Design And Implementation Of USV Universal Control Platform Of Multi-mission Based On CAN Bus

In recent years, due to ocean climate change anomalies, tsunami, typhoon activity, the proportion of marine accidents increased obviously, dangerous sea on-site operation or mission has gradually increased. Compared with manned ship, USV because of its low cost, high speed,high flexibility, high intelligence and other characteristics, especially the application of practice instead of manual work in the dangerous situation, has become a hot research topic.In order to reflect the highly intelligent features of USV, the research difficulty is the key control technologies such as general platform design, automatic collision avoidance and other aspects of the breakthrough. This paper first analyzes the current situation of the development of foreign USV technology in China, pointed out that the domestic shortage in some key technologies, such as intelligence, speed, cost, etc. in order to construct autonomous avoidance, then USV universal control platform and realize the diversity of tasks as the research object, using intelligent terminal developed by the CAN bus control system is introduced then, put forward a distributed control scheme based on the platform. The structure of the whole system is divided into control platform, communication subsystem, ship shore end monitoring subsystem, ship end control platform using intelligent terminal equipment, each sensor actuator, task module access to the CAN bus, the main control unit adopts IPC, bearing, autonomous obstacle avoidance of autonomous cruise control core algorithm. Then a detailed analysis of the overall plan of the intelligent terminal design, appearance design, internal circuit design, and the design scheme of the main control unit, and the simulation of automatic collision avoidance algorithm.Combined with the actual project- unmanned maritime rescue ship to test the system, design of control test platform, including intelligent terminal function test, the main control unit debugging interface test and automatic collision avoidance algorithm test; in addition, the design of multi-mission test, including maritime patrol and maritime search and rescue function test. The experimental data show that the proposed design scheme of distributed control platform is feasible, through the intelligent terminal can be independently developed stable, reliable implementation of distributed multi-sensor data acquisition, processing and sharing, can realize unmanned ship course keeping,autonomous cruise function, avoidance function, distributed structure to ensure the system can be easily carried or change the task module, through the intelligent terminal of each individual equipment to open and close the switch, and achieve multi-mission. The photoelectric tracking can stable and reliable transmission of screen information and realize the target tracking, life-saving device according to the instruction project rescue equipment.This thesis tests the function of USV by real ship test, computer simulation is more persuasive than the traditional, provides a new idea for further study of USV technology.