accelerate to move ahead using remote control or mobile phone control unmanned boat progress under water, and user can also be according to certainly
The change function of the navigation postures such as oneself be actually needed control unmanned boat completing to turn, turn around, rise, dive, main body turning.
It can see that unmanned boat is in water under water by the model of the unmanned boat under water shown in the display screen on control terminal
The appearance of lower navigation, and four orientation in the model and all directions can be coordinated, such user just can intuitively see
Navigation direction and residing posture of the unmanned boat in water under water breakthrough, and then the experience of user can be improved.
In addition, when user wants to observe the animation of some fish or the shoal of fish, or desired tracking is some other under water
During mobile target, it is possible to follow module to mobile target follow using intelligence, so it is convenient for users to use.
The azimuth information of detection is calibrated by multiple magnetometers, then detected calibration result as magnetometer
Final azimuth information result, and because circuit plate thickness is smaller, the deviation of the azimuth information of multiple magnetometer detections is smaller, enters
And make the final azimuth information obtained after being calibrated by multiple magnetometers more accurate.
Embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is further understood from, this practicality as a part of the present utility model for providing to of the present utility model
New schematic description and description is used to explain the utility model, but does not constitute to improper restriction of the present utility model.
Obviously, drawings in the following description are only some embodiments, to those skilled in the art, are not paying creation
Property work on the premise of, can also according to these accompanying drawings obtain other accompanying drawings.In the accompanying drawings：
Fig. 1 is the structured flowchart of the unmanned boat navigation control system of one embodiment of the present utility model；
Fig. 2 is the structured flowchart of the unmanned boat navigation control system of another embodiment of the present utility model；
Fig. 3 is the structured flowchart of the unmanned boat navigation control system of further embodiment of the present utility model.
It should be noted that these accompanying drawings and word description are not intended as limits design of the present utility model in any way
Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in embodiment is clearly and completely described, and following examples are used to illustrate this
Utility model, but it is not limited to scope of the present utility model.
, it is necessary to explanation in description of the present utility model, term " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
It is easy to description the utility model and simplifies description, rather than indicates or imply that the device or element of meaning there must be specifically side
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary.
For the ordinary skill in the art, it can understand that specific in the utility model of above-mentioned term containing with concrete condition
Justice.
In following embodiments, unmanned boat under water is designed to the similar density of averag density and water proximate seemingly, water
Annular seal space is provided with lower unmanned boat, the annular seal space has waterproof effect, can protect each electricity consumption module in annular seal space will not
Immersion, and then ensure the normal work of unmanned boat under water, and pass through the annular seal space and unmanned boat shell body and each portion under water
Cooperation between part, to make under water, unmanned boat is reached with water proximate similar density seemingly, and then realizes in waters neutral buoyancy
Effect, navigation direction and navigation posture can be preferably adjusted by the unmanned boat under water of neutral buoyancy, in addition, being driven in no power
Unmanned boat static can be hovered in water under water in the case of dynamic.
Embodiment one
As shown in figure 1, a kind of unmanned boat navigation control system under water, including, the adjustment navigation posture of unmanned boat under water
Drive module 2, the posture acquisition module 3 for obtaining attitude data and the controller 1 for receiving sailing instructions and/or attitude data, institute
State controller 1 respectively with drive module 2 and posture acquisition module 3 to be connected, the controller 1 determines current boat according to attitude data
Line direction is simultaneously compared with target navigation direction, determines offset, the adjustment data of drive module 2 are calculated according to offset,
And according to the navigation posture of adjustment data point reuse unmanned boat under water.
User can using mobile phone or remote control control drive module 2 driving unmanned boat carry out fish gathering, and/or seek fish and/
Or fishing, and/or the shoal of fish/underwater environment under water is observed, using the posture acquisition module 3 on unmanned boat under water by the posture of acquisition
Data are sent to controller 1, and controller 1 is arrived after the attitude data being carried out into calculating processing using communication module Real-time Feedback
The navigation posture of unmanned boat under water can be shown to user in real time by control end waterborne, control end waterborne provided with display screen, with
For underwater navigation of the user according to navigation gesture stability unmanned boat under water；
User is using remote control or the mobile terminal with unmanned boat function under remote-controlled water controls unmanned boat under water
Direction, the anglec of rotation or submerged depth etc. are navigated by water, for example, user observes that unmanned boat is also not reaching under water on a display screen
User wants the destination gone fishing, and the forward speed of display screen display unmanned boat under water is slow, and user just can be sharp
With remote control or mobile phone control, unmanned boat carries out accelerating to move ahead under water, and user can also control nobody according to being actually needed for oneself
Ship completing to turn, turn around, rise, dive, the change function of the navigation posture such as main body turning.
In addition, unmanned boat is during navigation under water, if there is phenomenons such as navigation channel skews, unmanned boat can be automatic under water
Correct, be adjusted on correct navigation channel.
Preferably, the posture acquisition module 3 is set on circuit boards, including, detect the equilibrium criterion of unmanned boat under water
Gyroscope 31, detection under water the accelerometer 32 of the acceleration information of unmanned boat and detect bearing data magnetometer 33.
Preferably, the center of gravity of unmanned boat is provided with two magnetometers 33 under water, and two magnetometers 33 are symmetrical using circuit board
Plane is symmetricly set on circuit board both sides.
So calibrated by the azimuth information of two magnetometers, 33 pairs of detections, then regard calibration result as magnetometer
The final azimuth information result of 33 detections, and because circuit plate thickness is smaller, the azimuth information that two magnetometers 33 are detected
Deviation is smaller, and then makes the final azimuth information obtained after being calibrated by two magnetometers 33 more accurate.And due to
As long as two magnetometers 33 simply have the such controller 1 of deviation carrying out being directed to vertical direction when calibration is calculated in vertical direction
Carry out it is corresponding calculate calibration just can be with, the amount of calculation of controller 1 can be reduced, and then accelerate computation rate, and can also
Improve the accuracy of unmanned boat orientation detection under water.
Also, two magnetometers 33 can also be integrated into one, and then the deviation for detecting two magnetometers 33 enters one
Step reduces, and enables whole calibration algorithm more accurate, can thus improve the service behaviour of unmanned boat under water.
In addition, two accelerometers 32 can also be set on circuit boards, two accelerometers 32 can be thus utilized
Carry out complementary correction, it is so corrected after obtained acceleration magnitude can be more accurate, and then improve the work of unmanned boat under water
Make performance.
More than two magnetometers 33 can also be on circuit boards set, the phase of multiple magnetometers 33 can be thus utilized
Mutually calibrate to make the accuracy of unmanned boat orientation detection under water obtain significantly more efficient raising.
Preferably, the drive module 2 includes, set under water in front of unmanned boat center of gravity adjustment unmanned boat under water it is vertical
The vertical pusher of the motion in direction, it is separately positioned on the control of the unmanned boat two sides of tail under water advance of unmanned boat under water, retreats
With the horizontal propeller of turning.
The controller 1 can according to posture acquisition module 3 obtain equilibrium criterion and acceleration information, it is determined that under water without
The pitching data and rolling data of people's ship, determination unmanned boat under water is combined by pitching data, rolling data and bearing data
Current flight direction, by current flight direction and target navigation direction be compared determination offset, when offset exceed set
Start the navigation direction that drive module 2 adjusts unmanned boat under water when determining offset threshold.
Preferably, determine that target navigates by water direction, or the boat sent according to user according to the operational configuration of unmanned boat itself
Line command determines that target navigates by water direction.
Angular velocity of rotation data are obtained by gyroscope 31, acceleration information is obtained by accelerometer 32, (wherein, are surveyed
The angular velocity data and acceleration information of amount are under unmanned boat body coordinate system)
Because when unmanned boat without motion acceleration, perseverance is by acceleration of gravity straight down, root under reference frame
Component (accelerometer 32 is measured) according to acceleration of gravity in body coordinate system can be evaluated whether unmanned boat relative to reference frame
The angle of pitch and roll angle.
Wherein, gyroscope 31 can measure the change of the unmanned boat angle of pitch and roll angle, and the angle of pitch and roll angle are by angle
Changing value (gyroscope 31 is measured) in a cycle of estimate (accelerometer 32 is obtained) and angle, pass through Kalman
Filtering, obtains the minimum variance estimate of angle, i.e. optimal estimation.
Zero correction partially is carried out to the gyroscope 31, equilibrium criterion is obtained using the gyroscope 31 after zero partially correction, utilizes
The acceleration information that the accelerometer 32 is detected calculates luffing speed ＆ angular velocity in roll, and by equilibrium criterion and luffing speed ＆
Angular velocity in roll is combined the determination pitch attitude of unmanned boat and roll attitude under water.
In the above-mentioned technical solutions, because gyroscope 31 can be by each structure or the shadow of component on unmanned boat under water
Sound, or other situations, the equilibrium criterion that gyroscope 31 is detected have deviation, it is therefore desirable to which it is inclined that gyroscope 31 is carried out into zero first
Correction, and then ensure the accuracy of detection of gyroscope 31, after the completion of zero corrects partially, gyroscope 31 will obtain corresponding balance number
According to；
Then the luffing speed ＆ rolling speed that the equilibrium criterion is detected with accelerometer 32 is combined, it is determined that under water
(that is, unmanned boat is inclined under water for the current pitch attitude of unmanned boat (that is, the posture in unmanned boat offset level face under water) and roll attitude
Move), for example, can determine that unmanned boat navigates by water posture in the skew into front, back, left, right, up, down, upper and lower six orientation under water.
Zero correction and oval correction partially is carried out to the magnetometer 33, orientation number is obtained using the magnetometer 33 after correction
According to bearing data, equilibrium criterion and luffing speed ＆ angular velocity in roll are combined determination unmanned boat under water by the controller 1
Current flight direction.
In the above-mentioned technical solutions, influenceed by environmental factor and the oneself factor of magnetometer 33, magnetometer 33 be commonly present compared with
Big course angle error, in order to ensure the precision of magnetometer 33, first has to carry out magnetometer 33 zero correction and oval correction partially,
Then recycle correction after magnetometer 33 obtain unmanned boat under water bearing data (that is, obtain under water unmanned boat east, south,
Residing orientation in west, north four direction), and gyroscope 31 and accelerometer 32 will be utilized in the bearing data and such scheme
The luffing speed ＆ angular velocity in roll of acquisition is combined, and can further determine that the current flight direction of unmanned boat under water outlet.
The accelerometer 32 carries out pose compensation, and the acceleration information removal gravity of acquisition is obtained into duplicate removal afterwards adds
Speed data, is integrated to the duplicate removal acceleration information of three axles of acquisition, determines the current flight speed of unmanned boat under water.
Unmanned boat is in magnetic field (be pointed generally in the north) of certain fixed space by a permanently strong degree, when unmanned boat posture becomes
During change, the magnetic field changes in the component of unmanned boat reference frame, causes the measured value of magnetometer 33 to change, due to
The interference problem of manufacturing process or surrounding magnetic field, it is necessary first to demarcated to magnetometer 33, data are calibrated.Dig afterwards
Influence (that is, pose compensation) except the angle of pitch and roll angle to measured value, finally calculates the estimate for obtaining unmanned boat yaw angle.
The change of the rate of pitch measured with reference to gyroscope 31, the optimal value of yaw angle is obtained using Kalman filtering,
It is above navigation data process part, the attitude data of unmanned boat is obtained using the data fusion of many inertia devices.
The equilibrium criterion that gyroscope 31 is detected is unmanned boat reference frame and under water unmanned boat body coordinate system under water
Spin matrix, the measured value of the accelerometer 32 is, based on unmanned boat body coordinate system under water, body coordinate system to be divided into
Three reference axis are x-axis, y-axis, z-axis, measured value inherently three axles；
Then, corresponding 3-axis acceleration data are obtained using the accelerometer 32, pose compensation is exactly that three axles are accelerated
Degrees of data is transformed into reference frame, due to having acceleration of gravity in the acceleration information of acquisition, accordingly, it would be desirable to by gravity
Acceleration is removed, and finally the acceleration magnitude of three axles to being obtained after pose compensation and removal gravity is carried out respectively
Integration, is known that the current flight speed of unmanned boat in three directions under water.
The pitching offset of pitching data-bias equilbrium position can be calculated, when pitching offset is beyond setting pitching skew
During threshold value, start the vertical pusher in drive module 2, unmanned boat under water is adjusted to the pitching adjusting module of equilbrium position.
The rolling offset of rolling data-bias equilbrium position can be calculated, when rolling offset is beyond setting rolling skew
During threshold value, unmanned boat under water is adjusted to the rolling of equilbrium position using the vertical pusher and horizontal propeller in drive module 2
Turn adjusting module.Including being capable of the azimuth deviation amount of computer azimuth data and target bearing, when azimuth deviation amount exceeds setting side
During the offset threshold of position, start the horizontal propeller in drive module 2, unmanned boat under water is adjusted to the orientation adjustment of target bearing
Module.
Heading control：Navigated by the desired value (user gives) and the actual heading value (navigation data) of unmanned boat in course
To deviation (i.e. pitching offset, rolling offset, azimuth deviation amount), using increment type PID algorithm calculate obtain nobody
Torque is corrected in the spin of ship, is finally mapped as the thrust magnitude (motor speed) of propeller.
Embodiment two
As shown in Fig. 2 this under water unmanned boat navigation control system also include intelligence follow module 4, the intelligence follows mould
Block 4 is connected with the controller 1, and the controller 1 is believed according to the position for following order to obtain mobile target to mobile target
Breath, and follow module 4 to control the mobile target of 2 pairs of drive module to follow using intelligence；
The controller 1 obtains mobile target and the current distance of unmanned boat under water, and follows module 4 to control using intelligence
Drive module 2 keeps current distance to be tracked mobile target.In the above-mentioned technical solutions, when user by remote control or
Mobile phone or other control ends to unmanned boat send to certain movement target (can be fish, people, underwater submarine or other can move
Object) follow after order, the positional information of mobile target is obtained first, mobile target is locked, then starts intelligence
Module 4 can be followed, unmanned boat is followed to mobile target under water for control, wherein, mobile target can also be the shoal of fish.So,
When user wants to observe the animation of some fish or the shoal of fish, or when wanting to track some other underwater moving targets, just
The mobile target of 4 pairs of module can be followed follow using the intelligence, so it is convenient for users to use.
The controller 1 obtains mobile target and the current distance of unmanned boat under water, and follows module 4 to keep using intelligence
Current distance is tracked to mobile target；The intelligence follows module 4 to receive a key and followed after order, adjust the distance under water without
The nearest mobile biology of people's ship is followed.
Embodiment three
As shown in figure 3, on the basis of the scheme of above-described embodiment, the navigation control system of unmanned boat under water also includes
The global positioning module 5 being connected with controller 1 can obtain the positional information of unmanned boat under water in real time.
The global positioning module 5 is GPS module or big dipper module, and the position of the unmanned boat under water can be so known in real time
Put, can so be tracked positioning to unmanned boat under water, can also facilitate user to find unmanned boat under water, be brought just to user
Profit.
Embodiment five
Unmanned boat navigation control system also includes the communication module that is connected with controller under water, and the controller is by reception
Attitude data is sent to control end waterborne by communication module, and is carried out attitude data using the display screen in control end waterborne
It has been shown that, in the model of the display screen display unmanned boat under water, and by model of the attitude data by the unmanned boat under water
Intuitively shown.
Posture acquisition module can obtain the navigation posture of unmanned boat currently under water, such as, headway (each axial direction,
The headway of all directions), the current pose (be in horizontally or diagonally or the posture such as pitching) of unmanned boat under water, and by this
A little navigation posture Real-time Feedbacks are to controller, and controller sends feedwater after these attitude datas are handled using communication module
Upper control end (can be mobile phone, flat board, notebook, computer or remote control with display screen etc.), when user starts to water
After the control software of lower unmanned boat, the model of unmanned boat under water will be shown in the display screen on control terminal, under water nobody
The posture that ship is navigated by water under water can intuitively be presented to user by the model, user can be seen by model under water nobody
The appearance that ship is navigated by water under water, and four orientation in the model and all directions can be coordinated, such user just can
It is directly perceived to see navigation direction and residing posture of the unmanned boat in water, and then the experience of user be improved under water.
Current flight direction and current flight speed are sent to control end waterborne by the controller by communication module；It is excellent
Selection of land, the sailing instructions that control end waterborne is sent are sent to controller by communication module, and the controller is by current flight side
The navigation posture of control drive module adjustment unmanned boat under water is combined to, current flight speed and sailing instructions.Above-mentioned
In technical scheme, the headway of unmanned boat under water can be fed back to control end waterborne, digital or figure can be passed through
Mode is shown, and such user just can be by the navigation direction of headway and above-mentioned unmanned boat under water in water and residing
Posture be combined, and then allow users to make more accurate control command, the navigation posture of control unmanned boat under water.
Described above is only preferred embodiment of the present utility model, not makees any formal to the utility model
Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, it is any to be familiar with
The technical staff of this patent is not being departed from the range of technical solutions of the utility model, when the technology contents using above-mentioned prompting are done
Go out a little change or be modified to the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solutions of the utility model,
Any simple modification, equivalent variations and the modification made according to technical spirit of the present utility model to above example, still belong to
In the range of the utility model scheme.
Claims (10)
1. a kind of unmanned boat navigation control system under water, it is characterised in that including adjusting the drive of the navigation posture of unmanned boat under water
Dynamic model block, the posture acquisition module for obtaining attitude data and the controller for receiving sailing instructions and/or attitude data, the control
Device is connected with drive module and posture acquisition module respectively, the controller according to attitude data determine current flight direction and with
Target navigation direction is compared determination offset, and the adjustment data of drive module are calculated according to offset, and according to adjustment number
According to the navigation posture for adjusting unmanned boat under water.
2. unmanned boat navigation control system under water according to claim 1, it is characterised in that the posture acquisition module is set
Put on circuit boards, including, the detection gyroscope of the equilibrium criterion of unmanned boat, the acceleration information of detection unmanned boat under water under water
Accelerometer and detection bearing data magnetometer；
The circuit board is provided with least two magnetometers, at least two magnetometer overlap stack place or using circuit board as
Symmetrical plane is symmetricly set on circuit board both sides.
3. unmanned boat navigation control system under water according to claim 1 or 2, it is characterised in that the drive module bag
Include, set under water in front of unmanned boat center of gravity adjustment under water the vertical pusher of the motion of the vertical direction of unmanned boat, set respectively
Put the unmanned boat two sides of tail control advance of unmanned boat under water, the horizontal propeller for retreating and turning under water.
4. unmanned boat navigation control system under water according to claim 1, it is characterised in that also including according to mobile mesh
The intelligence that target follows order to obtain the positional information of mobile target and control drive module to follow mobile target is followed
Module, the intelligence follows module to be connected with the controller.
5. unmanned boat navigation control system under water according to claim 1, it is characterised in that the controller obtains movement
Target and the current distance of unmanned boat under water, and follow module to control drive module to keep current distance to mobile mesh using intelligence
Mark is tracked.
6. unmanned boat navigation control system under water according to claim 2, it is characterised in that the controller being capable of basis
Equilibrium criterion and acceleration information that posture acquisition module is obtained, it is determined that the pitching data and rolling data of unmanned boat under water, will
Pitching data, rolling data and bearing data are combined the current flight direction for determining unmanned boat under water, by current flight side
Determination offset is compared to target navigation direction, starts drive module adjustment when offset exceedes setting offset threshold
The navigation direction of unmanned boat under water.
7. unmanned boat navigation control system under water according to claim 6, it is characterised in that the controller is according to nobody
The operational configuration of ship itself determines that target navigates by water direction, or the sailing instructions sent according to user determine that target navigates by water direction.
8. unmanned boat navigation control system under water according to claim 6, it is characterised in that including pitching can be calculated
The pitching offset of data-bias equilbrium position, when pitching offset is beyond setting pitching offset threshold, starts drive module
In vertical pusher, unmanned boat under water is adjusted to the pitching adjusting module of equilbrium position.
9. unmanned boat navigation control system under water according to claim 6, it is characterised in that including rolling can be calculated
The rolling offset of data-bias equilbrium position, when rolling offset is beyond setting rolling offset threshold, utilizes drive module
In vertical pusher and horizontal propeller unmanned boat under water is adjusted to the rolling adjusting module of equilbrium position.
10. unmanned boat navigation control system under water according to claim 3, it is characterised in that including being capable of computer azimuth
The azimuth deviation amount of data and target bearing, when azimuth deviation amount is beyond setting azimuth deviation threshold value, starts in drive module
Horizontal propeller, unmanned boat under water is adjusted to the orientation adjustment module of target bearing.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803673A (en) * | 2018-05-07 | 2018-11-13 | 约肯机器人（上海）有限公司 | Directional controlling method and device |
| CN110308714A (en) * | 2019-06-25 | 2019-10-08 | 中国船舶重工集团公司第七0七研究所 | A kind of test platform of pier dynamic positioning system core piloting strategies verifying |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803673A (en) * | 2018-05-07 | 2018-11-13 | 约肯机器人（上海）有限公司 | Directional controlling method and device |
| CN110308714A (en) * | 2019-06-25 | 2019-10-08 | 中国船舶重工集团公司第七0七研究所 | A kind of test platform of pier dynamic positioning system core piloting strategies verifying |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
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