技术领域technical field
本实用新型属于无人船的自动控制技术领域，特别是具备自主返航功能的一种无人船，具体地说一种自主巡航返航式无人船。The utility model belongs to the technical field of automatic control of an unmanned ship, in particular to an unmanned ship with an autonomous return function, specifically an autonomous cruise return type unmanned ship.
背景技术Background technique
随着国民经济和城市化进程的快速发展，我国面临的水资源形势十分严峻，水资源短缺，水体污染严重，生态环境急剧恶化等问题日益突出。根据2016年中国环境公报公布的数据，112个重要湖泊中，V类及劣V类水体占14%，主要污染物指标为总磷、化学需氧量和高锰酸盐指数。108个监测营养状况的湖泊中，富营养的湖泊占比24%，水环境污染严重地制约着我国的经济发展，影响居民的日常生活。近年来，我国逐渐加大水资源管理力度，相继出台了许多法律法规，例如中央一号文件就明确提出下一步将严控水源管理，也取得了一定效果。2016年12月11日，中共中央办公厅、国务院办公厅公布的《关于全面推行河长制的意见》，提出到2018年底全面建立河长制，希望通过“河长制”让本来无人愿管、被肆意污染的河流得到有效治理，并成为政府职能部门的一项常态化工作，在中国“水危机”严峻的当下，力保水清岸绿，实现江河、湖泊长青。With the rapid development of the national economy and urbanization process, my country is facing a severe situation of water resources, such as water shortage, serious water pollution, and rapid deterioration of the ecological environment. According to the data published in the China Environmental Bulletin in 2016, among the 112 important lakes, 14% of them are water bodies of Class V or worse than Class V, and the main pollutant indicators are total phosphorus, chemical oxygen demand and permanganate index. Among the 108 lakes monitored for nutritional status, eutrophic lakes accounted for 24%. Water pollution seriously restricts my country's economic development and affects residents' daily life. In recent years, my country has gradually strengthened water resources management, and has issued many laws and regulations. For example, the No. 1 Central Document clearly stated that the next step will be to strictly control water resource management, which has also achieved certain results. On December 11, 2016, the General Office of the Central Committee of the Communist Party of China and the General Office of the State Council announced the "Opinions on the Comprehensive Implementation of the River Chief System", proposing to fully establish the River Chief System by the end of 2018, hoping that through the "River Chief System" no one would like to The management and wanton pollution of rivers have been effectively treated, and it has become a normal work of government functional departments. In the current severe "water crisis" in China, we will strive to keep the water clear and the banks green, so as to realize the evergreen rivers and lakes.
国家关于水污染监管和治理的政策在不断推进和落实中，无人船发展迅速，但大部分无人船只能实现简单的巡航，通过硬件来存储有限量的坐标路径进行简单的路径规划，没有长距离的自主路径规划功能及实时位置检测功能，在电量不足的情况下无法自主返航，造成无人船的丢失，造成巨大损失。The country's policies on water pollution supervision and control are constantly being promoted and implemented. Unmanned ships are developing rapidly, but most unmanned ships can only achieve simple cruising, and use hardware to store a limited amount of coordinate paths for simple path planning. The long-distance autonomous path planning function and real-time position detection function cannot autonomously return to the voyage when the battery is insufficient, resulting in the loss of the unmanned ship and causing huge losses.
发明内容Contents of the invention
本实用新型所要解决的技术问题是针对上述现有技术现状，而提供设计合理、控制精确，并能自主规划避障返航的一种自主巡航返航式无人船。The technical problem to be solved by the utility model is to provide a self-cruising and returning unmanned ship with reasonable design, precise control, and autonomous planning for obstacle avoidance and return.
为实现上述技术目的，本实用新型采取的技术方案为：For realizing above-mentioned technical purpose, the technical scheme that the utility model takes is:
一种自主巡航返航式无人船，包括无人船本体，无人船本体的内部安装有作为无人船运动控制核心的控制模块以及均与该控制模块线路相连用于反馈无人船周围环境信号的避障模块、用于反馈无人船位置信号的GPS模块、用于反馈无人船航向角信号的陀螺仪模块和用于与上位机实现无线通讯的通信模块；无人船本体的上部安装有与控制模块相连接用于为无人船上所有用力单位提供电力的电源模块，无人船本体的下部安装有受控制模块程序控制实现无人船自主巡航返航功能的动力模块。An autonomous cruising and returning type unmanned ship, including an unmanned ship body, a control module as the core of the motion control of the unmanned ship is installed inside the unmanned ship body and is connected to the control module for feedback of the surrounding environment of the unmanned ship The signal obstacle avoidance module, the GPS module for feeding back the position signal of the unmanned ship, the gyroscope module for feeding back the course angle signal of the unmanned ship, and the communication module for wireless communication with the upper computer; the upper part of the unmanned ship body A power module connected to the control module is installed to provide power for all force units on the unmanned ship. The lower part of the unmanned ship body is installed with a power module controlled by the control module program to realize the autonomous cruise and return function of the unmanned ship.
为优化上述技术方案，采取的具体措施还包括：In order to optimize the above technical solutions, the specific measures taken also include:
上述的控制模块为拥有多个定时器、112个通用I/O口、3个12位ADC和1个12位DAC的STM32F103中央处理器，中央处理器包括有多个用于发送PWM波的PWM接口。The above-mentioned control module is an STM32F103 central processing unit with multiple timers, 112 general-purpose I/O ports, three 12-bit ADCs and one 12-bit DAC. The central processing unit includes multiple PWMs for sending PWM waves. interface.
上述的电源模块包括用于将太阳能转化为电能的太阳能板以及用于存储太阳能板转化的电能的蓄电池。所述的蓄电池与控制模块电路相连接。The above power module includes a solar panel for converting solar energy into electrical energy and a storage battery for storing the electrical energy converted by the solar panel. The storage battery is connected with the control module circuit.
上述的动力模块为两个在控制模块的程序控制下利用差速控制来调整无人船航行方向实现无人船自主巡航可返航的直流动力电机。The above-mentioned power module is two DC power motors that use differential speed control to adjust the sailing direction of the unmanned ship to realize the autonomous cruise and return of the unmanned ship under the program control of the control module.
上述的通信模块为通过阿里云端服务器与上位机实现4G无线通信的4G通信模块。The above-mentioned communication module is a 4G communication module that realizes 4G wireless communication through the Ali cloud server and the host computer.
上述的避障模块包括用于获取无人船周围视频的摄像机和采用超声波进行距离检测的超声传感器。The above-mentioned obstacle avoidance module includes a camera for acquiring video around the unmanned ship and an ultrasonic sensor for distance detection using ultrasonic waves.
与现有技术相比，本实用新型的无人船包括有控制模块以及避障模块、GPS模块、陀螺仪模块和通信模块；无人船本体还安装有电源模块和动力模块。无人船能通过安装的通信模块与上位机进行无线通信。本实用新型通过控制模块对无人船进行智能控制，上位机能通过通信模块向控制模块下达指令信号，为无人船规划路径由控制模块自动程序控制执行，无人船能在控制模块的控制下按照上位机的指令规化完成自主巡航或返航任务。GPS模块能对无人船的位置进行定位，从而防止无人船丢失坐标，方便工作人员在设定坐标点进行无人船回收工作。Compared with the prior art, the unmanned ship of the present invention includes a control module, an obstacle avoidance module, a GPS module, a gyroscope module and a communication module; the unmanned ship body is also equipped with a power supply module and a power module. The unmanned ship can communicate wirelessly with the host computer through the installed communication module. The utility model intelligently controls the unmanned ship through the control module, and the upper computer can issue instruction signals to the control module through the communication module, and the planned path for the unmanned ship is controlled and executed by the automatic program of the control module, and the unmanned ship can be controlled by the control module. According to the instructions of the host computer, the task of autonomous cruising or return is completed in a standardized manner. The GPS module can locate the position of the unmanned ship, so as to prevent the loss of coordinates of the unmanned ship, and facilitate the staff to recover the unmanned ship at the set coordinate point.
附图说明Description of drawings
图1是本实用新型的工作原理示意图；Fig. 1 is a schematic diagram of the working principle of the utility model;
图2为本实用新型的返航总体方案示意图；Fig. 2 is a schematic diagram of the overall scheme of returning to the voyage of the present invention;
图3为无人船巡航方式示意图。Figure 3 is a schematic diagram of the cruising mode of the unmanned ship.
具体实施方式Detailed ways
以下结合附图对本实用新型的实施例作进一步详细描述。Embodiments of the utility model are described in further detail below in conjunction with the accompanying drawings.
本实用新型公开了一种自主巡航返航式无人船，包括无人船本体，为了使无人船能在无人监控下自主巡航返航完成对水质的采集工作，本实用新型除在无人船上安装有各种传感器外，无人船本体的内部还安装有与所有传感器线路相连作为无人船运动控制核心的控制模块，以及避障模块、GPS模块、陀螺仪模块和通信模块；避障模块、GPS模块、陀螺仪模块和通信模块也均与控制模块相连接。避障模块用于将获取的无人船周围的环境信号反馈给控制模块，GPS模块用于将无人船的位置信号反馈给控制模块，陀螺仪模块将获取的无人船航向角信号反馈给控制模块，控制模块将传感器获取的水质参数信号以及避障模块获取的环境信号、GPS模块获取的位置信号和陀螺仪模块获取的航向角信号经内部运算处理后打包成数据包交给通信模块，由通信模块与上位机实现无线通讯。上位机为Windows平台地面监测站，能利用上位机的收发模块与无人船进行通信，通过上位机的显示屏对无人船进行实时监测、实时控制，并通过上位机的操作模块对无人船下达指令信号，这里的指令信号包括水质采集信号、巡航信号和返航信号。无人船的返航路径由上位机规划经通信模块下达给控制模块智能控制执行。本实用新型无人船本体的上部安装有与控制模块相连接用于为无人船上所有用力单位提供电力的电源模块，无人船本体的下部安装有受控制模块程序控制实现无人船自主巡航返航功能的动力模块。动力模块能驱动无人船行驶、转向等动作。The utility model discloses an autonomous cruising and returning type unmanned ship, which includes the main body of the unmanned ship. In addition to installing various sensors, the interior of the unmanned ship body is also equipped with a control module connected to all sensor lines as the core of unmanned ship motion control, as well as an obstacle avoidance module, GPS module, gyroscope module and communication module; the obstacle avoidance module , GPS module, gyroscope module and communication module are also connected with the control module. The obstacle avoidance module is used to feed back the acquired environmental signal of the unmanned ship to the control module, the GPS module is used to feed back the position signal of the unmanned ship to the control module, and the gyroscope module feeds back the obtained unmanned ship heading angle signal to the control module. The control module, the control module packs the water quality parameter signal obtained by the sensor, the environmental signal obtained by the obstacle avoidance module, the position signal obtained by the GPS module, and the heading angle signal obtained by the gyroscope module into a data packet after internal calculation and processing, and then sends it to the communication module. The wireless communication is realized by the communication module and the upper computer. The upper computer is a ground monitoring station on the Windows platform, which can use the transceiver module of the upper computer to communicate with the unmanned ship, monitor and control the unmanned ship in real time through the display screen of the upper computer, and monitor the unmanned ship through the operation module of the upper computer. The ship issues command signals, where the command signals include water quality collection signals, cruise signals and return signals. The return path of the unmanned ship is planned by the upper computer and issued by the communication module to the control module for intelligent control and execution. The upper part of the unmanned ship body of the utility model is equipped with a power supply module connected with the control module to provide power for all force units on the unmanned ship, and the lower part of the unmanned ship body is installed with a control module program control to realize the autonomous cruise of the unmanned ship The power module for the return-to-home function. The power module can drive the driving and steering of the unmanned ship.
本实用新型的无人船本体长68cm，宽49cm，高25cm，船体骨架采用8~16mm层板制成，无人船本体的上层建筑采用ABS塑料混合玻璃钢材料。船体机构采用三体船设计，完全符合船舶设计规范，可抗5~6级风浪。The unmanned ship body of the utility model is 68cm long, 49cm wide, and 25cm high. The hull skeleton is made of 8-16mm laminates, and the superstructure of the unmanned ship body is made of ABS plastic mixed with glass fiber reinforced plastics. The hull structure adopts trimaran design, which fully complies with ship design specifications, and can resist wind and waves of grade 5~6.
实施例中，本实用新型的控制模块为拥有多个定时器、112个通用I/O口、3个12位ADC和1个12位DAC的STM32F103中央处理器，中央处理器包括有多个用于发送PWM波的PWM接口。本实用新型的控制模块采用STM32F103芯片作为无人船运动控制的中央处理器，能够为直流电机高效地发送PWM波，拥有高性能的32位中央处理器，内置时钟芯片，拥有多个定时器，112个通用I/O口，3个12位ADC、1个12位DAC完全满足本设计中各部分的功能实现。In the embodiment, the control module of the present utility model is the STM32F103 CPU with multiple timers, 112 general-purpose I/O ports, 3 12-bit ADCs and 1 12-bit DAC. PWM interface for sending PWM wave. The control module of the utility model adopts the STM32F103 chip as the central processor for the motion control of the unmanned ship, which can efficiently send PWM waves for the DC motor. It has a high-performance 32-bit central processor, a built-in clock chip, and multiple timers. 112 general-purpose I/O ports, three 12-bit ADCs, and one 12-bit DAC fully meet the function realization of each part in this design.
实施例中，本实用新型的电源模块包括用于将太阳能转化为电能的太阳能板以及用于存储太阳能板转化的电能的蓄电池。蓄电池与控制模块电路相连接。本实用新型的无人船本体顶面安装有两块太阳能板，每块太阳能板的尺寸是长30cm宽10cm，蓄电池为锂电池。太阳能发板在天气良好状况下，可为锂电池进行能源补充，以增加无人船的续航时间和航行距离。In an embodiment, the power module of the present invention includes a solar panel for converting solar energy into electrical energy and a storage battery for storing the electrical energy converted by the solar panel. The battery is connected to the control module circuit. Two solar panels are installed on the top surface of the unmanned ship body of the present utility model, and the size of each solar panel is 30cm long and 10cm wide, and the storage battery is a lithium battery. In good weather, the solar panel can supplement the energy of the lithium battery to increase the endurance time and voyage distance of the unmanned ship.
实施例中，本实用新型的动力模块为两个在控制模块的程序控制下利用差速控制来调整无人船航行方向实现无人船自主巡航可返航的直流动力电机。In the embodiment, the power module of the present utility model is two DC power motors that use differential speed control to adjust the sailing direction of the unmanned ship under the program control of the control module to realize the autonomous cruising and return of the unmanned ship.
实施例中，通信模块为通过阿里云端服务器与上位机实现4G无线通信的4G通信模块。通信模块主要使用4G无线通信技术，无人船可以实时发送所在位置坐标至上位机进行位置显示，上位机可以实时监控并控制无人船走向或进行路径规划。In the embodiment, the communication module is a 4G communication module that realizes 4G wireless communication through the Ali cloud server and the host computer. The communication module mainly uses 4G wireless communication technology. The unmanned ship can send the location coordinates to the upper computer for position display in real time. The upper computer can monitor and control the direction of the unmanned ship in real time or perform path planning.
4G通信使用阿里云服务器作为数据处理和数据发送的中转站，可以实现对无人船路径的实时监控和计算，在无人船电量不足或人为控制情况下可自主控制无人船进行返航，可以实现超远距离通信，在城市河道等通信信号良好的区域效果十分显著。4G communication uses the Alibaba Cloud server as a transfer station for data processing and data transmission, which can realize real-time monitoring and calculation of the path of the unmanned ship, and can autonomously control the unmanned ship to return to the voyage when the power of the unmanned ship is insufficient or under human control. Realize ultra-long-distance communication, and the effect is very significant in areas with good communication signals such as urban rivers.
实施例中，避障模块包括用于获取无人船周围视频的摄像机和采用超声波进行距离检测的超声传感器。摄像机能提供视频避障，通过采用深度学习视觉实现，超声传感器为辅助避障手段，采用超声波传感器进行距离检测，当检测到障碍物距离与无人船距离等于最小安全值时，无人船采取相应动作。In an embodiment, the obstacle avoidance module includes a camera for acquiring video around the unmanned ship and an ultrasonic sensor for distance detection using ultrasonic waves. The camera can provide video obstacle avoidance, which is realized by using deep learning vision. Ultrasonic sensors are used as an auxiliary means of obstacle avoidance. Ultrasonic sensors are used for distance detection. When the distance between the detected obstacle and the unmanned ship is equal to the minimum safe value, the unmanned ship takes corresponding action.
本实用新型的GPS模块通过串口与控制模块进行通信连接，陀螺仪模块通过IIC协议与控制模块通信连接，陀螺仪模块用于调整无人船航向角，方便进行巡航控制。The GPS module of the utility model communicates with the control module through the serial port, and the gyroscope module communicates with the control module through the IIC protocol. The gyroscope module is used to adjust the course angle of the unmanned ship to facilitate cruise control.
以上所述，仅为本实用新型优选实施方式，但本实用新型保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型揭露的技术范围内，可轻易想到的变化或替换，都应涵盖于本实用新型保护范围内。The above is only a preferred embodiment of the present utility model, but the scope of protection of the present utility model is not limited thereto. Any skilled person familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present utility model. , should be covered within the protection scope of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
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| CN201820227027.8UCN207817528U (en) | 2018-02-08 | 2018-02-08 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227027.8UCN207817528U (en) | 2018-02-08 | 2018-02-08 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
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| CN207817528Utrue CN207817528U (en) | 2018-09-04 |
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| CN201820227027.8UExpired - Fee RelatedCN207817528U (en) | 2018-02-08 | 2018-02-08 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180904 Termination date:20200208 | |
| CF01 | Termination of patent right due to non-payment of annual fee |