多任务模式下的水空一体化无人监控系统协同运行技术研究

Research on Cooperative Operation Technology of Water-air Integrated Unmanned Monitoring System Under Multi-task Mode

随着航道上运输船舶密度不断上升,产生险情和事故的船舶数量也不断增加,急需管理机关进行快速排查和处理。针对以上的问题,论文研究并构建了一套新型水空一体化无人监控系统,实现了基于涡轮推进的双体无人船结构,在保证船体行驶平稳性、快速性的同时,提高了无人机自主降落、无线充电的准确性;设计并实现了船载无人机无线充电技术,针对无人机着陆点的偏移采用充电最大功率点追踪技术,通过滑台控制无线充电线圈寻找最大充电耦合位置,提高了无人机无线充电效率,从而使无人船载单机乃至多机长期不间断续航成为可能;设计并实现了基于PC的多窗口船机协同实时运动监控平台和内河水质信息监控平台,实现了多任务模式下的水空一体化无人监控系统协同运行,完成了监控水域内的水质变化、污染源立体寻找、事故快速排查和应急奔赴等功能。

With the increasing density of transport vessels on the waterway, the number of dangerous situations and accidents is also increasing, which is in urgent need of quick investigation and treatment by the management authorities. Given the above problems,this paper implements an unmanned water-air integrated monitoring system. A turboprop catamaran unmanned ship structure is proposed to not only ensure the high stability and speed of the vessel but also improve the accuracy of autonomous landing and wireless charging of the UAV. This system is also equipped with the newly designed shipborne UAV wireless charging.To cope with the divergence of the floating UAV landing site,the maximum power spot tracking technology is adopted, which finds the maximum charging coupling position by controlling the wireless charging coil position through a sliding table. This improves the efficiency of the UAV wireless charging so that long-term patrol of the vessel with one or even multiple UAVs is possible. At the same time,this paper also designs and implements a PC-based vessel-UAV collaborative real-time motion monitoring platform and an inland water quality monitoring platform. They enable the integration of multi-task water-air integrated unmanned monitoring systems, which can be used for water quality monitoring, rapid three-dimensional screening for pollution sources, quick troubleshooting of accidents,etc.