阅读说明：本技术 协同作业的无人船系统及方法 (Unmanned ship system and method for cooperative work ) 是由 罗健 聂义城 李娟� 于 2021-06-09 设计创作，主要内容包括：本发明实施例提供一种协同作业的无人船系统,包括与岸基控制系统通信连接的第一无人船及第二无人船,第二无人船包括中继模块,且被配置成当第一无人船与岸基控制系统通信连接中断时,运动至第一位置,在第一位置开启中继模块,并通过中继模块中继第一无人船与岸基控制系统之间的通信,所述的第一位置为该第一无人船与岸基控制系统具有通信连接的位置,使得即相比现有技术,一方面第一无人船不会脱离受控状态,防止第一无人船丢失或失控,另一方面,第一无人船能够继续执行和完成原定任务,避免出现无法完成任务的情形发生或返航后再次完成预定任务。(The embodiment of the invention provides a cooperative unmanned ship system, which comprises a first unmanned ship and a second unmanned ship, wherein the first unmanned ship and the second unmanned ship are in communication connection with a shore-based control system, the second unmanned ship comprises a relay module and is configured to move to a first position when the communication connection between the first unmanned ship and the shore-based control system is interrupted, the relay module is started at the first position, the communication between the first unmanned ship and the shore-based control system is relayed through the relay module, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system, so that compared with the prior art, on one hand, the first unmanned ship cannot be separated from a controlled state, the first unmanned ship is prevented from being lost or out of control, on the other hand, the first unmanned ship can continue to execute and complete an original task, and the situation that the task cannot be completed or the predetermined task can be completed again after the first unmanned ship returns is avoided.)

1. An unmanned ship system for cooperative operation, comprising a first unmanned ship and a second unmanned ship which are in communication connection with a shore-based control system, wherein the second unmanned ship comprises a relay module and is configured to move to a first position when the first unmanned ship is disconnected from the shore-based control system, the relay module is turned on at the first position, and the communication between the first unmanned ship and the shore-based control system is relayed through the relay module, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system.

2. The cooperative unmanned marine vessel system of claim 1, wherein the first unmanned vessel is configured to travel along a first path that covers a first location and a second location, the first unmanned vessel remaining in the second location after the first unmanned vessel is communicatively disconnected from the shore-based control system at the second location.

3. The tandem drone system of claim 2, wherein the first drone is configured to continue to move along the first path after the first drone has reestablished communication connection with the shore-based control system.

4. The tandem drone system according to claim 2, wherein the second drone is configured to record current position information of the second drone prior to moving to the first position, the current position information being a third position to which the second drone moves after the first drone reestablishes the direct communication link with the shore-based control system.

5. The cooperative unmanned marine vessel system as recited in claim 2, wherein the unmanned marine vessel system comprises a plurality of unmanned marine vessels, and the shore-based control system is configured to receive position information of each unmanned marine vessel after the first unmanned marine vessel is disconnected from the shore-based control system, compare the position of each unmanned marine vessel with the first position, select the unmanned marine vessel closest to the first position, and move the unmanned marine vessel closest to the first position.

6. The cooperative unmanned marine vessel system as claimed in claim 2, wherein the unmanned marine vessel system comprises a plurality of unmanned marine vessels, and the shore-based control system is configured to receive the position information and the remaining power information of each unmanned marine vessel after the first unmanned marine vessel is disconnected from the shore-based control system, calculate the remaining power of each unmanned marine vessel after each unmanned marine vessel moves to the first position, select the unmanned marine vessel having the largest remaining power after the first position is moved, and move the selected unmanned marine vessel to the first position.

7. A cooperative operation method of a cooperative-operation unmanned ship system, comprising:

providing the unmanned ship system of claim 1, wherein the first unmanned ship moves along a first path, and wherein the first unmanned ship is communicatively coupled to the shore-based control system and transmits the first information to the shore-based control system at a first time interval;

if the communication connection between the first unmanned ship and the shore-based control system is interrupted, the shore-based control system sends second control information to the second unmanned ship, the second unmanned ship receives the second control information of the shore-based control system and moves to a first position, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system;

the second unmanned ship starts the relay module at the first position, and relays communication between the first unmanned ship and the shore-based control system through the relay module.

8. The method of claim 7, wherein the first path covers a first location and a second location, and the first drone remains in the second location when the communication connection with the shore-based control system is interrupted at the second location until the first drone reestablishes the communication connection with the shore-based control system.

9. The cooperative operation method according to claim 8, wherein, if it is determined that the time point at which the first drone is disconnected from the shore-based control system is T2 and the time point at which the first drone is reestablished the direct communication connection with the shore-based control system is T3, the shore-based control system records the position information of the first drone in the time interval from T2 to T3 after the relay module relays the communication between the first drone and the shore-based control system, and calibrates the position of the first drone in the time interval from T2 to T3 on the electronic map.

10. The collaborative method according to claim 9, wherein the electronic map includes a first area, the first area is a set or aggregation of position information of the first drone within a time interval T2 to T3, when the first area covers at least a portion of the first path, the shore-based control system sends second control information to the second drone before the first drone moves to the first area, and causes the second drone to move to the first position, activates the relay module, and relays communication between the first drone and the shore-based control system through the relay module.

Technical Field

The present invention relates to unmanned ship systems, and more particularly, to an unmanned ship system and a method for cooperative operations.

Background

The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to preset tasks by means of a positioning system and a self sensor, and is widely applied to the fields of water surface cleaning, water quality detection and monitoring, water surface inspection and the like at present.

The unmanned ship receives or transmits signals and data in a wireless communication mode, a base station or a control center is usually arranged on the shore, and the unmanned ship is in communication connection with the base station or the control center, but when the unmanned ship works on a large lake surface or works on an unfamiliar lake surface, the unmanned ship and the base station or the control center have the situation of connection interruption, so that the control center cannot master the state of the unmanned ship and cannot control the unmanned ship, the unmanned ship is easy to lose control and lose, and in the prior art, in order to avoid the situation, the unmanned ship is set to be directly sailed when the connection interruption occurs, and the unmanned ship cannot complete a preset task.

Disclosure of Invention

Therefore, the invention provides a collaborative unmanned ship system to solve the technical problems.

A cooperative unmanned ship system comprises a first unmanned ship and a second unmanned ship which are in communication connection with a shore-based control system, wherein the second unmanned ship comprises a relay module and is configured to move to a first position when the communication connection between the first unmanned ship and the shore-based control system is interrupted, the relay module is started at the first position, and the communication between the first unmanned ship and the shore-based control system is relayed through the relay module, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system.

Further, the first drone is configured to move along a first path that covers a first location and a second location, the first drone staying in the second location after the first drone is communicatively disconnected from the shore-based control system at the second location.

Further, the first drone is configured to continue to move along the first path after the first drone reestablishes a communication link with the shore-based control system.

Further, the second drone is configured to record current position information of the second drone before moving to the first position, the current position information being a third position, the second drone moving to the third position after the first drone reestablishes the direct communication link with the shore-based control system.

Further, the unmanned ship system comprises a plurality of unmanned ships, and the shore-based control system is configured to receive position information of each unmanned ship after the first unmanned ship is disconnected from the shore-based control system, compare the position of each unmanned ship with the first position, select the unmanned ship closest to the first position, and move the unmanned ship closest to the first position.

Further, the unmanned ship system comprises a plurality of unmanned ships, the shore-based control system is configured to receive position information and residual power information of each unmanned ship after the first unmanned ship is disconnected from the shore-based control system in communication, calculate residual power of each unmanned ship after each unmanned ship moves to the first position, select the unmanned ship with the highest residual power after the unmanned ship moves to the first position, and enable the selected unmanned ship to move to the first position.

The invention also provides a cooperative operation method of the unmanned ship system, which comprises the following steps:

providing the unmanned ship system of claim 1, wherein the first unmanned ship moves along a first path, and wherein the first unmanned ship is communicatively coupled to the shore-based control system and transmits the first information to the shore-based control system at a first time interval;

if the communication connection between the first unmanned ship and the shore-based control system is interrupted, the shore-based control system sends second control information to the second unmanned ship, the second unmanned ship receives the second control information of the shore-based control system and moves to a first position, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system;

the second unmanned ship starts the relay module at the first position, and relays communication between the first unmanned ship and the shore-based control system through the relay module.

Further, the first path covers a first position and a second position, and when the communication connection between the first unmanned ship and the shore-based control system is interrupted at the second position and the communication connection between the first unmanned ship and the shore-based control system is reestablished, the first unmanned ship stays at the second position.

Further, if the time point when the communication connection between the first unmanned ship and the shore-based control system is interrupted is T2, and the time point when the first unmanned ship and the shore-based control system reestablish the direct communication connection is T3, the shore-based control system records the position information of the first unmanned ship in the time interval from T2 to T3 after the relay module relays the communication between the first unmanned ship and the shore-based control system, and calibrates the position of the first unmanned ship in the time interval from T2 to T3 on the electronic map.

Further, the electronic map includes a first area, where the first area is a collection or aggregation of position information of the first unmanned ship within a time interval from T2 to T3, and when the first area covers at least a part of the first path, the shore-based control system sends second control information to the second unmanned ship before the first unmanned ship moves to the first area, and enables the second unmanned ship to move to the first position, and the relay module is turned on, and the communication between the first unmanned ship and the shore-based control system is relayed through the relay module.

Has the advantages that: the embodiment of the invention provides a cooperative unmanned ship system, which comprises a first unmanned ship and a second unmanned ship, wherein the first unmanned ship and the second unmanned ship are in communication connection with a shore-based control system, the second unmanned ship comprises a relay module and is configured to move to a first position when the communication connection between the first unmanned ship and the shore-based control system is interrupted, the relay module is started at the first position, the communication between the first unmanned ship and the shore-based control system is relayed through the relay module, and the first position is a position where the first unmanned ship is in communication connection with the shore-based control system, so that compared with the prior art, on one hand, the first unmanned ship cannot be separated from a controlled state, the first unmanned ship is prevented from being lost or out of control, on the other hand, the first unmanned ship can continue to execute and complete an original task, and the situation that the task cannot be completed or the predetermined task can be completed again after the first unmanned ship returns is avoided.

Drawings

FIG. 1 is a schematic diagram of a system configuration of a cooperative unmanned ship according to an embodiment of the present invention;

FIG. 2 is a schematic view of the motion state of each unmanned ship during the cooperative operation of the unmanned ship system;

fig. 3 is a schematic view of the second drone in fig. 2 moving to a first position.

Description of the illustrated elements:

a first unmanned ship 11; a first path 110; a second unmanned vessel 12; a second path 120;

the communication modules 111, 121; positioning modules 112, 122; propulsion modules 113, 123; the functional modules 114, 124; a relay module 125;

a shore-based control system 20;

30 on the lake surface; a first position 301; a second position 302; a third position 303.

Detailed Description

Referring to fig. 1, an embodiment of the invention provides a cooperative unmanned ship system for preventing an unmanned ship from losing a communication connection with a shore-based control system 20, the cooperative unmanned ship system including the shore-based control system 20 and at least two unmanned ships (11, 12).

The unmanned ship (11,12) comprises a communication module (111,121), a positioning module (112,122), a propulsion module (113,123) and a function module (114,124), wherein the communication module (111,121) is used for the unmanned ship (11,12) to communicate with the shore-based control system 20, such as sending information to the shore-based control system 20 or receiving information sent by the shore-based control system 20 to the unmanned ship (11,12), the information may include position information, time information, unmanned ship attitude information, electric quantity information, operation information of the function module (114,124), control information sent by the shore-based control system 20 to the unmanned ship (11,12), and the communication may adopt wireless communication such as 2G, 3G, 4G, 5G, and the like, or WIFI, or other broadband or narrowband wireless communication, without limitation, the positioning module (112,122) is used for acquiring the unmanned ship (11,12) position information in space, which may be latitude and longitude information of the unmanned ship (11,12), when the unmanned ship (11,12) uses an electronic map, the position information may further include coordinate information on the electronic map, the propulsion modules (113,123) being adapted to move the unmanned vessel (11,12) along a predetermined path, as in the present embodiment, the first drone 11 moves along a first path 110 and the second drone 12 moves along a second path 120, which, in general, the propulsion modules (113,123) comprise propellers and rudders, the functional modules (114,124), for unmanned ships (11,12) performing predetermined functions, including cleaning, water quality monitoring, inspection or mowing, etc., it is understood that the functional modules (114,124) include means for performing predetermined functions, which are not described in detail herein.

The unmanned ship comprises a first unmanned ship 11 and a second unmanned ship 12, wherein the first unmanned ship 11 and the second unmanned ship 12 are in communication connection with a shore-based control system 20, and in the embodiment, the first unmanned ship 11 and the second unmanned ship 12 are in communication connection with a 4G base station arranged in the shore-based control system 20 by adopting a 4G communication module.

Referring to fig. 2 and 3 together, the present invention is further described below in conjunction with a method of cooperative operation of a cooperative unmanned ship system.

The first unmanned ship 11 and the second unmanned ship 12 are deployed on the lake surface 30, wherein the first unmanned ship 11 is in communication connection with the shore-based control system 20, and sends first information to the shore-based control system 20 at a first time interval, the first information includes position information of the first unmanned ship 11, it is understood that, when the shore-based control system 20 includes a display module, the position information can be displayed by the display module, the first time interval can be 1s, 10s, 20s or can be set according to actual needs, and of course, can be 0.1s or less, when the first time interval is less than 1s, the first unmanned ship 11 can be determined to send the first information in real time, it can be understood that, during the communication connection between the first unmanned ship 11 and the shore-based control system 20, the shore-based control system 20 may send first control information to the first unmanned ship 11 to cause the first unmanned ship 11 to perform predetermined actions, such as activating the function module 114, steering, accelerating, returning, etc.

The first unmanned ship 11 moves along the first path 110, it is understood that the first unmanned ship 11 can be remotely controlled by an operator to move along the first path 110, or the first unmanned ship 11 autonomously moves along the first path 110, or the shore-based control system 20 controls the first unmanned ship 11 to move along the first path 110, the first path 110 of the first unmanned ship 11 covers the first position 301 and the second position 302, in this embodiment, the first unmanned ship 11 moves from the first position 301 to the second position 302, and usually, the first function modules (114,124) perform predetermined functions when the first unmanned ship 11 moves along the first path 110.

If the first unmanned ship 11 moves to the second position 302, the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, where the communication connection is interrupted, and the shore-based control system 20 cannot receive the first information sent by the first unmanned ship 11, or the first unmanned ship 11 cannot receive the first control information sent by the shore-based control system 20 at the same time, or the shore-based control system 20 does not receive the first information sent by the first unmanned ship 11 within a predetermined time interval.

The shore-based control system 20 sends the second control information to the second unmanned ship 12, the second unmanned ship 12 receives the second control information from the shore-based control system 20 and moves to the first position 301, the first position 301 is a position where the first unmanned ship 11 has a communication connection, and it can be understood that when the first unmanned ship 11 is at the first position 301, the shore-based control system 20 can receive the first information sent by the first unmanned ship 11.

It can be understood that if the time point when the first unmanned ship 11 is at the first position 301 is T1, the latest time point when the shore-based control system 20 does not receive the first information sent by the first unmanned ship 11 is T2, and the first time interval is T0, then T2-T1-n T0, n ≧ 1.

Preferably, n is 10 when T0 ≧ 1min, so that when second drone 12 moves to first position 301, an effective relay can be provided. When T0 is less than or equal to 1min, n is more than or equal to 10, so as to prevent the second unmanned ship 12 from entering the area where the communication connection with the shore-based control system 20 can not be maintained.

As can be appreciated, the first location 301 is the location at which the first unmanned ship 11 was at n T0 times prior to the point in time when the communication connection with the shore-based control system 20 was interrupted.

Further, the first information transmitted by the first unmanned ship 11 at the first position 301 includes T1 information.

The second unmanned ship 12 comprises a relay module 125, when the second unmanned ship 12 moves to the first position 301, the relay module 125 is turned on, and communication between the first unmanned ship 11 and the shore-based control system 20 is relayed through the relay module 125, the relay information comprises first information sent by the first unmanned ship 11 and forwarded to the shore-based control system 20, and/or first control information sent by the shore-based control system 20 to the first unmanned ship 11 and forwarded to the first unmanned ship 11, the forwarding comprises sending or receiving signals directly after receiving the signals and sending or processing the signals after amplifying the signals, it can be understood that when the relay maximum range of the relay module 125 is m, the first unmanned ship 11 and the shore-based control system 20 are within the maximum range.

It can be understood that, after the first unmanned ship 11 reestablishes the communication connection with the shore-based control system 20, the first unmanned ship 11 may continue to move along the first path 110, thereby completing the predetermined task, that is, compared with the prior art, on one hand, the first unmanned ship 11 is not controlled to prevent the first unmanned ship 11 from being lost or out of control, and on the other hand, the first unmanned ship 11 can continue to execute and complete the predetermined task, thereby avoiding the occurrence of a situation where the task cannot be completed or completing the predetermined task again after returning, where the reestablishing of the communication connection means that the first unmanned ship 11 establishes the communication connection through the relay module 125 or the first unmanned ship 11 directly establishes the communication connection with the shore-based control system 20 without the relay module 125.

Further, after the first unmanned ship 11 and the shore-based control system 20 reestablish the direct communication connection, the second unmanned ship 12 may leave the first position 301, and if the second unmanned ship 12 is performing the second task before moving to the first position 301, the second unmanned ship 11 and the shore-based control system 20 reestablish the direct communication connection and continue performing the second task, where the direct communication connection means that the first unmanned ship 11 and the shore-based control system 20 do not perform the relay communication through the relay module 125 any more. In the present embodiment, the second unmanned ship 12 moves along the second path 120 before receiving the second control information sent by the shore-based control system 20, so that the second unmanned ship can continue to move along the second path 120 after the first unmanned ship 11 reestablishes the direct communication connection with the shore-based control system 20, and further, after receiving the second control information sent by the shore-based control system 20 and before moving to the first position 301, the second unmanned ship 12 further records the current position information of the second unmanned ship 12, and in a specific embodiment, the current position information of the second unmanned ship 12 is the third position 303, and then, after the first unmanned ship 11 reestablishes the direct communication connection with the shore-based control system 20, the second unmanned ship 12 moves to the third position 303 and moves along the third path 12.

Further, if it is assumed that the time point when the first unmanned ship 11 reestablishes the direct communication connection with the shore-based control system 20 is T3, the shore-based control system 20 further records the position information of the first unmanned ship 11 in the time interval from T2 to T3, and it can be understood that, when the shore-based control system 20 further includes the electronic map, the shore-based control system 20 calibrates the position of the first unmanned ship 11 in the time interval from T2 to T3 on the electronic map.

Further, the first unmanned ship 11 includes a first recording module, the first recording module records the position information of the first unmanned ship 11 in the time interval from T2 to T3, and after the first unmanned ship 11 reestablishes the direct communication connection with the shore-based control system 20, the position information of the first unmanned ship 11 in the time interval from T2 to T3, which is recorded by the first recording module, is sent to the shore-based control system 20, and the shore-based control system 20 calibrates the position of the first unmanned ship 11 in the time interval from T2 to T3 on the electronic map.

Further, the electronic map includes a first area, which is a collection or aggregation of the position information of the first unmanned ship 11 in the time interval T2 to T3.

When the first area covers at least a part of the first path 110, before the first unmanned ship 11 moves to the first area, the shore-based control system 20 sends control information to the second unmanned ship 12, and causes the second unmanned ship 12 to move to the first position 301, and turns on the relay module 125, and relays the communication between the first unmanned ship 11 and the shore-based control system 20 through the relay module 125, thereby preventing the occurrence of a situation where the communication connection is disconnected when the first unmanned ship 11 moves into the first area, and causing the first unmanned ship 11 to always maintain the communication connection with the shore-based control system 20.

Further, when the unmanned ship system for cooperative operation includes a plurality of unmanned ships, such as three, four or more unmanned ships, after the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, the shore-based control system 20 receives the position information of each unmanned ship, compares the distance between the position of each unmanned ship and the first position 301, selects the unmanned ship closest to the first position 301, and moves the unmanned ship closest to the first position 301.

Further, after the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, the shore-based control system 20 receives the position information and the remaining power information of each unmanned ship, calculates the remaining power of each unmanned ship after each unmanned ship moves to the first position 301, selects the unmanned ship with the largest remaining power after the unmanned ship moves to the first position 301, and makes the selected unmanned ship move to the first position 301.

Further, after the first unmanned ship 11 is disconnected from the shore-based control system 20, the first unmanned ship 11 stays at the second position 302 before receiving the relay information of the second unmanned ship 12 or reestablishing the communication connection with the shore-based control system 20, that is, the first unmanned ship 11 suspends the execution of the first task after the communication connection is disconnected.

Further, when the first unmanned ship 11 does not reestablish the communication connection with the shore-based control system 20 within a predetermined time interval after the communication connection between the first unmanned ship 11 and the shore-based control system 20 is interrupted, the first unmanned ship 11 performs a return voyage action.

Further, the first unmanned ship 11 further comprises a control propulsion module (113,123) for controlling the propulsion module to stay at the second position 302 according to the current environmental information, the unmanned ship attitude information and the position information, wherein the environmental information comprises wind speed, wind direction, wave direction and wave speed, so as to prevent the first unmanned ship 11 from drifting away from the second position 302 under the action of wind or waves, and thus the second unmanned ship 12 is lost.

Further, the first unmanned ship 11 may also include a relay module 125 for providing a relay to the second unmanned ship 12 when the communication connection of the second unmanned ship 12 is interrupted.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.