A kind of yacht intelligent guidance system and working methodTechnical field
The present invention relates to control system technical field, especially a kind of yacht intelligent guidance system and working method.
Background technique
Currently, intelligent guidance system can be in the case where unmanned intervene to extraneous ring with the development of intelligent control technologyBorder is made a response, and realizes the automatic control of control target.Information technology, the fast development of computer technology and Other subjectsDevelopment interpenetrates, and merges into each other, and has pushed deepening continuously for Control Science and Engineering research.Control system is sent out to intelligent controlExhibition has become a kind of trend.
Inertial navigation technology has tended to be mature in military domain, but due to sensor selling at exorbitant prices, precision requirement etc.Limitation has not been suitable for civil field since growing this.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of yacht intelligent guidance system and workMethod.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of yacht intelligent guidance system, including main control unit, image acquisition units, obstacle avoidance sensor unit, channel radioBelieve unit, power control unit, GPS unit and power supply unit；Main control unit respectively with image acquisition units, obstacle avoidance sensor listMember, wireless communication unit, power control unit, GPS unit and power supply unit connection；
Image acquisition units, for acquiring external image and carrying out image recognition algorithm to obtain external image information；
Obstacle avoidance sensor unit, for acquiring yacht peripheral obstacle information, underwater obstacle information；
Wireless communication unit, the yacht running state information for obtaining main control unit are wirelessly transferred；
Power control unit obtains yacht current pose information for obtaining yacht operating status and carrying out signal processing；
GPS unit, for obtaining yacht GPS positioning parameter information；
Main control unit, for being obtained according to image acquisition units, power control unit, obstacle avoidance sensor unit, GPS unitExternal image information, yacht current pose information and yacht GPS positioning parameter information, to obtain yacht operating status resultInformation, and yacht speed, acceleration and direction are controlled；
Power supply unit is used for main control unit, image acquisition units, wireless communication unit, power control unit and GPSUnit power supply.
Preferably, the main control unit, the DSP for connecting including microprocessor, with microprocessor and being controlled by microprocessorUnit.
Preferably, the obstacle avoidance sensor unit, including ultrasonic sensor, sonar sensor and peripheral circuit surpassSonic sensor is used to acquire the obstacle information in 50 to two hundred meters of the water surface, and sonar sensor is for acquiring the depth of water, reefInformation, and the information of acquisition is used for avoidance movement.
Preferably, described image acquisition unit, including camera unit and peripheral imaging circuit unit, camera unit is for adoptingCollect external image, and the external image information is subjected to image recognition algorithm processing and obtains external image information；
The external image information includes the water surface and water hazard object information.
Preferably, the control system further includes man-machine interaction unit, single by wireless communication for receiving main control unitThe control instruction that member is sent, control yacht operation.
Preferably, the power control unit, including inertial sensor unit and external sensor circuit unit, for obtainingIt takes yacht operating status and posture settlement process is carried out to yacht operating status, to obtain yacht current pose information.
It is further preferred that the inertial sensor unit, including being set to the gyroscope of yacht inner horizontal position, addingSpeedometer, compass and peripheral circuit.
It is further preferred that the yacht current pose information includes the yacht speed of service, yacht tilt angle, yacht fortuneRow acceleration and yacht magnetic direction.
Preferably, the control system further includes alarm unit connected to the main control unit, is occurred for running in yachtIt is controlled when failure by driver and realizes alarm.
Preferably, the inertial sensor unit further includes the negative-feedback time for being set to inertial sensor unit output endRoad, i.e. shura circuit, gyrocompass circuit and Foucault circuit can make DSP unit logical by the way that the negative feedback loop is arrangedIt crosses negative-feedback circuit and corrects the location error, to obtain more accurate position data.
The invention also discloses a kind of working methods of yacht intelligent navigation, and steps are as follows:
Step 1: the sensor of inertial sensor unit obtains yacht current pose information, and image acquisition units are by taking the photographAs the camera of unit shoots external image information, GPS unit acquisition yacht GPS positioning parameter information, obstacle avoidance sensor unitWater hazard object information is acquired, microprocessor receives yacht current pose information, external image information, GPS positioning parameter informationWith water hazard object information；
Step 2: microprocessor, which obtains yacht current pose information, external image information, GPS positioning using DSP unit, joinsNumber information and water hazard object information, and DSP resolving processing is carried out to above- mentioned information, to obtain yacht operating status result letterBreath；
Step 3: microprocessor according to the yacht operating status result information make corresponding automatic dodging barrier orThe operation that person pulls in shore automatically is pulled in shore automatically with realizing or is gone to sea automatically.
The beneficial effects of the present invention are:
1. the system can analyze the data for handling various sensors in real time, the analysis to yacht posture and position is completed, togetherWhen can obtain the water surface and water hazard object information according to camera unit.
2. the system can realize that autonomous GPS navigation, coastal waters inertial navigation drive, hide the water surface and underwater obstacle, according toRouting algorithm plans related course line, can establish concrete model according to yacht power situation in dynamic Control, guarantees automatic PilotIt is steady, safety, ensure that passenger drive comfort and personal safety.
Detailed description of the invention
Fig. 1 is the structural block diagram of yacht intelligent guidance system of the present invention；
Fig. 2 is the concrete structure diagram of yacht intelligent guidance system of the present invention；
Fig. 3 is the structural schematic diagram of yacht intelligent guidance system of the present invention；
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, a kind of yacht intelligent guidance system, including main control unit, image acquisition units, obstacle avoidance sensor listMember, wireless communication unit, power control unit, GPS unit and power supply unit；Main control unit respectively with image acquisition units, keep awayHinder sensor unit, wireless communication unit, power control unit, GPS unit and power supply unit connection；
Image acquisition units, for acquiring external image and carrying out image recognition algorithm to obtain external image information；
Obstacle avoidance sensor unit, for acquiring yacht peripheral obstacle information, underwater obstacle information；
Wireless communication unit, the yacht running state information for obtaining main control unit are wirelessly transferred；
Power control unit obtains yacht current pose information for obtaining yacht operating status and carrying out signal processing；
GPS unit, for obtaining yacht GPS positioning parameter information；
Main control unit, for being obtained according to image acquisition units, power control unit, obstacle avoidance sensor unit, GPS unitExternal image information, yacht current pose information and yacht GPS positioning parameter information, to obtain yacht operating status resultInformation, and yacht speed, acceleration and direction are controlled；
Power supply unit is used for main control unit, image acquisition units, wireless communication unit, power control unit and GPSUnit power supply.
Further, the main control unit, the DSP for connecting including microprocessor, with microprocessor and being controlled by microprocessorUnit.
As shown in Fig. 2, the obstacle avoidance sensor unit, including ultrasonic sensor, sonar sensor and peripheral circuit,Ultrasonic sensor is used to acquire the obstacle information in 50 to two hundred meters of the water surface, and sonar sensor is for acquiring the depth of water, reefStone information, and the information of acquisition is used for avoidance movement.
Further, described image acquisition unit, including camera unit and peripheral imaging circuit unit, camera unit is for adoptingCollect external image, and the external image information is subjected to image recognition algorithm processing and obtains external image information；
The external image information includes the water surface and water hazard object information.
Further, the control system further includes man-machine interaction unit, single by wireless communication for receiving main control unitThe control instruction that member is sent, control yacht operation.
Further, the power control unit, including inertial sensor unit and external sensor circuit unit, for obtainingIt takes yacht operating status and posture settlement process is carried out to yacht operating status, to obtain yacht current pose information.
It is further preferred that the inertial sensor unit, including being set to the gyroscope of yacht inner horizontal position, addingSpeedometer, compass and peripheral circuit.
It is further preferred that the yacht current pose information includes the yacht speed of service, yacht tilt angle, yacht fortuneRow acceleration and yacht magnetic direction.
Further, the control system further includes alarm unit connected to the main control unit, is occurred for running in yachtIt is controlled when failure by driver and realizes alarm.
Further, the inertial sensor unit further includes the negative-feedback time for being set to inertial sensor unit output endRoad, i.e. shura circuit, gyrocompass circuit and Foucault circuit can make DSP unit logical by the way that the negative feedback loop is arrangedIt crosses negative-feedback circuit and corrects the location error, to obtain more accurate position data.
Embodiment: as shown in figure 3, a kind of yacht intelligent guidance system, each unit connection type are as follows: in main control unit,Microprocessor uses MTK7620N, and microprocessor is connect with DPS unit using serial ports mode, and the I/O port of microprocessor and alarm are singleMember input connection, and microprocessor is connect by communication bus with gyroscope, accelerometer and electronic compass and GPS unit,Microprocessor and said units can carry out two-way communication；Microprocessor PWM output is connect with generator.
Camera unit uses camera, and camera carries out information transmission by usb protocol and microprocessor.
Microprocessor runs linux system, carries out image recognition to external image information and obtains image recognition information.
The inertial sensor unit, including three axis Together, digital gyroscopes, three axis of the horizontal position being directly anchored in shipDigital accelerometer, triaxial testing system and associated peripheral circuits.
Microprocessor obtains the water surface and water hazard object information according to camera, and is obtained and swum according to inertial sensor unitShip current pose information resolves preceding posture information by DSP unit, and calculation result is transferred in microprocessor；MT7620N completes the identification to the water surface and water hazard object information, yacht current pose information, week in conjunction with DSP unit acquisitionSide obstacle information, underwater obstacle information and yacht GPS positioning parameter information run feelings according to above-mentioned data acquisition yachtCondition and barrier orientation are connect since the PWM of MT7620N is exported with engine controller, and MT7620N exports PWM by PWMPulse can adjust engine speed, and the revolving speed by adjusting yacht engine realizes the control to yacht speed；By adjusting rudderMachine changes rudder for ship direction, realizes and controls yacht direction of advance, by control yacht direction of advance and yacht speed, it can be achieved that rightBarrier hides function.
Further, it is each to inertial sensor unit after the DSP unit obtains the data that inertial sensor unit exportsThe output data of Measurement channel is integrated, and the drift of gyroscope increases angle error proportionally at any time, accelerationThe constant error of meter will cause the location error directly proportional to the time square again, and the presence of the angle error and location errorWill lead to DSP unit can not obtain accurate yacht operation data, for this purpose, also setting up in inertial sensor unit output end negative anti-It is fed back to road, by the setting negative feedback loop, DSP unit can be made to correct the location error by negative-feedback circuit,To obtain more accurate position data.
The negative feedback loop include the shura circuit being connect with inertial sensor unit output end, gyrocompass circuit andFoucault circuit.
The invention also discloses a kind of working methods of yacht intelligent navigation, comprising the following steps:
Step 1: the sensor of inertial sensor unit obtains yacht current pose information, that is, passes through three axis digital gyrosInstrument obtains yacht speed, yacht acceleration is obtained by three axis digital accelerometers, triaxial testing system obtains yacht earth magnetism sideTo image acquisition units shoot external image information by the camera of camera unit, and GPS unit obtains yacht GPS positioning ginsengNumber information, obstacle avoidance sensor unit acquire water hazard object information, and microprocessor receives yacht current pose information, external imageInformation, GPS positioning parameter information and water hazard object information；
Step 2: microprocessor, which obtains yacht current pose information, external image information, GPS positioning using DSP unit, joinsNumber information and water hazard object information, and DSP resolving processing is carried out to above- mentioned information, to obtain yacht operating status result letterBreath；
Step 3: microprocessor according to the yacht operating status result information make corresponding automatic dodging barrier orThe operation that person pulls in shore automatically is pulled in shore automatically with realizing or is gone to sea automatically.
It is described to pull in shore that specific step is as follows automatically: firstly, microprocessor is travelled using inertial sensor unit to harbour, soThe signal returned afterwards using DSP unit acquisition ultrasonic sensor, judges yacht at a distance from bank, according to yacht and bankDistance is adjusted the positive and negative rotation of engine and the steering of rudder, realizes to slow down and pull in shore, meanwhile, microprocessor is according to imageThe external image of acquisition unit acquisition carries out air route correction, makes yacht alignment destination region navigation.
Automatically it goes to sea and is divided into three phases:
First stage, yacht speed, yacht acceleration and the yacht that microprocessor is acquired using inertial sensor unitMagnetic direction is accumulated respectively by the yacht speed, yacht acceleration and the yacht magnetic direction that obtain to inertial sensor unitPartite transport is calculated, and speed and the position of yacht are obtained, and after carrying out fused filtering with electronic compass information collected, is recorded in micro processIn the coordinate system that device is established, microprocessor setting igniting, acceleration, turnaround time and steering angle, term by term combination transmitter and steering engine are sent outControl signal is sent, control yacht is driven out to harbour.
Second stage, shallow water stage, obstacle avoidance sensor acquire underwater obstacle information, and GPS unit obtains yacht GPS positioningParameter information, microprocessor obtains underwater obstacle information and GPS positioning parameter information and goes forward side by side row information processing, after processingInformation control engine and steering engine, adjustment yacht posture realizes avoidance；
Phase III, deep water stage, GPS unit certain interval of time detect yacht GPS positioning parameter information, microprocessorYacht GPS positioning parameter information described in root detects the traveling course line of yacht, if traveling deviated route presets course line, micro processDevice controls transmitter and steering engine realizes course line amendment.
In open sea regions, microprocessor carries out the routine navigation of long range using GPS unit；It is available in greater coasting areaInertial sensor unit is gone to sea and is maked a return voyage automatically according to preset navigation route.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present inventionThe limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are notNeed to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.