CN113985878A - Navigation control method suitable for fixed-point autonomous cruise mode of unmanned surface vehicle for water surface detection - Google Patents
Navigation control method suitable for fixed-point autonomous cruise mode of unmanned surface vehicle for water surface detection Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned platforms, and particularly relates to a navigation control method suitable for a fixed-point autonomous cruise mode of an unmanned surface vehicle. In the method, when the unmanned surface vehicle for water surface detection executes a fixed-point cruise task, a multi-stage fuzzy logic controller is used for analyzing data of all external sensors and data of internal states on the unmanned surface vehicle, and logic decision results of the multi-stage fuzzy logic controller are introduced into an autonomous cruise process. The multistage fuzzy logic controller consists of 4 sub-fuzzy logic modules and 1 terminal fuzzy logic controller module; the multi-stage fuzzy logic controller not only considers the influence of data such as inertial navigation and the like on navigation parameters, but also considers other factors which possibly influence the navigation state such as weather, the state of key equipment on the boat, the surrounding situation of the boat and the like, thereby realizing autonomous and intelligent navigation control in a real sense and enhancing the self-adaptive capacity of autonomous navigation of the unmanned boat in a changeable environment.
Description
Technical Field
The invention belongs to the technical field of unmanned platforms, and particularly relates to a navigation control method suitable for a fixed-point autonomous cruise mode of an unmanned surface vehicle.
Background
The unmanned ship for water surface detection is a hotspot of current research of unmanned technology, is provided with detection equipment such as photoelectricity and radar, and can be widely applied to the fields of search and rescue, sea defense and the like. After the unmanned surface detection boat is put in, the unmanned surface detection boat can work in the water surface landforms such as lakes, rivers, oceans and the like in a remote control or fixed-point autonomous cruising mode, and can detect and sense related water areas while cruising to acquire image videos of target water areas. The fixed-point autonomous cruise mode is an important working mode of the water surface detection unmanned ship, and under the fixed-point autonomous cruise working mode, the water surface detection unmanned ship can be operated by people without assistance, and cruise detection of a preset line, a preset area and preset time is carried out autonomously.
The water surface environment, particularly the sea environment, is complex in water regime, factors influencing the fixed-point autonomous cruising quality of the water surface detection unmanned ship are many, and the simple fixed-point autonomous cruising method cannot meet the requirements of autonomous navigation intellectualization and automation. The traditional fixed-point autonomous cruising method for the water surface detection unmanned boat comprises the following steps: 1) the unmanned ship information processing module receives GPS equipment data on a ship and sends the data back to the remote control terminal in a wireless manner; 2) displaying the current position of the unmanned ship on a remote control end dynamic map, and setting a cruise point and a cruise sequence on the remote control end map by an operator; 3) the unmanned ship side data processing module calculates the optimal route of the unmanned ship from the current position to the next cruise point; 4) the unmanned ship side data processing module carries out path planning according to the optimal route and the current course speed data and calculates the unmanned ship course and speed control parameters; 5) the unmanned ship end information processing module controls an unmanned ship engine and a rudder to navigate according to the calculated course and the calculated navigational speed; 6) in the navigation process, the unmanned boat end information processing module controls the course navigation speed in real time through a PID control algorithm or a fuzzy control algorithm; 7) the unmanned boat end data processing module judges whether the unmanned boat reaches a cruise point or not according to the real-time boat position information, if the unmanned boat reaches the cruise point, a route to the next cruise point is calculated, the step 3 is returned, and if the unmanned boat does not reach the cruise point, the course cruise data is updated in real time to continue navigation; 8) and if all the cruise points are reached, ending the task.
The autonomous cruising method is not suitable for water surface detection unmanned ship equipment with higher requirements on intellectualization and automation. First, the conventional unmanned boat autonomous cruise method does not introduce on-boat external sensors and internal state data into the flow of the autonomous cruise method. For the unmanned surface detection boat with higher intelligent and automatic requirements, the autonomous cruise process needs to react and process various events discovered by sensors such as photoelectricity, radar, weather and the like, and the processing process requires that the speed and the course of the unmanned boat must meet the special requirements of event processing, so that the processing of various events also needs to be considered as disturbance which can influence the motion of the unmanned boat, and the key is for realizing the intelligent autonomous navigation of the unmanned boat. Second, the flow of the conventional autonomous navigation method does not relate to the content of autonomous reaction decision when an external event is found or an internal event occurs during navigation, and this also should be included in the flow of the autonomous cruise mode navigation control method for the unmanned surface vehicle from the viewpoint of intelligent detection demand of the unmanned surface vehicle.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: aiming at the defects of the traditional fixed-point autonomous cruise method, how to provide a fixed-point autonomous cruise mode navigation control method for a water surface exploration unmanned ship, which is more intelligent and has higher degree of autonomy.
(II) technical scheme
In order to solve the above technical problems, the present invention provides a navigation control method for a fixed-point autonomous cruise mode of an unmanned surface vehicle, wherein the navigation control method for the fixed-point autonomous cruise mode of the unmanned surface vehicle is cooperatively completed by devices or modules on an unmanned surface vehicle end and a remote control end, and the unmanned surface vehicle end includes: the unmanned ship comprises sensor equipment, a ship attitude information analysis module, a ship state information analysis module, a meteorological information analysis module, a ship surrounding situation analysis module, an intelligent control module, an engine, a rudder, an event processing unit and a conventional navigation controller, wherein the sensor equipment, the ship attitude information analysis module, the ship state information analysis module, the meteorological information analysis module, the ship surrounding situation analysis module, the intelligent control module, the engine, the rudder, the event processing unit and the conventional navigation controller are arranged on the unmanned ship;
the method comprises the following steps:
step 1: the remote control end sets the working mode of the unmanned ship as an autonomous cruise mode;
step 2: the remote control end sets cruise parameters, wherein the cruise parameters comprise a cruise point, a cruise sequence, a maximum cruise speed and a maximum cruise time;
and step 3: the remote control end starts the unmanned boat to cruise autonomously;
and 4, step 4: the unmanned boat end intelligent control module receives the cruise instruction and the cruise parameters and calculates initial navigation parameters of navigating to the next cruise point;
and 5: the unmanned ship starts to sail, and the 4 sub-fuzzy logic controller modules, namely the ship attitude information analysis module, the ship state information analysis module, the meteorological information analysis module and the ship surrounding situation analysis module calculate sub-fuzzy control parameters according to the received data of each sensor and send the sub-fuzzy control parameters to the intelligent control module;
step 6: the intelligent control module carries out fuzzy decision according to the received sub-fuzzy control parameters and the fuzzy decision rule;
and 7: if the fuzzy decision of the intelligent control module is an external event mode, turning to the next step, if the fuzzy decision of the intelligent control module is an internal event mode, turning to step 11, if the fuzzy decision of the intelligent control module is an alarm mode, turning to step 12, and if the fuzzy decision of the intelligent control module is a normal mode, turning to step 13;
and 8: judging the level of the external event, and turning to the step 10 if the level of the external event is higher; otherwise, the next step;
and step 9: slowing down the navigation speed, adjusting the course, operating the photoelectric sensor to observe, photograph and record the video of the event site, recovering the navigation speed course after completion, and continuing the previous cruise task; if the current position of the boat is within the communication radius range of the remote control end, event data are immediately uploaded; if the event data is not in the communication range, uploading the event data after entering the communication range; after the treatment is finished, returning to the step 5;
step 10: stopping the current cruise task, operating the photoelectric sensor to observe, photograph and record an event site, immediately uploading event data if the current position of the boat is within the communication radius range of the remote control end, and receiving a subsequent event processing command; if the ship is not in the communication range, firstly controlling sound amplification and lighting equipment on the ship to carry out shouting warning, then rapidly sailing to the communication range to upload event data, and receiving a subsequent event processing command; if a cruise continuation command is received, continuing cruising from the cruise stopping position, and turning to the step 5; if a return flight command is received, turning to step 14;
step 11: according to the specific content of the internal event, if the attitude is abnormal, stopping the current navigation, monitoring the attitude data, if the attitude is recovered to be normal, performing navigation again, and turning to the step 5; if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuation instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14; if the energy source alarm is detected, returning according to the optimal route, and turning to the step 14; if the weather is severe and the data are within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuing instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14;
step 12: analyzing the specific content of the alarm, if the attitude alarm is given, reducing the current navigational speed, reducing the course steering speed, monitoring the attitude state change, and if the normal mode is recovered, turning to the step 5; if the 'normal mode' is not recovered, reducing the navigation speed and the course steering speed to the lowest requirement, continuing the cruise task, and turning to the step 5; if the state is in the warning range, reporting the current state data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, continuing the cruise and turning to the step 5; if a return flight command is received, turning to step 14; if the data are not in the communication radius range, monitoring the state data change, continuing cruising, and turning to the step 5; if the weather is alarmed, reducing the current navigational speed and reducing the course steering speed, if the current navigational speed is within the communication radius range, reporting the current weather data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, turning to the step 5; if a return flight command is received, turning to step 14; if the communication radius is not within the communication radius range, continuing cruising, and turning to the step 5;
step 13: the unmanned ship continues to sail and reaches a target cruise point; if the cruising is not finished, the intelligent control module at the unmanned boat end calculates initial sailing parameters of sailing to the next cruising point, and the step 5 is carried out; if the cruising is finished, turning to the next step;
step 14: the unmanned ship end intelligent control module calculates a return route and parameters and starts to return;
step 15: returning the unmanned ship to a return point;
step 16: if the next autonomous cruising is continued, turning to the step 1; if the autonomous cruise task is finished, turning to the next step;
and step 17: and stopping the autonomous cruise working mode of the unmanned boat.
Wherein the unmanned boat end functions include:
1) within the communication radius range, receiving a cruise instruction and cruise parameters sent by a remote control end;
2) controlling the unmanned ship to work in a manual mode or an autonomous cruise mode according to the cruise instruction and the cruise parameters of the remote control end;
3) under the autonomous cruise mode, autonomously planning a cruise route according to the received cruise points and the received cruise sequence;
4) under the autonomous cruise mode, autonomously deciding a current state mode according to data and states of various sensor equipment on the boat;
5) in the autonomous cruise mode, surrounding situation information is acquired by searching radar and photoelectric detection equipment, and an external event is found;
6) in the autonomous cruise mode, external event processing of photographing, video recording, data recording and calling is automatically carried out;
7) under the autonomous cruise mode, autonomously judging whether to report the specific condition of the external event when the navigation is within the communication radius range according to the external event grade and the current navigation position;
10) in the autonomous cruise mode, automatic return voyage occurs when an internal event affecting cruise occurs.
Wherein, the function of the remote control end includes:
1) setting an unmanned ship working mode within the communication radius range;
2) under the manual mode, remotely controlling the unmanned ship to work;
3) before the autonomous cruise mode starts, setting a cruise point and a cruise sequence, and setting global navigation parameters including the maximum cruise speed and the longest navigation time;
4) after the autonomous cruise mode starts, if the autonomous cruise mode is within the communication radius range, the manual mode can be switched to remotely control the unmanned ship to work, and the cruise point and the cruise sequence can also be changed, the global navigation parameters are modified, and new autonomous cruise is carried out;
5) within the communication radius range, the state data, the photos and the videos returned by the unmanned ship can be received.
In the method, a multi-stage fuzzy logic controller is adopted to carry out self-adaptive adjustment on a conventional course speed parameter;
in the step 5, the sensor data on the unmanned ship is classified into ship attitude data, ship state data, meteorological data and surrounding situation data according to categories, and each category of data is fuzzified and decided by a respective information analysis module to generate corresponding fuzzy logic sub-parameters.
Wherein the boat attitude data comprises: boat course angular velocity, boat roll angle, boat roll angular velocity, boat pitch angle, boat pitch angular velocity;
the boat attitude information analysis module is used for receiving the boat attitude data, giving two thresholds of a normal threshold and an abnormal threshold according to experience for each type of data, and performing fuzzification processing on each type of data according to the threshold;
when any data exceeds an abnormal threshold value, the fuzzy logic sub-parameter output by the boat attitude information analysis module is determined to be 'attitude abnormity';
when any data is between a normal threshold value and an abnormal threshold value, the fuzzy logic sub-parameter output by the boat attitude information analysis module is 'attitude alarm';
all the data are below a normal threshold value, and the fuzzy logic sub-parameter output by the boat attitude information analysis module is 'attitude normal'.
Wherein the boat status data comprises: the system comprises a left engine state, a right engine state, a GPS equipment state, an inertial navigation equipment state, a photoelectric detection equipment state, a radar equipment state, a distribution box state, a task management center state, electric quantity and oil quantity;
the boat state information analysis module is used for receiving the boat state data;
after the cruise is started, calculating the electric quantity and oil quantity values required by the immediate return journey according to the nearest distance between the current position and the base, and judging the current states of the electric quantity and the oil quantity according to the values, wherein if the electric quantity and the oil quantity are greater than the values, the states of the electric quantity and the oil quantity are normal, otherwise, the states of the electric quantity and the oil quantity are alarmed; the other state data are respectively in a normal state and an abnormal state according to the reality;
when one of the electric quantity and the oil quantity is in a state alarm, the fuzzy logic sub-parameter output by the boat state information analysis module is in an energy alarm mode;
when any one of the left engine state, the right engine state, the GPS equipment state, the inertial navigation equipment state, the photoelectric detection equipment state, the radar equipment state, the distribution box state and the task management center state is abnormal, the fuzzy logic sub-parameter output by the boat state information analysis module is decided to be 'state alarm';
and when all the data are in a normal state, the fuzzy logic subparameter output by the boat state information analysis module is determined to be in a normal state.
Wherein the meteorological data comprises: wind speed, rainfall; the weather information analysis module is used for receiving weather data influencing navigation; giving two thresholds of a normal threshold and an abnormal threshold according to experience for the two types of data of the meteorological data, and performing fuzzification processing on the data according to the thresholds;
when one item of data exceeds an abnormal threshold value, the weather information analysis module makes a decision to output severe weather;
when any data is between a normal threshold value and an abnormal threshold value, the fuzzy logic sub-parameter output by the weather information analysis module is a weather alarm;
the two types of data are below a normal threshold value, and the fuzzy logic sub-parameter output by the meteorological information analysis module is 'normal meteorological'.
The ship surrounding situation analysis module is used for receiving surrounding situation data, namely external events discovered by photoelectric detection equipment and search radar equipment during navigation;
when the photoelectric detection device and the search radar device identify suspicious ships, suspicious floats, reefs or other obstacles, the situation analysis module around the boat decides that the output fuzzy logic sub-parameter is 'situation alarm';
when the photoelectric detection equipment and the search radar equipment identify dangerous ships, dangerous floaters or other dangerous targets, the fuzzy logic sub-parameter output by the ship surrounding situation analysis module is decided to be 'situation emergency';
when the photoelectric detection equipment and the search radar equipment do not find and identify suspicious targets, the fuzzy logic sub-parameter output by the boat surrounding situation analysis module is determined to be normal.
In the step 6, each fuzzy logic sub-parameter is input into the intelligent control module, fuzzy inference is carried out based on a formulated fuzzy decision rule to generate a final fuzzy logic parameter, and the conventional course speed parameter in the navigation is adaptively adjusted according to the final fuzzy logic parameter;
the fuzzy decision rule is as follows:
when the output of the attitude information analysis module is abnormal attitude or the output of the state information analysis module is energy alarm or the output of the weather information analysis module is severe weather, the output of the intelligent control module is internal event mode;
when the internal event mode is not satisfied and the output of the situation information analysis module is normal, when the output of the posture information analysis module is posture alarm or the output of the state information analysis module is state alarm or the output of the weather information analysis module is weather alarm, the output of the intelligent control module is alarm mode;
when the output of the situation information analysis module is 'normal situation', and the output of the three sub-information analysis modules, namely the boat posture information analysis module, the boat state information analysis module and the meteorological information analysis module, is 'normal posture', 'normal state' and 'normal meteorological state', the output of the intelligent control module is 'normal mode';
when the internal event mode is not satisfied and the output of the situation information analysis module is 'situation alarm' or 'situation emergency', the output of the intelligent control module is 'external event mode'.
When the output of the intelligent control module is in a normal mode, the unmanned ship is indicated to be in a normal navigation state, navigation parameters of the current speed and heading do not need to be adjusted, and the unmanned ship navigates according to conventional parameters;
when the output of the intelligent control module is in an alarm mode, the unmanned ship navigation state is abnormal but temporarily controllable, and the navigation parameter of the current speed and course needs to be adjusted slightly according to the specific content of the alarm; if the attitude is alarmed, the current navigational speed needs to be reduced, the course steering speed is reduced, the state change is monitored, if the normal mode is still not recovered, the navigational speed is continuously reduced, and the course steering speed is reduced until the normal mode is recovered; if the state alarm is generated, reporting specific data of the equipment state if the equipment state alarm is in the communication radius range, continuously monitoring state change, and waiting for an instruction of a remote control end while continuing navigation; if the weather alarm is generated, reporting weather current data, reducing the current navigational speed, reducing the course steering speed, and waiting for the instruction of the remote control end while continuing navigation;
when the output of the intelligent control module is in an external event mode, the current other navigation states of the unmanned ship are basically normal, and the unmanned ship is switched to an external event processing flow; judging the level of the event according to the specific content of the external event, if the situation is alarmed, controlling the photoelectric detection equipment to take a picture and record a video if the level of the external event is low, recording the current coordinate, reporting the current event data when the current coordinate is within the communication radius range, waiting for a remote control end instruction, and continuing the previous navigation if the current coordinate is not within the communication radius range; if the situation is urgent, the photoelectric detection equipment is controlled to take pictures and record videos, the current coordinate is recorded, when the situation is in the communication radius range, the current event data is reported, a remote control end instruction is waited, if the situation is not in the communication radius range, a loudspeaker or a light on the boat is controlled, a dangerous target is shout and warned, the boat rapidly sails to the communication radius range after the processing is finished, the current event data is reported, and the remote control end further instruction is waited;
when the output of the intelligent control module is in an internal event mode, an internal event processing flow is entered according to the specific content of the internal event; if the attitude is abnormal, stopping current navigation, and after the attitude is recovered to be normal, performing navigation again, if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, and returning according to the lowest navigation speed and the minimum heading turning speed if the attitude is not within the communication radius range; if the energy source alarm is generated, stopping the current navigation and returning according to the optimal route; if the weather is severe and the current state data is in the communication radius range, reporting the current state data, waiting for the instruction of the remote control end, and returning according to the lowest navigational speed and the minimum navigational direction turning speed if the current state data is not in the communication radius range.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
(1) in the method, the navigation parameters are adjusted by adopting a method of a multi-stage fuzzy logic controller, and the multi-stage fuzzy logic controller not only considers the influence of data such as inertial navigation and the like on the navigation parameters, but also considers other factors which possibly influence the navigation state such as weather, the state of key equipment on the boat, the surrounding situation of the boat and the like, thereby realizing autonomous and intelligent navigation control in a real sense and enhancing the self-adaptive capacity of autonomous navigation of the unmanned boat in a changeable environment.
(2) The method comprises the processing procedures of external events and internal events in cruising. When the photoelectric and radar equipment on the boat finds that abnormal conditions occur in the cruising sea area, the warning device can automatically take pictures, record videos and the like to obtain evidence, and also can utilize other warning and warning equipment on the boat to process events, and then report the positions with the abnormal conditions and the recorded video images and other data rapidly, and when internal events occur, the warning device can automatically return to the air, so that the autonomous processing capacity of unmanned boat events is greatly enhanced.
Drawings
FIG. 1 is a schematic diagram of the process of the present invention.
FIG. 2 is a schematic diagram of fuzzy rules of an intelligent control module according to the method of the present invention.
Fig. 3 is a flow chart of the remote control end working process of the method of the invention.
Fig. 4 is a flow chart of unmanned boat end operation of the method of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In the method, when the unmanned surface vehicle for water surface detection executes a fixed-point cruise task, a multi-stage fuzzy logic controller is used for analyzing data of all external sensors and data of internal states on the unmanned surface vehicle, and logic decision results of the multi-stage fuzzy logic controller are introduced into an autonomous cruise process.
The multistage fuzzy logic controller consists of 4 sub-fuzzy logic modules and 1 terminal fuzzy logic controller module, and the principle is as follows: after being classified, a plurality of sensor data of photoelectricity, radar, weather, navigation and the like on the boat and state data of other key equipment on the boat are respectively input into 4 sub-fuzzy logic controller modules, namely a boat attitude information analysis module, a boat state information analysis module, a weather information analysis module and a boat surrounding situation analysis module, each module carries out fuzzification processing and decision on the input data, fuzzy logic parameters of each sub-module are respectively output, the fuzzy logic parameters of each sub-module are used as input and are transmitted to an intelligent control module, namely a terminal fuzzy logic controller module, and the intelligent control module carries out final fuzzy decision and adjusts the navigation speed in the navigation in real time according to decision results.
Meanwhile, the fuzzy control subparameters output by the 4 sub-fuzzy logic controller modules in the method are also used for confirming the generation of the event. Wherein fuzzy control sub-parameters output by the boat surrounding situation analysis sub-module are used to determine external events and the level of the external events. The low-level external events include: suspicious vessels, suspicious floats, reef obstacles. High-level external events include: dangerous boats, dangerous floats, other dangerous targets, etc. The fuzzy control sub-parameters of the 3 sub-fuzzy logic controller modules of the boat attitude information analysis module, the boat state information analysis module and the meteorological information analysis module are used for determining the internal events. The internal events include: abnormal posture of the boat, energy source alarm of the boat, state alarm and severe meteorological environment.
The intelligent control module makes an autonomous decision according to the event type, performs corresponding processing according to the external event level when an external event occurs, and controls the photoelectric detection equipment to automatically take pictures and record videos, record and upload event data and control the unmanned ship to avoid a target if the external event belongs to a low-level external event; if the ship is a high-level external event, except the actions, a loudspeaker or other warning and warning devices on the ship can be controlled to automatically call and warn, and meanwhile, whether the ship sails to the communication radius range or not is judged autonomously to report event data; and when the internal event occurs, the influence of the internal event on the cruise task is automatically judged, continuous navigation or automatic return navigation with the highest speed and the optimal route is selected according to the influence, and the internal event record data is uploaded in time.
Specifically, the navigation control method in the fixed-point autonomous cruise mode of the water surface exploration unmanned ship is completed by coordination of equipment or modules on an unmanned ship end and a remote control end. As shown in fig. 1, the unmanned boat end includes: the unmanned ship comprises various sensor devices, a ship attitude information analysis module, a ship state information analysis module, a meteorological information analysis module, a ship surrounding situation analysis module, an intelligent control module, an engine, a rudder, an event processing unit and a conventional navigation controller.
The unmanned boat end has the functions of: 1) receiving a control instruction and a control parameter sent by a remote control end within a communication radius range; 2) controlling the unmanned ship to work in a manual mode or an autonomous cruise mode according to the remote control end instruction and the parameters; 3) under the autonomous cruise mode, autonomously planning a cruise route according to the received cruise points and the received cruise sequence; 4) under the autonomous cruise mode, autonomously deciding a current state mode according to data and states of various sensor equipment on the boat; 5) in the autonomous cruise mode, surrounding situation information is acquired through detection equipment such as radar photoelectricity and the like, and external events are found;
6) in the autonomous cruise mode, external event processing such as photographing, video recording, data recording, calling and the like is automatically carried out; 7) under the autonomous cruise mode, autonomously judging whether to report the specific condition of the external event when the navigation is within the communication radius range according to the external event grade and the current navigation position; 10) in the autonomous cruise mode, automatic return voyage occurs when an internal event affecting cruise occurs.
The remote control end has the functions of: 1) setting an unmanned ship working mode within the communication radius range;
2) under the manual mode, remotely controlling the unmanned ship to work; 3) before the autonomous cruise mode starts, setting a cruise point and a cruise sequence, and setting global navigation parameters such as maximum navigation speed, maximum navigation time and the like;
4) after the autonomous cruise mode starts, if the autonomous cruise mode is within the communication radius range, the manual mode can be switched to remotely control the unmanned ship to work, and the cruise point and the cruise sequence can also be changed, the global navigation parameters are modified, and new autonomous cruise is carried out; 5) within the communication radius range, the state data, the photos and the videos returned by the unmanned ship can be received.
In the invention, a multi-stage fuzzy logic controller is adopted to carry out self-adaptive adjustment on the conventional course speed parameter. The data of the sensors on the boat are classified into boat attitude data, boat state data, meteorological data and surrounding situation data according to categories, and each category of data is fuzzified and decided through respective information analysis modules to generate corresponding fuzzy logic sub-parameters.
The boat attitude information analysis module considers the following attitude data: boat course angular velocity, boat roll angle, boat roll angular velocity, boat pitch angle, and boat pitch angular velocity. And giving two thresholds, namely a normal threshold and an abnormal threshold, for each type of data according to experience, and performing fuzzification processing on each type of data according to the threshold. When any data exceeds an abnormal threshold value, the module makes a decision and outputs the data as 'attitude abnormity'; when any data is between the normal threshold value and the abnormal threshold value, the module makes a decision and outputs a posture alarm; all data are below a normal threshold value, and the module makes a decision to output a normal posture.
The boat state information analysis module comprises the following state data: left and right engine states, GPS equipment states, inertial navigation equipment states, photoelectric detection equipment states, radar equipment states, distribution box states, task management center states, electric quantity and oil quantity. After the cruise is started, the electric quantity and the oil quantity value required by the immediate return journey are calculated according to the nearest distance between the current position and the base, the current states of the electric quantity and the oil quantity are judged according to the values, if the electric quantity and the oil quantity are larger than the values, the states of the electric quantity and the oil quantity are normal, and otherwise, the states of the electric quantity and the oil quantity give an alarm. The other state data are actually normal state and abnormal state respectively. When one of the electric quantity and the oil quantity is in a state alarm, the module decides to output an energy alarm; when any one of the left engine state, the right engine state, the GPS equipment state, the inertial navigation equipment state, the distribution box state and the task management center state is abnormal, the module makes a decision to output a state alarm; when all data are in normal state, the module decides that the output is in normal state.
The meteorological information analysis module considers meteorological data influencing navigation: wind speed, rainfall. And giving two thresholds of a normal threshold and an abnormal threshold according to experience for the two types of data, and performing fuzzification processing on the data according to the thresholds. When one data exceeds the abnormal threshold value, the module decides to output the weather is bad; when any data is between the normal threshold value and the abnormal threshold value, the module decides to output a weather alarm; the two types of data are below a normal threshold value, and the module makes a decision to output weather normal.
And the situation analysis module around the boat considers external events discovered by the photoelectric detection equipment and the radar equipment during navigation. When the photoelectric and radar equipment identifies suspicious ships, suspicious floats, reefs or other obstacles, the module makes a decision to output as a 'situation alarm'; when the photoelectric and radar equipment identifies dangerous ships, dangerous floaters or other dangerous targets, the module decides to output as 'situation emergency'; when the photoelectric and radar equipment does not find and identify suspicious targets, the module decides that the output is normal.
And inputting each fuzzy logic sub-parameter into an intelligent control module, carrying out fuzzy reasoning based on a formulated fuzzy rule to generate a final fuzzy logic parameter, and carrying out self-adaptive adjustment on the conventional course speed parameter in the navigation according to the final fuzzy logic parameter. The fuzzy decision rule in the intelligent control module is shown in fig. 2.
When the output of the attitude information analysis module is abnormal attitude or the output of the state information analysis module is energy alarm or the output of the weather information analysis module is severe weather, the output of the intelligent control module is internal event mode; when the internal event mode is not satisfied and the output of the situation information analysis module is normal, when the output of the posture information analysis module is posture alarm or the output of the state information analysis module is state alarm or the output of the weather information analysis module is weather alarm, the output of the intelligent control module is alarm mode; when the output of the situation information analysis module is 'normal situation', and the output of the posture, state and weather 3 sub-information analysis modules is 'normal posture', 'normal state' and 'normal weather', the output of the intelligent control module is 'normal mode'; when the internal event mode is not satisfied and the output of the situation information analysis module is 'situation alarm' or 'situation emergency', the output of the intelligent control module is 'external event mode'.
When the output of the intelligent control module is in a normal mode, the unmanned ship shows that the navigation state is normal, the current navigation parameters such as the speed and the course are not required to be adjusted, and the unmanned ship navigates according to the conventional parameters.
When the output of the intelligent control module is in an alarm mode, the unmanned ship navigation state is abnormal but is temporarily controllable, and at this time, the navigation parameters such as the current speed and the current course need to be adjusted slightly according to the specific content of the alarm. If the attitude is alarmed, the current navigational speed needs to be reduced, the course steering speed is reduced, the state change is monitored, if the normal mode is still not recovered, the navigational speed is continuously reduced, and the course steering speed is reduced until the normal mode is recovered; if the state alarm is generated, reporting specific data of the equipment state, continuously monitoring state change, and waiting for an instruction of a remote control end while continuing navigation; if the weather alarm is given, the current weather data is reported, the current navigational speed is reduced, the course turning speed is reduced, and the instruction of the remote control end is waited while the navigation is continued.
When the output of the intelligent control module is in an external event mode, the current navigation state of the unmanned ship is basically normal, the unmanned ship is switched to an external event processing flow, the event grade is judged according to the specific content of the external event, if the situation is alarmed, the external event grade is low, the photoelectric detection equipment is controlled to take a picture and record a video, the current coordinate is recorded, when the current coordinate is in a communication radius range, the current event data is reported, a remote control end instruction is waited, and if the current event data is not in the communication radius range, the previous navigation is continued after the processing is finished; if the situation is urgent, the photoelectric detection equipment is controlled to take pictures and record videos, the current coordinate is recorded, when the situation is in the communication radius range, the current event data is reported, a remote control end instruction is waited, if the situation is not in the communication radius range, a loudspeaker or a light on the boat is controlled, a dangerous target is shout and warned, the boat rapidly sails to the communication radius range after the processing is finished, the current event data is reported, and the remote control end further instruction is waited.
And when the output of the intelligent control module is in an internal event mode, entering an internal event processing flow according to the specific content of the internal event. If the attitude is abnormal, stopping current navigation, and after the attitude is recovered to be normal, performing navigation again, if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, and returning according to the lowest navigation speed and the minimum heading turning speed if the attitude is not within the communication radius range; if the energy source alarm is generated, stopping the current navigation and returning according to the optimal route; if the weather is severe and the current state data is in the communication radius range, reporting the current state data, waiting for the instruction of the remote control end, and returning according to the lowest navigational speed and the minimum navigational direction turning speed if the current state data is not in the communication radius range.
The invention relates to a navigation control method in a fixed-point autonomous cruise mode of a water surface exploration unmanned ship, which comprises the following steps:
step 1: the remote control end sets the working mode of the unmanned ship as an autonomous cruise mode;
step 2: the remote control end is provided with a cruise point, a cruise sequence, a maximum cruise speed, a maximum cruise time and other cruise parameters;
and step 3: the remote control end starts the unmanned boat to cruise autonomously;
and 4, step 4: the unmanned boat end intelligent control module receives the cruise instruction and the parameter and calculates the initial navigation parameter of the unmanned boat when the unmanned boat end intelligent control module navigates to the next cruise point;
and 5: and 4 sub-fuzzy logic controller modules, namely the boat attitude information analysis module, the boat state information analysis module, the meteorological information analysis module and the boat surrounding situation analysis module, calculate sub-fuzzy control parameters according to the received data of each sensor and send the sub-fuzzy control parameters to the intelligent control module.
Step 6: the intelligent control module carries out fuzzy decision according to the fuzzy decision rule shown in figure 2 according to the received sub-fuzzy control parameters;
and 7: if the fuzzy decision of the intelligent control module is an external event mode, turning to the next step, if the fuzzy decision of the intelligent control module is an internal event mode, turning to step 11, if the fuzzy decision of the intelligent control module is an alarm mode, turning to step 12, and if the fuzzy decision of the intelligent control module is a normal mode, turning to step 13;
and 8: judging the level of the external event, and turning to the step 10 if the level of the external event is higher; otherwise, the next step;
and step 9: slowing down the navigation speed, adjusting the course, operating the photoelectric sensor to observe the scene of the event, taking a picture and recording a video, recovering the navigation speed and the course after completion, and continuing the previous cruise task. If the current position of the boat is within the communication radius range of the remote control end, event data are immediately uploaded; if the event data is not in the communication range, uploading the event data after entering the communication range; after the treatment is finished, returning to the step 5;
step 10: stopping the current cruise task, operating the photoelectric sensor to observe, photograph and record an event site, immediately uploading event data if the current position of the boat is within the communication radius range of the remote control end, and receiving a subsequent event processing command; if the ship is not in the communication range, firstly controlling sound amplification and lighting equipment on the ship to carry out shouting warning, then rapidly sailing to the communication range to upload event data, and receiving a subsequent event processing command; if a cruise continuation command is received, continuing cruising from the cruise stopping position, and turning to the step 5; if a return flight command is received, turning to step 14;
step 11: according to the specific content of the internal event, if the attitude is abnormal, stopping the current navigation, monitoring the attitude data, if the attitude is recovered to be normal, performing navigation again, and turning to the step 5; if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuation instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14; if the energy source alarm is detected, returning according to the optimal route, and turning to the step 14; if the weather is severe and the data are within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuing instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14;
step 12: analyzing the specific content of the alarm, if the attitude alarm is given, reducing the current navigational speed, reducing the course steering speed, monitoring the attitude state change, and if the normal mode is recovered, turning to the step 5; if the 'normal mode' is not recovered, reducing the navigation speed and the course steering speed to the lowest requirement, continuing the cruise task, and turning to the step 5; if the state is in the warning range, reporting the current state data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, continuing the cruise and turning to the step 5; if a return flight command is received, turning to step 14; if the data are not in the communication radius range, monitoring the state data change, continuing cruising, and turning to the step 5; if the weather is alarmed, reducing the current navigational speed and reducing the course steering speed, if the current navigational speed is within the communication radius range, reporting the current weather data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, turning to the step 5; if a return flight command is received, turning to step 14; if the communication radius is not within the communication radius range, continuing cruising, and turning to the step 5;
step 13: the unmanned ship continues to sail and reaches a target cruise point. If the cruising is not finished, the intelligent control module at the unmanned boat end calculates initial sailing parameters of sailing to the next cruising point, and the step 5 is carried out; if the cruising is finished, turning to the next step;
step 14: the unmanned ship end intelligent control module calculates a return route and parameters and starts to return;
step 15: returning the unmanned ship to a return point;
step 16: if the next autonomous cruising is continued, turning to the step 1; if the autonomous cruise task is finished, turning to the next step;
and step 17: and stopping the autonomous cruise working mode of the unmanned boat.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A navigation control method suitable for a fixed-point autonomous cruise mode of an unmanned surface vehicle for water surface detection is cooperatively completed by equipment or modules on an unmanned surface vehicle end and a remote control end, wherein the unmanned surface vehicle end comprises: the unmanned ship comprises sensor equipment, a ship attitude information analysis module, a ship state information analysis module, a meteorological information analysis module, a ship surrounding situation analysis module, an intelligent control module, an engine, a rudder, an event processing unit and a conventional navigation controller, wherein the sensor equipment, the ship attitude information analysis module, the ship state information analysis module, the meteorological information analysis module, the ship surrounding situation analysis module, the intelligent control module, the engine, the rudder, the event processing unit and the conventional navigation controller are arranged on the unmanned ship;
the method comprises the following steps:
step 1: the remote control end sets the working mode of the unmanned ship as an autonomous cruise mode;
step 2: the remote control end sets cruise parameters, wherein the cruise parameters comprise a cruise point, a cruise sequence, a maximum cruise speed and a maximum cruise time;
and step 3: the remote control end starts the unmanned boat to cruise autonomously;
and 4, step 4: the unmanned boat end intelligent control module receives the cruise instruction and the cruise parameters and calculates initial navigation parameters of navigating to the next cruise point;
and 5: the unmanned ship starts to sail, and the 4 sub-fuzzy logic controller modules, namely the ship attitude information analysis module, the ship state information analysis module, the meteorological information analysis module and the ship surrounding situation analysis module calculate sub-fuzzy control parameters according to the received data of each sensor and send the sub-fuzzy control parameters to the intelligent control module;
step 6: the intelligent control module carries out fuzzy decision according to the received sub-fuzzy control parameters and the fuzzy decision rule;
and 7: if the fuzzy decision of the intelligent control module is an external event mode, turning to the next step, if the fuzzy decision of the intelligent control module is an internal event mode, turning to step 11, if the fuzzy decision of the intelligent control module is an alarm mode, turning to step 12, and if the fuzzy decision of the intelligent control module is a normal mode, turning to step 13;
and 8: judging the level of the external event, and turning to the step 10 if the level of the external event is higher; otherwise, the next step;
and step 9: slowing down the navigation speed, adjusting the course, operating the photoelectric sensor to observe, photograph and record the video of the event site, recovering the navigation speed course after completion, and continuing the previous cruise task; if the current position of the boat is within the communication radius range of the remote control end, event data are immediately uploaded; if the event data is not in the communication range, uploading the event data after entering the communication range; after the treatment is finished, returning to the step 5;
step 10: stopping the current cruise task, operating the photoelectric sensor to observe, photograph and record an event site, immediately uploading event data if the current position of the boat is within the communication radius range of the remote control end, and receiving a subsequent event processing command; if the ship is not in the communication range, firstly controlling sound amplification and lighting equipment on the ship to carry out shouting warning, then rapidly sailing to the communication range to upload event data, and receiving a subsequent event processing command; if a cruise continuation command is received, continuing cruising from the cruise stopping position, and turning to the step 5; if a return flight command is received, turning to step 14;
step 11: according to the specific content of the internal event, if the attitude is abnormal, stopping the current navigation, monitoring the attitude data, if the attitude is recovered to be normal, performing navigation again, and turning to the step 5; if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuation instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14; if the energy source alarm is detected, returning according to the optimal route, and turning to the step 14; if the weather is severe and the data are within the communication radius range, reporting current state data, waiting for a remote control end instruction, if a cruise continuing instruction is received, continuing cruising from the position where cruising is stopped, and turning to the step 5; if a return flight command is received, turning to step 14; if not, returning according to the lowest navigation speed and the minimum heading turning speed, and turning to the step 14;
step 12: analyzing the specific content of the alarm, if the attitude alarm is given, reducing the current navigational speed, reducing the course steering speed, monitoring the attitude state change, and if the normal mode is recovered, turning to the step 5; if the 'normal mode' is not recovered, reducing the navigation speed and the course steering speed to the lowest requirement, continuing the cruise task, and turning to the step 5; if the state is in the warning range, reporting the current state data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, continuing the cruise and turning to the step 5; if a return flight command is received, turning to step 14; if the data are not in the communication radius range, monitoring the state data change, continuing cruising, and turning to the step 5; if the weather is alarmed, reducing the current navigational speed and reducing the course steering speed, if the current navigational speed is within the communication radius range, reporting the current weather data, waiting for the instruction of the remote control end, and if a cruise continuing command is received, turning to the step 5; if a return flight command is received, turning to step 14; if the communication radius is not within the communication radius range, continuing cruising, and turning to the step 5;
step 13: the unmanned ship continues to sail and reaches a target cruise point; if the cruising is not finished, the intelligent control module at the unmanned boat end calculates initial sailing parameters of sailing to the next cruising point, and the step 5 is carried out; if the cruising is finished, turning to the next step;
step 14: the unmanned ship end intelligent control module calculates a return route and parameters and starts to return;
step 15: returning the unmanned ship to a return point;
step 16: if the next autonomous cruising is continued, turning to the step 1; if the autonomous cruise task is finished, turning to the next step;
and step 17: and stopping the autonomous cruise working mode of the unmanned boat.
2. The method of claim 1, wherein the unmanned end functions comprise:
1) within the communication radius range, receiving a cruise instruction and cruise parameters sent by a remote control end;
2) controlling the unmanned ship to work in a manual mode or an autonomous cruise mode according to the cruise instruction and the cruise parameters of the remote control end;
3) under the autonomous cruise mode, autonomously planning a cruise route according to the received cruise points and the received cruise sequence;
4) under the autonomous cruise mode, autonomously deciding a current state mode according to data and states of various sensor equipment on the boat;
5) in the autonomous cruise mode, surrounding situation information is acquired by searching radar and photoelectric detection equipment, and an external event is found;
6) in the autonomous cruise mode, external event processing of photographing, video recording, data recording and calling is automatically carried out;
7) under the autonomous cruise mode, autonomously judging whether to report the specific condition of the external event when the navigation is within the communication radius range according to the external event grade and the current navigation position;
10) in the autonomous cruise mode, automatic return voyage occurs when an internal event affecting cruise occurs.
3. The method as claimed in claim 2, wherein the remote control terminal comprises:
1) setting an unmanned ship working mode within the communication radius range;
2) under the manual mode, remotely controlling the unmanned ship to work;
3) before the autonomous cruise mode starts, setting a cruise point and a cruise sequence, and setting global navigation parameters including the maximum cruise speed and the longest navigation time;
4) after the autonomous cruise mode starts, if the autonomous cruise mode is within the communication radius range, the manual mode can be switched to remotely control the unmanned ship to work, and the cruise point and the cruise sequence can also be changed, the global navigation parameters are modified, and new autonomous cruise is carried out;
5) within the communication radius range, the state data, the photos and the videos returned by the unmanned ship can be received.
4. The method as claimed in claim 3, wherein the conventional course speed parameter is adaptively adjusted by using a multi-stage fuzzy logic controller;
in the step 5, the sensor data on the unmanned ship is classified into ship attitude data, ship state data, meteorological data and surrounding situation data according to categories, and each category of data is fuzzified and decided by a respective information analysis module to generate corresponding fuzzy logic sub-parameters.
5. The method of claim 4, wherein the craft attitude data comprises: boat course angular velocity, boat roll angle, boat roll angular velocity, boat pitch angle, boat pitch angular velocity;
the boat attitude information analysis module is used for receiving the boat attitude data, giving two thresholds of a normal threshold and an abnormal threshold according to experience for each type of data, and performing fuzzification processing on each type of data according to the threshold;
when any data exceeds an abnormal threshold value, the fuzzy logic sub-parameter output by the boat attitude information analysis module is determined to be 'attitude abnormity';
when any data is between a normal threshold value and an abnormal threshold value, the fuzzy logic sub-parameter output by the boat attitude information analysis module is 'attitude alarm';
all the data are below a normal threshold value, and the fuzzy logic sub-parameter output by the boat attitude information analysis module is 'attitude normal'.
6. The method of cruise control adapted for use in a surface sounding unmanned boat setpoint autonomous cruise mode of claim 5, wherein said boat status data comprises: the system comprises a left engine state, a right engine state, a GPS equipment state, an inertial navigation equipment state, a photoelectric detection equipment state, a radar equipment state, a distribution box state, a task management center state, electric quantity and oil quantity;
the boat state information analysis module is used for receiving the boat state data;
after the cruise is started, calculating the electric quantity and oil quantity values required by the immediate return journey according to the nearest distance between the current position and the base, and judging the current states of the electric quantity and the oil quantity according to the values, wherein if the electric quantity and the oil quantity are greater than the values, the states of the electric quantity and the oil quantity are normal, otherwise, the states of the electric quantity and the oil quantity are alarmed; the other state data are respectively in a normal state and an abnormal state according to the reality;
when one of the electric quantity and the oil quantity is in a state alarm, the fuzzy logic sub-parameter output by the boat state information analysis module is in an energy alarm mode;
when any one of the left engine state, the right engine state, the GPS equipment state, the inertial navigation equipment state, the photoelectric detection equipment state, the radar equipment state, the distribution box state and the task management center state is abnormal, the fuzzy logic sub-parameter output by the boat state information analysis module is decided to be 'state alarm';
and when all the data are in a normal state, the fuzzy logic subparameter output by the boat state information analysis module is determined to be in a normal state.
7. The method of claim 6, wherein the meteorological data comprises: wind speed, rainfall; the weather information analysis module is used for receiving weather data influencing navigation; giving two thresholds of a normal threshold and an abnormal threshold according to experience for the two types of data of the meteorological data, and performing fuzzification processing on the data according to the thresholds;
when one item of data exceeds an abnormal threshold value, the weather information analysis module makes a decision to output severe weather;
when any data is between a normal threshold value and an abnormal threshold value, the fuzzy logic sub-parameter output by the weather information analysis module is a weather alarm;
the two types of data are below a normal threshold value, and the fuzzy logic sub-parameter output by the meteorological information analysis module is 'normal meteorological'.
8. The navigation control method applied to the fixed-point autonomous cruise mode of the unmanned surface vehicle for water surface detection according to claim 7, wherein the boat surrounding situation analyzing module is used for receiving surrounding situation data, namely external events discovered by the photoelectric detection device and the search radar device during navigation;
when the photoelectric detection device and the search radar device identify suspicious ships, suspicious floats, reefs or other obstacles, the situation analysis module around the boat decides that the output fuzzy logic sub-parameter is 'situation alarm';
when the photoelectric detection equipment and the search radar equipment identify dangerous ships, dangerous floaters or other dangerous targets, the fuzzy logic sub-parameter output by the ship surrounding situation analysis module is decided to be 'situation emergency';
when the photoelectric detection equipment and the search radar equipment do not find and identify suspicious targets, the fuzzy logic sub-parameter output by the boat surrounding situation analysis module is determined to be normal.
9. The navigation control method suitable for the fixed-point autonomous cruise mode of the unmanned surface vehicle for water surface survey according to claim 8, wherein in step 6, each fuzzy logic sub-parameter is inputted into the intelligent control module, fuzzy inference is performed based on a formulated fuzzy decision rule to generate a final fuzzy logic parameter, and a conventional course speed parameter during navigation is adaptively adjusted according to the final fuzzy logic parameter;
the fuzzy decision rule is as follows:
when the output of the attitude information analysis module is abnormal attitude or the output of the state information analysis module is energy alarm or the output of the weather information analysis module is severe weather, the output of the intelligent control module is internal event mode;
when the internal event mode is not satisfied and the output of the situation information analysis module is normal, when the output of the posture information analysis module is posture alarm or the output of the state information analysis module is state alarm or the output of the weather information analysis module is weather alarm, the output of the intelligent control module is alarm mode;
when the output of the situation information analysis module is 'normal situation', and the output of the three sub-information analysis modules, namely the boat posture information analysis module, the boat state information analysis module and the meteorological information analysis module, is 'normal posture', 'normal state' and 'normal meteorological state', the output of the intelligent control module is 'normal mode';
when the internal event mode is not satisfied and the output of the situation information analysis module is 'situation alarm' or 'situation emergency', the output of the intelligent control module is 'external event mode'.
10. The navigation control method suitable for the fixed-point autonomous cruise mode of the unmanned surface vehicle for water surface survey according to claim 9, wherein when the output of the intelligent control module is "normal mode", it indicates that the navigation state of the unmanned surface vehicle is normal, and the unmanned surface vehicle navigates according to the conventional parameters without adjusting the navigation parameters of the current speed and course;
when the output of the intelligent control module is in an alarm mode, the unmanned ship navigation state is abnormal but temporarily controllable, and the navigation parameter of the current speed and course needs to be adjusted slightly according to the specific content of the alarm; if the attitude is alarmed, the current navigational speed needs to be reduced, the course steering speed is reduced, the state change is monitored, if the normal mode is still not recovered, the navigational speed is continuously reduced, and the course steering speed is reduced until the normal mode is recovered; if the state alarm is generated, reporting specific data of the equipment state if the equipment state alarm is in the communication radius range, continuously monitoring state change, and waiting for an instruction of a remote control end while continuing navigation; if the weather alarm is generated, reporting weather current data, reducing the current navigational speed, reducing the course steering speed, and waiting for the instruction of the remote control end while continuing navigation;
when the output of the intelligent control module is in an external event mode, the current other navigation states of the unmanned ship are basically normal, and the unmanned ship is switched to an external event processing flow; judging the level of the event according to the specific content of the external event, if the situation is alarmed, controlling the photoelectric detection equipment to take a picture and record a video if the level of the external event is low, recording the current coordinate, reporting the current event data when the current coordinate is within the communication radius range, waiting for a remote control end instruction, and continuing the previous navigation if the current coordinate is not within the communication radius range; if the situation is urgent, the photoelectric detection equipment is controlled to take pictures and record videos, the current coordinate is recorded, when the situation is in the communication radius range, the current event data is reported, a remote control end instruction is waited, if the situation is not in the communication radius range, a loudspeaker or a light on the boat is controlled, a dangerous target is shout and warned, the boat rapidly sails to the communication radius range after the processing is finished, the current event data is reported, and the remote control end further instruction is waited;
when the output of the intelligent control module is in an internal event mode, an internal event processing flow is entered according to the specific content of the internal event; if the attitude is abnormal, stopping current navigation, and after the attitude is recovered to be normal, performing navigation again, if the attitude cannot be recovered to be normal and is within the communication radius range, reporting current state data, waiting for a remote control end instruction, and returning according to the lowest navigation speed and the minimum heading turning speed if the attitude is not within the communication radius range; if the energy source alarm is generated, stopping the current navigation and returning according to the optimal route; if the weather is severe and the current state data is in the communication radius range, reporting the current state data, waiting for the instruction of the remote control end, and returning according to the lowest navigational speed and the minimum navigational direction turning speed if the current state data is not in the communication radius range.
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