CN100468264C - Autopilot for shipping - Google Patents
Autopilot for shipping Download PDFInfo
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- CN100468264C CN100468264C CNB2006100609072A CN200610060907A CN100468264C CN 100468264 C CN100468264 C CN 100468264C CN B2006100609072 A CNB2006100609072 A CN B2006100609072A CN 200610060907 A CN200610060907 A CN 200610060907A CN 100468264 C CN100468264 C CN 100468264C
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- 238000012544 monitoring process Methods 0.000 claims abstract description 11
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003278 mimic effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000000052 comparative effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
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Abstract
Disclosed is a marine automatic driving meter which comprises a host machine unit (1) for collecting, processing and monitoring marine driving directions, a panel control unit (2) for sending operation commands to the host machine unit (1) and displaying marine driving status; wherein the host machine unit (1) includes a central processor (U101), a memory (U102), a GPS signal unit (11), a compass signal processing unit (12), a unit for monitoring, modifying and controlling left and right rudder (13) and a warning circuit (14).
Description
Thereby technical field the present invention relates to determine the target azimuth and handles the system of travelling, relates in particular to a kind of autopilot for shipping.
The present robot pilot of background technology seldom uses in the ships and light boats at home, and employed robot pilot all belongs to older generation's mimic channel and relay system pilot in the minority ships and light boats, exist shortcomings such as failure rate height, function is few, operating difficulties, especially course line are inaccurate, can not be accepted by users.
Summary of the invention technical matters to be solved by this invention provide a kind of course line accurately, the autopilot for shipping conveniently controlled.
The present invention realizes by following technical scheme: manufacture and design a kind of autopilot for shipping, comprise the panel control module that is used to gather, handle and monitor the main computer unit of ship running direction and is used for sending to main computer unit steering instruction and demonstration ship running state, described main computer unit comprises:
Central processing unit is used to read and handle aeronautical data, commander and control navigation direction;
Storer has been deposited driftage angle, rudder limited angular, compass correction data has been set, and calls for described central processing unit;
The gps signal unit is used for that gps signal is sent into central processing unit and discerns processing, is reconciled and output navigation bearing signal by central processing unit;
The compass signal processing unit is used to gather the compass signal of reflection operational configuration information and this compass signal is sent into central processing unit handle, and the digital signal after the processing is transported to the panel control module by data line and shows;
Left and right rudder monitoring, correction and control module, be used to gather the direction signal of left and right rudder, the direction signal of this left and right rudder is divided into two-way, one the tunnel delivers to the panel control module indicates as the rudder table, the operational order of left and right rudder is sent by the comparison of left and right rudder comparator circuit, central processing unit and weather control circuit and the deflection correction of calculating acquisition left and right rudder in another road by central processing unit;
Warning circuit is used for sounding the alarm when course deviation occurring or needing duty alarm when described central processing unit judgement.
Described panel control module comprises keyswitch circuit, rudder angle adjusting knob, counter rudder angle adjusting knob, weather adjusting knob, bearing indication, rudder angle indication and the status indicator lamp that is connected with the signal input part of main computer unit.
In addition, autopilot for shipping of the present invention also comprises and the wired or wireless remote control circuit that is connected of main computer unit.
Described gps signal unit comprises the input of NMEA signal and coupling amplifying circuit and amplifying circuit that is connected with the output terminal of central processing unit and the output of NMEA signal that is connected with the input end of central processing unit.
Described compass signal processing unit comprises compass sensor, the oscillator and the amplifying circuit that are connected with described compass sensor input end, the output of the signal of described compass sensor through LC filtering circuit, rectification circuit, RC match circuit, just, the cosine comparator circuit connects the signal input part of described central processing unit.
Described left and right rudder monitoring, correction and control module comprise the unidirectional rudder reactor that is connected of order, left and right rudder comparator circuit, computing comparator circuit and weather control circuit, the output terminal of this weather control circuit is divided into two-way, one the tunnel connects left rudder control circuit, left rudder driving circuit and left rudder solenoid valve, and another road connects right standard rudder control circuit, right standard rudder driving circuit and right standard rudder solenoid valve; The signal input and output side of described central processing unit connects described left and right rudder comparator circuit and computing comparator circuit respectively, and the input end of described weather control circuit also connects the panel control module.
Described warning circuit comprises the alert driver circuit that is connected with the signal input part of central processing unit and hummer and the external warning horn that is connected with the output terminal of described alert driver circuit.
Comparison is handled in the orientation of the compass bearing signal that described central processing unit sends described compass signal processing unit and the orientation that manually is provided with by the panel control module or the orientation by remote control circuit remote control setting or the satellite-signal that receives by the gps signal unit, compares for the computing comparator circuit and the rudder signal of described left and right rudder monitoring, correction and control module at 39 pin output comparison signal level then.
Described remote control circuit comprises the remote control match circuit of being made up of D91～D98, R91～R102, C91～C94, and when external remote controller is bearing circle or driving handle, described central processing unit will be discerned automatically to remote signal.
The gps signal of described gps signal unit is through comprising the photoelectricity coupling input circuit of R71, D71, U5 element, outputs to central processing unit at 6 pin of U5 and discerns processing, reconciles out the course line bearing signal by central processing unit.
Compared with prior art, robot pilot of the present invention combines digital circuit and mimic channel, adopted high performance 8-bit microprocessor to carry out each function conversion and processing, simplify circuit component and strengthened reliability, the orientation angles that magnetic compass can be set is travelled automatically, and can carry out course line supervision and modification and warning, powerful; Designed GPS (GPS) input circuit simultaneously, connected the NMEA0183 data-signal of GPS unit, robot pilot can be travelled according to the course line of GPS unit, thereby the course line has been more accurate; In addition, also can connect wire remote control devices and outside pilothouse, carry out steering, make the driver can be simple and easy, control ship easily, be particularly suitable for using in the various middle-size and small-size fishing boats.
Description of drawings
Fig. 1 is the outside drawing of the panel control module 2 of autopilot for shipping of the present invention;
Fig. 2 is the one-level functional-block diagram of the main computer unit 1 of autopilot for shipping of the present invention;
Fig. 3 is the secondary functional-block diagram of the main computer unit 1 of autopilot for shipping of the present invention;
Fig. 4 is the functional-block diagram of described panel control module 2;
Fig. 5 is the circuit theory diagrams of described main computer unit 1;
Fig. 6 is the circuit theory diagrams of described panel control module 2.
Embodiment is done further detailed description below in conjunction with accompanying drawing and most preferred embodiment to the present invention.
Autopilot for shipping of the present invention is mainly by being used to gather, handle and monitor the main computer unit 1 of ship running direction and being used for sending steering instruction and showing that the panel control module 2 of ship running state forms to main computer unit 1, as shown in Figure 1, described main computer unit 1 comprises:
Central processing unit U101 is used to read and handle aeronautical data, commander and control navigation direction;
Storer U102 is connected with central processing unit U101 is two-way, has deposited driftage angle, rudder limited angular, compass correction data are set, and calls for described central processing unit U101;
Compass signal processing unit 12, be connected with the input end of central processing unit U101, be used to gather the compass signal of reflection operational configuration information and this compass signal is sent into central processing unit U101 handle, the digital signal after the processing is transported to panel control module 2 by data line and shows;
Left and right rudder monitoring, correction and control module 13, with central processing unit U101 and 2 two-way connections of panel control module, be used to gather the direction signal of left and right rudder, the direction signal of this left and right rudder is divided into two-way, one the tunnel delivers to panel control module 2 indicates as the rudder table, the operational order of left and right rudder is sent by the comparison of left and right rudder comparator circuit, central processing unit U101 and weather control circuit and the deflection correction of calculating acquisition left and right rudder in another road by central processing unit U101;
As shown in figs. 1 and 4, the housing of described panel control module 2 is connected on the support 29 by screw 28, is provided with the keyswitch circuit 21 that is connected with the signal input part of main computer unit 1, drive circuit of indicator, digital display circuit etc. in the housing; Its control panel is provided with: the key groups 211 of described keyswitch circuit 21, rudder angle adjusting knob 22, counter rudder angle adjusting knob 23, weather adjusting knob 24, bearing indication 25, rudder angle indication 26, status indicator lamp 27 and course adjusting knob 20.Above-mentioned each adjusting knob is connected with the signal input part of main computer unit 1,26 of rudder angle indications and 1 two-way connection of main computer unit.The matrix press-key on-off circuit is made up of K01-K08 and A0-A2, can finish various function conversions and setting, data is set can deposits eeprom memory in, is difficult for losing data.
The principle of work of autopilot for shipping of the present invention is referring to the circuit theory diagrams of the circuit theory diagrams of main computer unit shown in Figure 51 and panel control module 2 shown in Figure 6.
One, power unit
When power supply peculiar to vessel added pilot, to the E utmost point of adjusting pipe Q201, output+11VDC provided operating voltage to circuit such as U2, U3, U4 operational amplification circuits in the adjustment of the C utmost point through the 15A fuse.Q202 and ZD201 etc. constitute the biasing circuit of Q201, and resistance R 204, R205, Q203 form comparator circuit.
When power switch K201 connected, the E utmost point of Q202 was through resistance R 203 ground connection, and Q202 starts working, and the B electrode potential of Q201 is dragged down make its conducting.Another road of C utmost point output voltage of Q201 is regulated the E electrode potential of Q202, thereby is reached the voltage stabilizing purpose through the E of Q203 utmost point output comparative voltage.Be+5VDC to supply with the operating voltage of central processing unit and panel display circuit etc. on another road of the C of Q201 utmost point output+11VDC through the voltage stabilizing of U201 three terminal regulator.As shown in Figure 5.
Two, complete machine principle of work
As Fig. 3, Fig. 5 and shown in Figure 6, all functions of main computer unit 1 are all read and are controlled by central processing unit U101 (KZ3853L).When starting working, X101 provides the frequency of operation 3.68MHZ of central processing unit U101, read the data of storer U102 (93C46) after the central processing unit U101 initialize routine, this storer U102 can deposit driftage data such as angle, rudder limited angular, compass correction are set.Central processing unit U101 carries out the compass signal of sending here to demonstrate compass bearing and each functional indicator light after A-D handles then, and instrument is placed standby mode, waits for operational order then.
Described compass signal processing unit 12 comprise the unidirectional successively oscillator that is connected to central processing unit U101 signal input part, amplifying circuit, compass sensor, filtering circuit, rectification circuit, RC match circuit and just, the cosine comparator circuit.Oscillator is by U1 (MC14060), the frequency oscillation circuit of the 1.5KHZ that X1 (800KHZ) etc. form, oscillating impulse is through Q1, Q2, Q3 flows to outside compass sensor with cutting magnetic field after amplifying, the induced signal degree of accuracy of compass sensor is improved, the field signal that is returned by compass is through filtering circuit LC1, LC2, LC3, LC4 filtering, by D5-D12 it is rectified into level signal, through U2A, U2B (LM324) relatively amplifies the sine of back output and cosine signal and sends into central processing unit U101 and handle and monitor, handle the back side digital signal is transported to panel control module 2 by data line display circuit through central processing unit U101, demonstrate the current course number of degrees by the nixie tube on the control panel of control module 2, make the driver can most clearly see this ship's head.In addition, robot pilot of the present invention has also designed the software magnetic compensation, if compass (particularly iron and steel ship) when different azimuth has different deviation can carry out magnetic compensation by central processing unit U101.
The display circuit of described panel control module 2 is made up of U1, U2, U3 (SL74HC573) and LED1, LED2, LED3 etc., the digital signal that central processing unit U101 sends here is changed through U1, U2, U3, and driving LED 1, LED2, LED3 are to show corresponding digital.When including the rudder restricting signal in the data-signal that central processing unit U101 sends here, U1, U2, U3 show rudder restricted information S_L or P_L printed words with driving LED 1, LED2, LED3, export left and right rudder restricting signal to rudder control circuit simultaneously and control.
Comparison is handled in the orientation (satellite mode) of the compass bearing signal that described central processing unit U101 sends compass signal processing unit 12 and the orientation (automatic mode) that manually are provided with by panel control module 2 or the orientation (remote control mode) that is provided with by remote control circuit 15 remote controls or the satellite-signal by 11 receptions of gps signal unit, exports the comparison signal level at 39 pin then and compares to the computing comparator circuit and the rudder signal of described left and right rudder monitoring, correction and control module 13.
Described left and right rudder monitoring, correction and control module 13 comprise the unidirectional rudder reactor that is connected of order, left and right rudder comparator circuit, computing comparator circuit and weather control circuit, the output terminal of this weather control circuit is divided into two-way, one the tunnel connects left rudder control circuit, left rudder driving circuit and left rudder solenoid valve, and another road connects right standard rudder control circuit, right standard rudder driving circuit and right standard rudder solenoid valve.The signal input and output side of described central processing unit U101 connects described left and right rudder comparator circuit and computing comparator circuit respectively, and the input end of described weather control circuit also connects panel control module 2.The rudder signal of outside rudder reactor input is divided into two tunnel, one tunnel rudder angle of delivering to panel control module 2 and indicates 26, and another road goes out left and right rudder signal level through U3B arithmetical unit difference.One the tunnel delivers to central processing unit U101 detects the rudder number of degrees, and when course deviation occurring, when the rudder number of degrees surpass the rudder restriction number of degrees that are provided with, central processing unit U101 will export the rudder restricting signal, give the alarm simultaneously; The comparator circuit that U3D elements such as (LM324) is formed is sent on another road, the difference signal level of sending here with 39 pin of central processing unit U101 compares, the corrected signal that relatively comes out is sent into the weather control circuit of being made up of U4A, U4B elements such as (LM324) again, regulates its sensitivity by the weather control handle on panel control module 2 control panels 24.The corrected signal level that regulates is delivered to the left and right rudder control circuit of being made up of U4C, U4D elements such as (LM324), drives electromagnetic valve by driving circuit for electromagnetic valve, the oil pressure rudder is rotated and reaches the purpose of correction.During as unrestricted signal, 8 pin of U4C, U4D or 14 pin are controlled outputting drive voltage the driving circuit for electromagnetic valve of left and right rudder.Wherein, form the right standard rudder driving circuit by Q10, Q12, Q13 etc., Q11, Q14, Q15 etc. form the left rudder driving circuit.Because driving circuit for electromagnetic valve needs frequent big current work, it forms push-pull circuit by 4 powerful E-FET field effect transistor, has improved reliability and voltage stabilizing.
Described warning circuit 14 comprises the alert driver circuit that is connected with the signal input part of central processing unit U101 and hummer and the external warning horn that is connected with the output terminal of described alert driver circuit.This warning circuit 14 has designed the clock warning horn, can give prompting of driver at reasonable time.When course deviation or on duty etc. the warning occurring, 38 pin of central processing unit U101 carry out audible alarm with output alarm signal to the warning circuit driving hummer of being made up of U2C, U2D elements such as (LM324).
Described gps signal unit 11 comprises the input of NMEA signal and coupling amplifying circuit and amplifying circuit that is connected with the output terminal of central processing unit U101 and the output of NMEA signal that is connected with the input end of central processing unit U101.The gps signal of described gps signal unit 11 is through comprising the photoelectricity coupling input circuit of R71, D71, U5 element, outputs to central processing unit U101 at 6 pin of U5 and discerns processing, reconciles out course bearing signal in the MNEA signal by central processing unit U101.
The present invention also comprises and the main computer unit 1 wired or wireless remote control circuit that is connected 15, has realized carrying out steering outside pilothouse, greatly facilitates human pilot.Described remote control circuit 15 is formed input matching circuit by D91-D98, R91-R102, C91-C94, and when external remote controller is a bearing circle or when driving handle, central processing unit U101 will be to its automatic identification, makes it can both normal running.
Claims (9)
1, a kind of autopilot for shipping, comprise the main computer unit (1) that is used to gather, handle and monitor the ship running direction, and the panel control module (2) that is used for sending to main computer unit (1) steering instruction and demonstration ship running state, it is characterized in that described main computer unit (1) comprising:
Central processing unit (U101) is used to read and handle course data, commander and control navigation direction;
Storer (U102) has been deposited driftage angle, rudder limited angular, compass correction data has been set, and calls for described central processing unit (U101);
Gps signal unit (11) is used for that gps signal is sent into central processing unit (U101) and discerns processing, is reconciled and output navigation bearing signal by central processing unit (U101);
Compass signal processing unit (12) is used to gather the compass signal of reflection operational configuration information and this compass signal is sent into central processing unit (U101) handle, and the digital signal after the processing is transported to panel control module (2) by data line and shows;
Left and right rudder monitoring, correction and control module (13), be used to gather the direction signal of left and right rudder, the direction signal of this left and right rudder is divided into two-way, one the tunnel delivers to panel control module (2) indicates as the rudder table, the operational order of left and right rudder is sent by the comparison of left and right rudder comparator circuit, central processing unit (U101) and weather control circuit and the deflection correction of calculating acquisition left and right rudder in another road by central processing unit (U101);
Warning circuit (14) is used for sounding the alarm when course deviation or needs alarm on duty appear in described central processing unit (U101) judgement;
Described panel control module (2) comprises keyswitch circuit (21), rudder angle adjusting knob (22), counter rudder angle adjusting knob (23), weather adjusting knob (24), bearing indication (25), rudder angle indication (26) and the status indicator lamp (27) that is connected with the signal input part of main computer unit (1).
2, autopilot for shipping according to claim 1 is characterized in that: also comprise and the wired or wireless remote control circuit that is connected of main computer unit (1) (15).
3, autopilot for shipping according to claim 1 is characterized in that: described gps signal unit (11) comprises the input of NMEA signal and coupling amplifying circuit and amplifying circuit that is connected with the output terminal of central processing unit (U101) and the output of NMEA signal that is connected with the input end of described central processing unit (U101).
4, autopilot for shipping according to claim 1, it is characterized in that: described compass signal processing unit (12) comprises compass sensor, the oscillator and the amplifying circuit that are connected with described compass sensor input end, the output of the signal of described compass sensor through LC filtering circuit, rectification circuit, RC match circuit, just, the cosine comparator circuit connects the signal input part of described central processing unit (U101).
5, autopilot for shipping according to claim 1, it is characterized in that: described left and right rudder monitoring, correction and control module (13) comprise the unidirectional rudder reactor that is connected of order, left and right rudder comparator circuit, computing comparator circuit and weather control circuit, the output terminal of this weather control circuit is divided into two-way, one the tunnel connects left rudder control circuit, left rudder driving circuit and left rudder solenoid valve, and another road connects right standard rudder control circuit, right standard rudder driving circuit and right standard rudder solenoid valve; The signal input and output side of described central processing unit (U101) connects described left and right rudder comparator circuit and computing comparator circuit respectively, and the input end of described weather control circuit also connects panel control module (2).
6, autopilot for shipping according to claim 1 is characterized in that: described warning circuit (14) comprises the alert driver circuit that is connected with the signal input part of central processing unit (U101) and hummer and the external warning horn that is connected with the output terminal of described alert driver circuit.
7, autopilot for shipping according to claim 1, it is characterized in that: comparison is handled in the orientation of the compass bearing signal that described central processing unit (U101) sends described compass signal processing unit (12) and the orientation that manually is provided with by panel control module (2) or the orientation that is provided with by remote control circuit (15) remote control or the satellite-signal by gps signal unit (11) reception, and then 39 pin are exported the comparison signal level and compared to the computing comparator circuit and the rudder signal of described left and right rudder monitoring, correction and control module (13).
8, autopilot for shipping according to claim 2, it is characterized in that: described remote control circuit comprises the remote control match circuit of being made up of D91-D98, R91-R102, C91-C94, when external remote controller is bearing circle or driving handle, described central processing unit (U101) will be discerned automatically to remote signal.
9, autopilot for shipping according to claim 3, it is characterized in that: the gps signal of described gps signal unit (11) is through comprising the photoelectricity coupling input circuit of R71, D71, U5 element, output to central processing unit (U101) at 6 pin of U5 and discern processing, (U101) reconciles out the course line bearing signal by central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100609072A CN100468264C (en) | 2006-05-30 | 2006-05-30 | Autopilot for shipping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100609072A CN100468264C (en) | 2006-05-30 | 2006-05-30 | Autopilot for shipping |
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| Publication Number | Publication Date |
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| CN1877476A CN1877476A (en) | 2006-12-13 |
| CN100468264C true CN100468264C (en) | 2009-03-11 |
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| CNB2006100609072A Expired - Fee Related CN100468264C (en) | 2006-05-30 | 2006-05-30 | Autopilot for shipping |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901841A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Synthesis simulation display panel for hovership and information collecting and processing method |
| CN104881024B (en) * | 2015-06-12 | 2017-09-26 | 浙江嘉蓝海洋电子有限公司 | Manual and remote control and control method peculiar to vessel |
| CN105129065B (en) * | 2015-08-12 | 2017-10-20 | 中电科（宁波）海洋电子研究院有限公司 | Automatic rudder system based on electronic steering wheel |
| CN110703746A (en) * | 2019-09-17 | 2020-01-17 | 钟子骅 | Inland river boats and ships autopilot |
-
2006
- 2006-05-30 CN CNB2006100609072A patent/CN100468264C/en not_active Expired - Fee Related
Non-Patent Citations (2)
| Title |
|---|
| 船舶运动控制试验平台系统设计与海上试验. 牛井超.大连海事大学硕士学位论文. 2003 |
| 船舶运动控制试验平台系统设计与海上试验. 牛井超.大连海事大学硕士学位论文. 2003 * |
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Effective date of registration: 20110701 Address after: 516600 Guangdong Province, Shanwei City Po Industrial Zone Zhongyang Mansion Patentee after: Shanwei quick pass guide equipment Co., Ltd. Address before: 516600 Guangdong Province, Shanwei City West Town Lane No. 31 Patentee before: Chen Huaping |
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