无人艇-机协同定位起降关键技术与验证

郑兵; 董超; 刘涵; 熊俊峰; 黄朝雄

doi:10.11993/j.issn.2096-3920.2024-0026

无人艇-机协同定位起降关键技术与验证

doi: 10.11993/j.issn.2096-3920.2024-0026

郑兵^{1, 2, 3,},
董超^{1, 2, ,},
刘涵^4,,
熊俊峰^5,,
黄朝雄^6,

1.
国家海洋局南海调查技术中心, 广东广州, 510300
2.
自然资源部海洋环境探测技术与应用重点实验室, 广东广州, 510300
3.
中山大学, 海洋工程与技术学院, 广东珠海, 519000
4.
珠海云洲智能科技股份有限公司, 广东珠海, 519080
5.
广州工业智能研究院, 广东广州, 5100002
6.
中国科学院沈阳自动化研究所, 辽宁沈阳, 110020

基金项目: 自然资源部海洋环境探测技术与应用重点实验室自主设立课题 (MESTA-2021-C004); 广东省重点领域研发计划项目(2020B1111010002).

详细信息

通讯作者:
董　超(1982-), 男, 博士, 研究员, 研究方向为海洋智能装备

中图分类号: TP242; TP391
计量
- 文章访问数: 7
- HTML全文浏览量: 1
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2024-02-20
- 修回日期: 2024-03-24
- 录用日期: 2024-03-26
- 网络出版日期: 2024-04-13

Key Technology and Verification of USV and UAV Cooperative Positioning Landing and Take-off

ZHENG Bing^{1, 2, 3
,},
Dong Chao^{1, 2
, ,},
LIU Han^4
,,
XIONG Junfeng^5
,,
HUANG Chaoxiong^6
,

1.
China South China Sea Marine Survey and Technology Center, State Oceanic Administration, Guangzhou 510300, China
2.
Key Laboratory of Marine Environmental Survey Technology and Application, Ministry of Natural Resources, Guangzhou 510300, China
3.
School of Marine Engineering and Technology, Sun Yat-sen University, Zhuhai 519000, China
4.
Zhuhai Yunzhou Intelligence Technology Co. Ltd, Zhuhai 519080, China
5.
Guangzhou Institute of Industrial Intelligence, Guangzhou 510000, China
6.
Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110004, China

摘要

摘要: 无人艇(USV)单平台执行水面任务易受平台限制, 构建无人艇-机跨平台系统能实现平台优势互补。文章通过研究无人艇-机起降及补能技术, 实现无人艇-机持久协同作业。首先, 针对无人机(UAV)在动态USV上起降问题, 开展无人艇-机协同定位起降技术研究, 研究了无人艇-机速度、位置状态信息动态更新模型, 实现了UAV在USV端高精度的起降; 其次, 针对UAV续航时间短的问题, 开展UAV在USV端补能研究, 研究了UAV端起降机构和USV端充电网机构, 实现了UAV着艇快速补能; 最后, 在海面验证该无人艇-机跨平台起降补能系统性能, 试验结果中, 无人艇-机系统能在3.0 m/s的高速运动状态下, 实现UAV在USV端的成功降落和补能, 满足海上无人艇-机跨平台执行任务场景的需求。
- 无人艇 /
- 无人机 /
- 跨平台
Abstract: Unmanned surface vessel(USV) single-platform execution mission is easily restricted by the platform, and the construction of USV and unmanned aerial vehicle(UAV) cross-platform system can realize the complementary advantages of the platform. In this paper, the USV and UAV take-off and landing and energy replenishment technologies are studied to realize the UAV and UAV enduring cooperative operation. Firstly, for the problem of UAV taking off and landing on dynamic UAV, we carry out the research on USV and UAV cooperative positioning take-off and landing technology, study the dynamic update model of USV’s and UAV’s speed and position information, and realize the high-precision take-off and landing of UAV at the USV end; Secondly, to address the problem of short endurance time of UAV, the research on UAV replenishment at the USV end is carried out, and the landing mechanism at the UAV end and the charging mechanism at the USV end are investigated to realize the rapid replenishment of UAV landing on the USV end; Finally, the performance of the USV and UAV cross-platform take-off and landing and replenishment system is verified on the sea, and the UAV is able to land and replenish at the USV end at the high-speed movement of 3.0 m/s, which meets the demand of the USV and UAV cross-platform execution mission on the sea.
- USV /
- UAV /
- Cross-Platform

HTML全文

图 1 无人艇与无人机平台

Figure 1. USV and UAV platforms

下载: 全尺寸图片幻灯片

图 2 无人机起飞流程图

Figure 2. Flowchart of UAV takeoff

下载: 全尺寸图片幻灯片

图 3 起落机构组成

Figure 3. Composition of landing mechanism

下载: 全尺寸图片幻灯片

图 4 充电网结构组成

Figure 4. Composition of charging network structure

下载: 全尺寸图片幻灯片

图 5 无人机辅助降落补能流程

Figure 5. Flowchart of UAV assisted landing charging

下载: 全尺寸图片幻灯片

图 6 起降机构锁死状态

Figure 6. Lifting and lowering mechanism locked status

下载: 全尺寸图片幻灯片

图 7 无人艇-机跨域协同通信链路

Figure 7. Communication link between USV and UAV

下载: 全尺寸图片幻灯片

图 8 无人艇-机起降验证

Figure 8. USV and UAV Landing and Takeoff Validation

下载: 全尺寸图片幻灯片

图 9 无人机相对无人艇飞行高度

Figure 9. Flight height of UAV relative to USV

下载: 全尺寸图片幻灯片

表 1 无人艇技术指标

Table 1. Technical specifications of the USV

名称	参数性能
尺寸	长7.5 m, 宽2.8 m
满载吃水	≤0.5 m(至载荷底部)
设计排水量	≤2.5 t
搭载能力	≥200 kg
工作速度	5~6 kn
最大平均航速	≥12 kn
工作续航	20 h(工作航速)
通讯性能	宽带≥15 km, 8 Mbit/s
布放回收	三级海况下, 人员无须登艇实现

下载: 导出CSV

表 2 无人机技术指标

Table 2. Technical specifications of the UAV

名称	参数性能
载荷	≥3 kg
巡航速度	≥25 km/h
续航时间	≥20 min
抗风能力	5级
防水等级	≥IPX3
悬停精度	4级风速下, 水平悬停航迹控制精度优于0.5 m, 垂直悬停航迹控制精度优于0.5 m

下载: 导出CSV

参考文献(15)

[1]	Dong C, Li X, Chen X X, et al. Recent progress of marine survey unmanned surface vehicle in China[J]. Marine Technology Society Journal, 2019, 53(3): 23-29. doi: 10.4031/MTSJ.53.3.4
[2]	樊邦奎, 张瑞雨. 无人机系统与人工智能[J]. 武汉大学学报 ( 信息科学版), 2017, 42(11): 1523-1529. Fan Bangkui, Zhang Ruiyu. Unmanned aircraft system and artificial intelligence[J]. Geomatics and Information Science of Wuhan University, 2017, 42(11): 1523-1529.
[3]	李道亮, 包建华. 水产养殖水下作业机器人关键技术研究进展[J]. 农业工程学报, 2018, 34(16): 1-9. Li Daoliang, Bao Jianhua. Research progress on key technologies of underwater operation robot for aquaculture[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2018, 34(16): 1-9.
[4]	徐小斌, 段海滨, 曾志刚, 等. 无人机/无人艇协同控制研究进展[J]. 航空兵器, 2020, 27(6): 1-6. Xu Xiaobin, Duan Haibin, Zeng Zhigang, et al. Progresses in UAV/USV cooperative control[J]. Aero Weaponry, 2020, 27(6): 1-6.
[5]	戴碧碧. 无人机协同无人船在淮河崩岸监测中的应用[J]. 吉林水利, 2024(2): 37-41. Dai Bibi. Application of unmanned aerial vehicle collaborative unmanned ship in river bank collapse monitoring for Huaihe River[J]. Jilin Water Resources, 2024(2): 37-41.
[6]	朱鹏瑞, 韩阳, 刘红彪, 等. 无人机与无人船在船闸立体巡检中的协同应用[J]. 水道港口, 2023, 44(3): 432-438. Zhu Pengrui, Han Yang, Liu Hongbiao, et al. Cooperative application of UAV and unmanned ship in ship lock stereo inspection[J]. Journal of Waterway and Harbor, 2023, 44(3): 432-438.
[7]	Dufek J, Murphy R. Visual pose estimation of USV from UAV to assist drowning victims recovery[C]//2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). Lausanne, Switzerland: IEEE, 2016.
[8]	Xiao X, Dufek J, Woodbury T, et al. UAV assisted USV visual navigation for marine mass casualty incident response[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, Canada: IEEE, 2017.
[9]	Wei W, Wang J, Fang Z, et al. 3U: Joint design of UAV-USV-UUV networks for cooperative target hunting[J]. IEEE Transactions on Vehicular Technology, 2022, 72(3): 4085-4090.
[10]	赵良玉, 程喆坤, 高凤杰, 等. 无人机/艇协同自主降落的若干关键技术[J]. 中国造船, 2020, 61(S1): 156-163. Zhao Liangyu, Cheng Zhekun, Gao Fengjie, et al. Several key technologies of unmanned aerial vehicle-unmanned surface vehicle cooperative autonomous landing[J]. Shipbuilding of China, 2020, 61(S1): 156-163.
[11]	范云生, 孙涛, 王国峰, 等. 基于海空双视觉协同的无人艇载无人机自主降落与验证[J]. 大连海事大学学报, 2022, 48(2): 1-10. Fan Yunsheng, Sun Tao, Wang Guofeng, et al. Autonomous landing and verification of unmanned boat-borne UAVs based on dual vision collaboration between sea and air[J]. Journal of Dalian Maritime University, 2022, 48(2): 1-10.
[12]	Xu Z C, Hu B B, Liu B, et al. Vision-based autonomous landing of unmanned aerial vehicle on a motional unmanned surface vessel[C]//2020 39th Chinese Control Conference. Shenyang, China: IEEE, 2020.
[13]	Li W, Ge Y, Guan Z, et al. Synchronized motion-based UAV-USV cooperative autonomous landing[J]. Journal of Marine Science and Engineering, 2022, 10(9): 1214. doi: 10.3390/jmse10091214
[14]	Abujoub S, McPhee J, Irani R A. Methodologies for landing autonomous aerial vehicles on maritime vessels[J]. Aerospace Science and Technology, 2020, 106: 106169. doi: 10.1016/j.ast.2020.106169
[15]	王伟平, 何西, 董超, 等. 海洋探测无人艇: 平台设计及应用[J]. 电信科学, 2021, 37(7): 40-47. Wang Weiping, He Xi, Dong Chao, et al. Marine survey unmanned surface vessel: platform design and application[J]. Telecommunications Science, 2021, 37(7): 40-47.