CN106814735B - Control system of unmanned ship - Google Patents
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Abstract
The invention discloses a control system of an unmanned ship, which comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction; and the unmanned ship sends the acquired detection information to the mobile terminal and displays the detection information. According to the invention, the data interaction is carried out by utilizing the wireless connection of the mobile terminal and the unmanned ship, so that the mobile terminal can remotely control the unmanned ship and display the detection information acquired by the unmanned ship in real time; meanwhile, the mobile terminal can also process according to the detection information to obtain and display an underwater three-dimensional image, so that the portability of controlling the unmanned ship by the user is improved, and the individual requirements of the user can be met.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to a control system of an unmanned ship.
Background
In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.
Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.
Meanwhile, the existing unmanned ship mainly realizes short-distance control over the unmanned ship through a remote controller, and meanwhile, a large amount of image data cannot be processed, so that the multifunctional and portable functions of the remote controller cannot be improved.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a control system of an unmanned ship, wherein the unmanned ship control system utilizes the wireless connection of a mobile terminal and the unmanned ship to carry out data interaction, realizes the remote control of the unmanned ship by the mobile terminal and displays the detection information acquired by the unmanned ship in real time; meanwhile, the mobile terminal can also process according to the detection information to obtain and display an underwater three-dimensional image, so that the portability of controlling the unmanned ship by the user is improved, and the individual requirements of the user can be met.
In order to realize the purpose, the invention adopts the following technical scheme: a control system of an unmanned ship comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction; and the unmanned ship sends the acquired detection information to the mobile terminal and displays the detection information.
Further, the mobile terminal comprises a sending and receiving module, a display module, a command module and a control module, wherein:
the sending and receiving module is connected with the wireless connection module and is used for receiving detection information sent to the mobile terminal by the unmanned ship and/or sending a control instruction to the unmanned ship;
the display module is used for displaying the detection information acquired by the mobile terminal in an image;
the command module is used for acquiring a control instruction of a user on the unmanned ship;
and the control module is respectively connected with the receiving module, the display module and the command module and coordinates the work of each module.
Further, the display module includes an image display unit, a map display unit, and a status display unit, wherein:
the image display unit: the underwater image display device is used for displaying underwater image information acquired by the unmanned ship;
the map display unit: the system is used for displaying underwater environment information acquired by the unmanned ship and/or GPS positioning information of the unmanned ship;
the state display unit: the unmanned ship state information display device is used for displaying state information of the unmanned ship, and the state information comprises one or any combination of voltage information, electric quantity information and operation information.
Further, the command module includes a sensing unit and an instruction unit, wherein:
the sensing unit: the system is used for acquiring the induction information and obtaining a control instruction according to the induction information;
the instruction unit: for directly input control commands.
Further, the mobile terminal is provided with a positioning unit, and/or a gyroscope, and/or an acceleration sensor, and/or a gravity sensor, and the positioning unit, and/or the gyroscope, and/or the acceleration sensor, and/or the gravity sensor collects sensing information;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing information through the external sensing device.
Further, the peripheral sensing device is a VR sensing device.
Further, the sensing information comprises position information, gravity information, deflection direction information and acceleration information;
the position information, the gravity information, the deflection direction information and the acceleration information correspond to the control command, and the corresponding relation is stored in the control module.
Furthermore, the mobile terminal also comprises an imaging module used for generating a three-dimensional image from the detection information, and the imaging module is connected with the control module;
preferably, the imaging module comprises a three-dimensional stereo imaging unit, and/or a color-imitating unit, wherein:
the three-dimensional imaging unit generates a three-dimensional image in a set area according to underwater image information, underwater environment information and fish information;
and the color imitation unit obtains biological information according to the underwater image information, the underwater environment information and the fish information and imitates the biological information into corresponding colors for display.
Furthermore, the mobile terminal also comprises an intelligent following module and is connected with the control module, wherein the intelligent following module collects following motion information of a user to obtain a control instruction, and the control instruction is sent to the unmanned ship through the sending and receiving module and executed;
preferably, the following movement information corresponds to a control command, and the correspondence relationship is stored in the control module.
Further, the mobile terminal further comprises a fish luring module and is connected with the control module, wherein the fish luring module is used for controlling the unmanned ship to lure fish schools;
preferably, the mobile terminal further comprises a shoal database display module, connected to the control module, and configured to display shoal category information and correspondingly select a shoal category.
Furthermore, the mobile terminal also comprises a storage module and is connected with the control module;
wherein the storage unit: the system is used for storing one or any combination of shoal type information, bait information, fishing information and fishing information.
After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the control system of the unmanned aerial vehicle utilizes the wireless connection of the mobile terminal and the unmanned ship to carry out data interaction, realizes that the mobile terminal remotely controls the unmanned ship, displays the detection information acquired by the unmanned ship in real time, and automatically switches the display interfaces of all information according to the requirements of users, thereby improving the intuitiveness of the information. Meanwhile, the mobile terminal can also directly send a control instruction to the unmanned ship through the wireless connection module, and control over the unmanned ship is achieved.
2. The control system of the unmanned aerial vehicle solves the problem of displaying the three-dimensional image of the unmanned ship, mainly controls the unmanned ship to sail along a flight path basically covering a water area to be detected in the water area to be detected, simultaneously acquires an underwater sonar image, synthesizes the sonar images acquired from various positions on the flight path into an underwater 3D sectional image, then generates the three-dimensional image in the set area according to the 3D sectional image, the underwater image information, the underwater environment information and the fish information and displays the three-dimensional image by the display module, thereby facilitating the observation of a user and improving the experience of the user.
3. The control system of the unmanned aerial vehicle can also realize attitude sensing control on the unmanned ship and intelligent following control on the unmanned ship according to the sensing unit or the external sensing device in the mobile terminal, so that the control system is improved in multiple functions and the experience of a user is improved.
Drawings
Fig. 1 is a block diagram of a control system of an unmanned ship according to an embodiment of the present invention;
fig. 2 is a structural diagram of a mobile terminal according to an embodiment of the present invention;
fig. 3 is a block diagram of a control system of the unmanned ship according to another embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 3, the control system of the unmanned ship comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction; and the unmanned ship sends the acquired detection information to the mobile terminal and displays the detection information.
Specifically, in the unmanned ship control system in this embodiment, the mobile terminal is wirelessly connected with the unmanned ship to perform data interaction, so that the unmanned ship is remotely controlled by the mobile terminal, and the detection information acquired by the unmanned ship is displayed in real time; and the mobile terminal displays in real time according to the detection information, wherein the detection information comprises one or any combination of underwater image information, underwater environment information, unmanned ship GPS positioning information and unmanned ship state information, and the mobile terminal can display the underwater image information, the underwater environment information, the unmanned ship GPS positioning information and the unmanned ship state information in real time, and automatically switches display interfaces of all information according to the requirements of users, thereby improving the information intuitiveness. Meanwhile, the mobile terminal can also directly send a control instruction to the unmanned ship through the wireless connection module, and control over the unmanned ship is achieved.
In addition, the unmanned ship control system can simultaneously display a plurality of information combinations on a display interface according to the personalized requirements of the user on the information and the operation mode of the unmanned ship, so that the mobile terminal in the unmanned ship control system can more comprehensively and directly display the information required by the user.
Further, the mobile terminal comprises a sending and receiving module, a display module, a command module, an imaging module and a control module, wherein:
the sending and receiving module is connected with the wireless connection module and is used for receiving detection information sent to the mobile terminal by the unmanned ship and/or sending a control instruction to the unmanned ship;
the display module is used for displaying the detection information acquired by the mobile terminal in an image;
the command module is used for acquiring a control instruction of a user on the unmanned ship;
the imaging module is used for generating a three-dimensional image from the detection information;
and the control module is respectively connected with the receiving module, the display module, the command module and the imaging module and coordinates the work of each module.
Specifically, in this embodiment, the control module in the control system analyzes and processes the detection information received by the sending and receiving module, and sends the detection information to the display module, the display module sends the lower image information, the underwater environment information, the GPS positioning information of the unmanned ship and the state information of the unmanned ship in the detection information out in the corresponding display interface or display area, the display module further needs to display a command instruction, a user inputs the command instruction on the display interface, the command instruction is collected by the command module, and the command instruction is finally sent to the unmanned ship by the sending and receiving module, meanwhile, the control system can also generate a three-dimensional image from the received detection information through the mobile terminal and display the three-dimensional image in the display module, wherein, the user can also adjust the observation angle of the three-dimensional image on the display interface, so as to facilitate the user to observe underwater conditions in an all-directional manner during the fishing process, the unmanned ship is more convenient for the user to control. The control system can realize the control of the unmanned ship and the feedback of image data by using the portable mobile device, and reduces the production cost on the basis of improving the multi-functionalization of the control system.
Further, the display module includes an image display unit, a map display unit, and a status display unit, wherein:
the image display unit: the underwater image display device is used for displaying underwater image information acquired by the unmanned ship;
the map display unit: the system is used for displaying underwater environment information acquired by the unmanned ship and/or GPS positioning information of the unmanned ship;
the state display unit: the unmanned ship state information display device is used for displaying state information of the unmanned ship, and the state information comprises one or any combination of voltage information, electric quantity information and operation information.
Further, the command module includes a sensing unit and an instruction unit, wherein:
the sensing unit: the system is used for acquiring the induction information and obtaining a control instruction according to the induction information;
the instruction unit: for directly input control commands.
Further, the mobile terminal is provided with a positioning unit, and/or a gyroscope, and/or an acceleration sensor, and/or a gravity sensor, and the positioning unit, and/or the gyroscope, and/or the acceleration sensor, and/or the gravity sensor collects sensing information;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing information through the external sensing device.
Further, the peripheral sensing device is a VR sensing device.
Specifically, can acquire attitude control information according to induction element or peripheral hardware induction system on the mobile terminal in this embodiment to convert corresponding control command and send for unmanned ship and carry out according to attitude control information, can make the more convenient control unmanned aerial vehicle of user. For example, after the sensing unit is turned on, when the mobile terminal rotates by an angle, the unmanned ship rotates by a corresponding angle.
Further, the sensing information comprises position information, gravity information, deflection direction information and acceleration information;
the position information, the gravity information, the deflection direction information and the acceleration information correspond to the control command, and the corresponding relation is stored in the control module.
Further, the imaging module comprises a three-dimensional stereo imaging unit, and/or a color-imitating unit, wherein:
the three-dimensional imaging unit generates a three-dimensional image in a set area according to underwater image information, underwater environment information and fish information;
and the color imitation unit obtains biological information according to the underwater image information, the underwater environment information and the fish information and imitates the biological information into corresponding colors for display.
Specifically, the mobile terminal of the control system further comprises a planning module, the planning module is used for controlling the unmanned ship to sail along a route basically covering the water area to be detected in the water area to be detected, meanwhile, the underwater sonar images are obtained, and the sonar images obtained from all positions on the route are synthesized into the underwater 3D sectional image.
The planning module extracts a GPS map and plans a water area to be measured; and planning a route which covers the water area and does not cross according to the water area of the area to be detected, generating a command instruction by a command module, and sending the command instruction to the unmanned ship through a sending and receiving module. After receiving the command instruction, the unmanned ship automatically navigates along a planned route and acquires an underwater sonar image, wherein the sonar image comprises underwater fault information; and then synthesizing the acquired sonar images into a 3D sectional image, and finally sending the 3D sectional image to a mobile terminal, wherein the mobile terminal generates a three-dimensional image in the set area according to the 3D sectional image, underwater image information, underwater environment information and fish information and displays the three-dimensional image by a display module. In addition, the imaging module can also carry out identification and coloring through the color imitation unit according to the three-dimensional image generated by the three-dimensional imaging unit, so that the three-dimensional image is more vivid and convenient for a user to observe. According to the embodiment, the three-dimensional image of the specific area can be acquired according to the requirements of the user, the intuition of the unmanned ship control system is improved, and the user can conveniently and intuitively observe underwater object information.
Further, the mobile terminal further comprises an intelligent following module and is connected with the control module, wherein the intelligent following module collects following motion information of the user to obtain a control instruction, and the control instruction is sent to the unmanned ship through the sending and receiving module and executed.
Further, the following movement information corresponds to the control command, and the corresponding relation is stored in the control module.
Specifically, in this embodiment, the control system of the unmanned aerial vehicle can acquire the motion following information of the user according to the mobile terminal, generate the control information, then form a control instruction through the command module and send the control instruction to the unmanned ship, and then the unmanned ship can simulate the motion following information of the user according to the control instruction and execute the motion following information. For example, when the user moves in a certain direction with a variable speed, the unmanned ship moves in the direction and speed of the user; when the user stops, the unmanned ship stops moving. The user can be personally put into control, the experience of the user is improved, and meanwhile, the control system is more multifunctional.
The mobile terminal also comprises a fish luring module and is connected with the control module, wherein the fish luring module is used for controlling the unmanned ship to lure fish shoals;
preferably, the mobile terminal further comprises a shoal database display module, connected to the control module, and configured to display shoal category information and correspondingly select a shoal category.
Furthermore, the mobile terminal also comprises a storage module and is connected with the control module;
wherein the storage unit: the system is used for storing one or any combination of shoal type information, bait information, fishing information and fishing information.
Specifically, the mobile terminal may further include a fish luring module, and the fish luring module performs fixed-point fish luring according to the image information displayed by the display module; the fish attracting module generates a fish attracting instruction according to the fish attracting information of the user, such as the fish attracting place, the fish attracting time, the fish attracting type and the like, sends the fish attracting instruction to the control module, and finally sends the fish attracting instruction to the unmanned ship through the sending and receiving module. The unmanned ship controls the fish luring place and the fish luring time of the unmanned ship according to the fish luring instruction generated by the fish luring module, controls the fish luring lamp to emit light with strong penetrating power to lure fish, and can enhance the luminous brightness.
Meanwhile, the shoal database display module is used for displaying shoal type information, and a user can select corresponding shoal type information according to shoal image information displayed by the display module, or can identify shoal types according to shoal data and correspondingly display the identified shoal types. The multi-functionalization of the control system is improved.
The storage module stores matching information of different types of fish in advance, for example: the shape, color, favorite bait and suggested fishing rod, net and fishing skill, net casting skill, etc. information of different kinds of fish. When the mobile terminal receives the position information and the image information of the fish sent by the unmanned ship, the control module of the mobile terminal calls the information prestored in the storage module, compares the information and displays the information to the user according to the comparison result, wherein the information comprises the name, the color, the favorite bait, the fishing skill, the net casting skill and the like of the fish, and the user can more conveniently fish the fish of the required type according to the information.
To sum up, this embodiment unmanned aerial vehicle's control system has following advantage:
1. this embodiment unmanned aerial vehicle's control system utilizes mobile terminal and unmanned ship wireless connection to carry out the interaction of data, realizes that mobile terminal is remote to control unmanned ship to the detection information that real-time display unmanned ship gathered, and according to the display interface of user's demand automatic switch-over each information, improved the intuitionistic nature of information. Meanwhile, the mobile terminal can also directly send a control instruction to the unmanned ship through the wireless connection module, and control over the unmanned ship is achieved.
2. This embodiment unmanned aerial vehicle's control system has solved the problem that unmanned ship's three-dimensional stereo image shows, mainly through control unmanned ship in the waters that awaits measuring along the course line navigation that basically covers this waters of awaiting measuring, acquire underwater sonar image simultaneously in this embodiment, synthesize the sonar image that acquires everywhere on the course line into 3D tomograph under water, then generate this three-dimensional stereo image in the settlement region and show by display module according to 3D tomograph, image information under water, environmental information under water and shoal of fish information, be convenient for the user to observe, user's experience has been improved.
3. This embodiment unmanned aerial vehicle's control system can also realize gesture induction control to unmanned ship according to the induction element among the mobile terminal or peripheral hardware induction system to and follow control to unmanned ship's intelligence, improved control system's multifunctionalization has improved user's experience and has felt.
Example two
The implementation is different from the above embodiments in that the unmanned ship and the mobile terminal in this embodiment use a TCP protocol JASON data encapsulation format, and are connected by a socket, where a body of the unmanned ship is provided with a server and collects and processes data, the mobile terminal is a control end, the control end sends an instruction and receives detection information sent by the unmanned ship for processing and displaying, and the unmanned ship receives and executes the control instruction, throws food and feeds fish, collects required detection information, and feeds back the detection information to the mobile terminal.
EXAMPLE III
As shown in fig. 3, the difference between the present embodiment and the above embodiments is that the control system in the present embodiment includes a mobile terminal, an unmanned ship, a wireless connection module and a cloud server, the unmanned ship is respectively connected with the cloud server through the wireless connection module and performs data interaction, and the mobile terminal is connected with the cloud server; the unmanned ship sends the collected detection information to a server and processes the detection information, and the server feeds back the processed information to the mobile terminal and displays the processed information.
Meanwhile, the server calls weather information and fish school activity information and recommends the optimal fishing route to the mobile terminal.
The embodiments in the above embodiments can be further combined or replaced, and the embodiments are only used for describing the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solution of the present invention by those skilled in the art without departing from the design idea of the present invention belong to the protection scope of the present invention.
Claims (9)
1. A control system of an unmanned ship is characterized in that: the control system comprises a mobile terminal, an unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction; the unmanned ship sends the acquired detection information to the mobile terminal and displays the detection information;
the mobile terminal comprises a planning module, a command module, an imaging module, a display module, a following module, a storage module and a control module;
the planning module extracts a GPS map and plans a water area to be measured, and plans a non-crossed route which covers the water area according to the water area to be measured;
the command module generates a control command according to the air route and sends the control command to the unmanned ship;
the unmanned ship controls automatic navigation along a planned air route according to the control instruction, acquires an underwater sonar image, the sonar image comprises underwater fault information, synthesizes the acquired sonar image into a 3D fault image, and sends the 3D fault image to the mobile terminal;
the imaging module comprises a three-dimensional imaging unit and a color imitation unit, wherein the three-dimensional imaging unit generates a three-dimensional image according to the 3D tomographic image, the underwater image information, the underwater environment information and the fish information and displays the three-dimensional image by the display module; the color imitation unit identifies and colors the three-dimensional stereo image;
the mobile terminal also receives a user instruction and adjusts the visual angle of the three-dimensional image;
the following module is connected with the control module, acquires following motion information of a user to obtain a following control instruction, sends the following control instruction to the unmanned ship through the sending and receiving module and executes the following control instruction, the following motion information corresponds to the following control instruction, the corresponding relation of the following motion information is stored in the control module, the following motion information comprises a motion direction, a motion position and a motion speed, and the following control instruction comprises a traveling direction and a traveling speed for controlling the unmanned ship;
the device comprises a storage module, a control module and a display module, wherein the storage module is used for storing matching information of different types of fishes in advance, the matching information comprises appearance information of the different types of fishes, shoal type information and corresponding fishing information, the mobile terminal receives position information and image information of the fishes sent by the unmanned ship, the control module calls the information stored in the storage module in advance and compares the information with the appearance information of the fishes, then the corresponding shoal type information is determined according to a comparison result, the control display module displays the corresponding shoal type information and the corresponding fishing information, and the fishing information comprises baits, fishing skills and net casting skills aiming at the corresponding shoal.
2. The control system of an unmanned ship according to claim 1, wherein: the mobile terminal comprises a sending and receiving module, wherein:
the sending and receiving module is connected with the wireless connection module and is used for receiving detection information sent to the mobile terminal by the unmanned ship and/or sending a control instruction to the unmanned ship;
and the control module is respectively connected with the transmitting and receiving module, the display module and the command module and coordinates the work of each module.
3. The control system of an unmanned ship according to claim 2, wherein: the display module includes image display element, map display element and state display element, wherein:
the image display unit: the underwater image display device is used for displaying underwater image information acquired by the unmanned ship;
the map display unit: the system is used for displaying underwater environment information acquired by the unmanned ship and/or GPS positioning information of the unmanned ship;
the state display unit: the unmanned ship state information display device is used for displaying state information of the unmanned ship, and the state information comprises one or any combination of voltage information, electric quantity information and operation information.
4. The control system of an unmanned ship according to claim 2 or 3, wherein: the command module comprises a sensing unit and an instruction unit, wherein:
the sensing unit: the system is used for acquiring the induction information and obtaining a control instruction according to the induction information;
the instruction unit: for directly input control commands.
5. The control system of an unmanned ship according to claim 4, wherein: the mobile terminal is provided with a positioning unit and/or a gyroscope and/or an acceleration sensor and/or a gravity sensor, and the positioning unit and/or the gyroscope and/or the acceleration sensor and/or the gravity sensor acquire sensing information; or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing information through the external sensing device.
6. The control system of an unmanned ship according to claim 5, wherein: the peripheral sensing device is a VR sensing device.
7. The control system of an unmanned ship according to claim 4, wherein: the induction information comprises position information, gravity information, deflection direction information and acceleration information; the position information, the gravity information, the deflection direction information and the acceleration information correspond to the control command, and the corresponding relation is stored in the control module.
8. The control system of an unmanned ship according to claim 2, wherein: the mobile terminal further comprises a fish luring module and is connected with the control module, wherein the fish luring module is used for controlling the unmanned ship to lure fish schools.
9. The control system of an unmanned ship according to claim 8, wherein: the mobile terminal also comprises a fish shoal database display module, is connected with the control module and is used for displaying fish shoal type information and correspondingly selecting fish shoal types.
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| CN107333723B (en) * | 2017-06-21 | 2023-05-16 | 宁波派丽肯无人机有限公司 | Fishing method |
| CN107995719B (en) * | 2017-10-24 | 2020-06-26 | 北京臻迪科技股份有限公司 | Floating moving body and light emission control method |
| CN108154667A (en) * | 2017-12-22 | 2018-06-12 | 深圳市福锐达科技有限公司 | A kind of Wireless sonar remote control system based on smart machine |
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