基于云平台的无人船自主控制系统设计

Design of Autonomous Control System of Unmanned Ship Based on Cloud Platform

为提高作业效率、降低人工成本,设计和研发一种由船载端、OneNET云平台、远程监控平台组成的无人船自主控制系统。该系统通过全球定位系统(Global Positioning System,GPS)、惯性测量单元(Inertial Measurement Unit,IMU)等传感器,获取船体的姿态和航速航向信息。同时,无人船能够在自主避障算法的控制下,结合激光测距传感器和超声波传感器测得的障碍物距离信息,避开水面障碍物,并复航到原先设定的路径上,最后停在指定的位置完成规定的环境监测任务。通过应用测试可知,远程监控平台可以实时在线监控无人船的运动状态,实现无人、高效的智慧化管理。

In order to improve operation efficiency and reduce labor cost,this paper designs and develops an autonomous control system for unmanned ship,which is composed of ship terminal,OneNET cloud platform and remote monitoring platform.The system uses Global Positioning System(GPS),Inertial Measurement Unit(IMU)and other sensors to obtain hull attitude and speed heading information.At the same time,combined with the obstacle distance information measured by the laser distance sensor and the ultrasonic sensor,the unmanned ship can avoid the surface obstacle under the control of the autonomous obstacle avoidance algorithm,and return to the original path,and finally stop at the designated position to complete the specified environmental monitoring task.Through the actual application test,the remote monitoring platform can monitor the motion status of the unmanned ship online in real time,so as to realize the unmanned and efficient intelligent management.