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CN-122009406-A - Remote Cheng Zimu boat operation control system based on intelligent flow measurement

CN122009406ACN 122009406 ACN122009406 ACN 122009406ACN-122009406-A

Abstract

The invention discloses a remote Cheng Zimu boat operation control system based on intelligent current measurement, which relates to the field of intelligent control and comprises a mother ship platform part, a son ship detection module, a navigation obstacle avoidance module and a navigation obstacle avoidance module, wherein the mother ship platform part is used for providing a hydrodynamic platform for bearing deployment of each functional module and carrying out central control, the son ship detection module is used as a hydrodynamic platform for executing a local measurement task and receives a control instruction of the mother ship platform part, the navigation obstacle avoidance module is used for acquiring obstacle information through an ultrasonic sensor according to a preset navigation route and a target point, the sensor posture is ensured to be stable, the measurement precision of key parameters such as flow speed, water depth and the like under complex sea conditions is improved, so that a single operation can acquire full-section multi-element hydrological data from a water surface to a water bottom, and can plan a path, cooperatively navigate, avoid obstacles and complete preset measurement actions autonomously, and a more comprehensive data basis is provided for scientific research and engineering application.

Inventors

  • Zhang Shendai
  • WEN BINGLIN
  • YOU FUMIN
  • Kan Runze
  • KANG ZHANJUN

Assignees

  • 山东交通学院

Dates

Publication Date
20260512
Application Date
20260326

Claims (10)

  1. 1. Remote Cheng Zimu ship operation control system based on intelligence current measurement, its characterized in that includes: A mother ship platform part (1) for providing a hydrodynamic platform carrying the deployment of each functional module and performing central control; The child ship detection module (2) is used as a hydrodynamic platform for executing a local measurement task and receives a control instruction of the parent ship platform part (1); The navigation obstacle avoidance module (3) is used for acquiring the control authority of the propulsion units of the mother ship platform part (1) and the child ship detection module (2) according to the preset navigation route and the preset target point and the obstacle information acquired by the ultrasonic sensor, and planning the route of the mother ship platform part (1) and the child ship detection module (2); The hydrologic acquisition module (4) is used for acquiring flow velocity, flow direction, temperature, salinity and depth data of different water depths of the target water area in real time; The environment sensing module (5) is used for collecting weather and environment data of an operation area in real time; The attitude control module (6) is used for dynamically controlling the draft and the sailing attitude of the sub-ship detection module (2) by adjusting the ballast water quantity according to the measurement task; The video monitoring module (7) is used for shooting and transmitting video signals of the operation sites of the mother ship platform component (1) and the son ship detection module (2) in real time; the fusion processing module (8) is used for receiving and fusing the data from the navigation obstacle avoidance module (3), the hydrologic acquisition module (4) and the environment perception module (5), preprocessing and packaging the data, submitting the data to a ground console, receiving a control instruction of a remote operator, presetting a navigation task or performing instant intervention.
  2. 2. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the working logic of the navigation obstacle avoidance module (3) is: acquiring a navigation target point sequence, and generating an initial global navigation path by combining electronic chart information; Processing the distance information of the front obstacle detected by the ultrasonic sensor array in real time, and dynamically defining an achievable speed window set in a two-dimensional speed space formed by linear speed and angular speed based on the current motion state of the mother ship platform component (1) or the child ship detection module (2) in each control period when the obstacle is detected according to the physical performance constraint and the navigation safety constraint of the corresponding propulsion unit; forward simulation is carried out on a large number of candidate speed pairs in a speed window set, a plurality of candidate tracks which are to be driven by the ship in a short-time forward looking period are predicted, and a comprehensive evaluation function is constructed; Calculating the score of each candidate track through a comprehensive evaluation function, and selecting a speed pair corresponding to the candidate track with the highest score as an optimal control instruction of the current period; and resolving the generated optimal control instruction of the current period into rotating speed and direction control instructions of the propulsion units of the mother ship platform component (1) and the son ship detection module (2).
  3. 3. The intelligent current measurement based remote Cheng Zimu boat operation control system according to claim 2, wherein the evaluation sub-items of the evaluation function include azimuth convergence toward the target point, minimum predicted distance from the obstacle detected by the ultrasonic sensor, proximity of the current navigational speed to the preset optimal cruising speed, and smoothness of the trajectory.
  4. 4. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the hydrologic acquisition module (4) comprises a flow velocity flow direction sensor, a water depth sensor and a salt temperature depth sensor, and is used for carrying out cross-section acquisition of single-point vertical hydrologic parameters according to measurement instructions submitted by a mother ship platform component (1), carrying out water layer with specified depth following a child ship detection module (2), carrying out cross-section scanning measurement in a vertical cross section, and carrying out cross-section acquisition of single-point vertical hydrologic parameters.
  5. 5. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the attitude control module (6) comprises a ballast water tank, a water pump and a water level sensor, and the working logic thereof is as follows: receiving a water depth measuring instruction preset by a mother ship platform component (1) or a navigation attitude demand instruction sent by a navigation obstacle avoidance module (3); according to the preset water depth measuring instruction, the water pump is controlled to fill or drain water into the ballast water tank, and the draught of the sub-ship is adjusted, so that the sensor in the hydrologic acquisition module (4) reaches a specified water layer; according to the navigation attitude demand instruction, the water quantity of the head and tail or side ballast water tanks of the sub-ship detection module (2) is independently adjusted according to a preset threshold value.
  6. 6. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the working logic of the video monitoring module (7) is: The waterproof cameras deployed at key positions of the mother ship platform component (1) and the child ship detection module (2) collect video streams of an operation site in real time; According to the current network bandwidth condition and instruction priority, dynamically selecting a transmission strategy, namely transmitting a high-definition video stream for real-time display and video storage by a fusion processing module (8) when the bandwidth is sufficient, and switching to transmitting a low-code-rate video key frame or thumbnail stream generated by a video monitoring module (7) when the bandwidth is limited; when an ultrasonic sensor of the navigation obstacle avoidance module (3) triggers obstacle early warning or an attitude control module (6) detects that the attitude is abnormal, the mother ship platform component (1) and the child ship detection module (2) automatically trigger video snapshot instructions, a corresponding camera is controlled to capture high-resolution static images, the high-resolution static images are marked as event data, and the event data are transmitted to a ground console by a fusion processing module (8) preferentially.
  7. 7. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the fusion processing module (8) applies a time stamp and a spatial position label to the received original sensor data in an operation stage, applies a sliding average filter or a kalman filter algorithm to remove abnormal noise, performs space-time alignment and correlation on the hydrologic data and the environmental data, and generates a standardized hydrologic data packet with time, position and meteorological background.
  8. 8. The intelligent current measurement based remote Cheng Zimu boat operation control system according to claim 1, wherein the operation mode of the mother boat platform part (1) includes: the regional cruising mode is used for controlling the mother ship platform component (1) and the son ship detection module (2) to cooperatively navigate along a preset section, and the son ship detection module (2) performs traveling navigation section measurement; A fixed point close mapping mode is adopted to control the mother ship platform part (1) to anchor or dynamically position at a target point, and a son ship detection module (2) is released to perform multi-depth layer fixed point continuous monitoring on the target point; And the mother ship platform component (1) is in a recovery mode, the son ship detection module (2) is controlled to automatically navigate to a recovery device at the side of the mother ship, and the navigation obstacle avoidance module (3) is triggered to assist in butt joint and recovery.
  9. 9. The intelligent current measurement based remote Cheng Zimu boat operation control system according to claim 1, wherein the mother boat platform component (1) and the son boat detection module (2) are integrated with a data storage unit for locally storing all sensor data and system state logs when signals are interrupted, and automatically synchronizing to the fusion processing module (8) after communication is recovered.
  10. 10. The intelligent current measurement-based remote Cheng Zimu boat operation control system according to claim 1, wherein the mother ship platform component (1) is interactively connected with the son ship detection module (2), the navigation obstacle avoidance module (3), the environment sensing module (5) and the fusion processing module (8) through a wireless network, and the son ship detection module (2) is interactively connected with the hydrologic acquisition module (4), the gesture control module (6) and the video monitoring module (7) through the wireless network.

Description

Remote Cheng Zimu boat operation control system based on intelligent flow measurement Technical Field The invention relates to the technical field of intelligent control, in particular to a remote Cheng Zimu boat operation control system based on intelligent flow measurement. Background With the increasing emphasis of the fields of ocean resource development, environmental protection, disaster prevention, disaster reduction, shipping safety and the like, unprecedented high requirements on the real-time property, the accuracy and the space coverage range of ocean hydrometeorological data are put forward. Personnel safety risks in extreme or dangerous sea conditions also limit the implementation of traditional measurement methods. In this context, unmanned, intelligent, networked marine observation technologies have become a necessary trend. The unmanned aerial vehicle platform is utilized to carry out hydrologic mapping, has the advantages of low cost, flexibility, capability of avoiding personnel risks and the like, is particularly suitable for regional hydrologic monitoring tasks with high frequency and high resolution, and provides urgent technical equipment support for intelligent ocean, digital navigation channels, hydrologic forecasting and ecological research. In the prior art, a scheme for performing hydrologic measurement by adopting a single unmanned ship has obvious limitations. The single-boat system has the advantages of limited loading capacity and endurance time, difficulty in simultaneously carrying various sensors and sufficient energy, single parameter acquired by single operation, low measurement efficiency, difficulty in keeping stable posture of a single-boat platform in the face of complex sea conditions, particularly wave disturbance, serious influence on the measurement accuracy and data quality of the sensors, high general function integration level but poor expansibility, solidified task mode, and incapability of flexibly adapting to diversified operation requirements such as fixed-point profile close mapping and the like measured from large-area sailing inspection. Disclosure of Invention (One) solving the technical problems Aiming at the defects existing in the prior art, the invention provides a remote Cheng Zimu boat operation control system based on intelligent current measurement, which can effectively solve the problems in the prior art. (II) technical scheme In order to achieve the above purpose, the invention is realized by the following technical scheme: The invention discloses a remote Cheng Zimu boat operation control system based on intelligent flow measurement, which comprises: The mother ship platform component is used for providing a hydrodynamic platform for bearing the deployment of each functional module and performing central control; The ship detection module is used as a hydrodynamic platform for executing a local measurement task and receives a control instruction of a ship platform component; The navigation obstacle avoidance module is used for acquiring the control authority of the propulsion units of the mother ship platform part and the son ship detection module according to the preset navigation route and the preset target point and the obstacle information acquired by the ultrasonic sensor, and planning the route paths of the mother ship platform part and the son ship detection module; The hydrologic acquisition module is used for acquiring flow velocity, flow direction, temperature, salinity and depth data of different water depths of the target water area in real time; the environment sensing module is used for collecting weather and environment data of the operation area in real time; the attitude control module is used for dynamically controlling the draft and the navigation attitude of the sub-ship detection module by adjusting the ballast water quantity according to the measurement task; The video monitoring module is used for shooting and transmitting video signals of the operation sites of the mother ship platform component and the son ship detection module in real time; The fusion processing module is used for receiving and fusing the data from the navigation obstacle avoidance module, the hydrologic acquisition module and the environment sensing module, preprocessing and packaging the data, submitting the data to the ground control console, receiving a control instruction of a remote operator, presetting a sailing task or performing instant intervention, displaying the positions, the heading and the track of the mother ship platform part and the child ship detection module in real time, superposing and displaying the data layers acquired by the hydrologic acquisition module and the environment sensing module, and providing functions of measuring route planning, plotting a task area, one-key sailing and emergency braking. Further, the working logic of the navigation obstacle avoidance module is as follows: acquiring a navigation target point seq