CN106873608A - A kind of semi-submersible type miniature self-service ship integrated control system - Google Patents
A kind of semi-submersible type miniature self-service ship integrated control system Download PDFInfo
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- CN106873608A CN106873608A CN201710243483.1A CN201710243483A CN106873608A CN 106873608 A CN106873608 A CN 106873608A CN 201710243483 A CN201710243483 A CN 201710243483A CN 106873608 A CN106873608 A CN 106873608A
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- 230000033001 locomotion Effects 0.000 claims abstract description 65
- 238000004891 communication Methods 0.000 claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000013497 data interchange Methods 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 14
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 7
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- 230000004927 fusion Effects 0.000 description 2
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- 238000005284 basis set Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The present invention relates to a kind of semi-submersible type miniature self-service ship integrated control system, it is used to monitor unmanned boat motion state including one and selects the bank base integrated control system of unmanned boat motor pattern, the bank base integrated control system includes a bank base communication system, a bank base processing system, a shore-based power supply system of data interchange；The one warship base integrated control system for being responsible for control unmanned boat motion, the warship base integrated control system includes a warship base communication system, a warship base processing system, a warship base electric power system of data interchange, the warship base processing system includes the warship base industrial computer of one and warship base communication system data interchange, and an obstacle avoidance system, a kinetic control system, a pose navigation system and a vision system are connected with the warship base industrial computer.The advantage of the invention is that：This control system has the advantages that level of integrated system is high, motion control more intelligent, the unmanned boat motion control of over the horizon, controls mode of operation to be combined by multi-motion, and system is reliable and stable.
Description
Technical field
The present invention relates to unmanned boat motion control field, more particularly to a kind of integrated control system of semi-submersible type miniature self-service ship
System.
Background technology
Ocean development and using have become the world become, country's general trend of events, and the research and development of underwater surface unmanned vehicles are
Ocean development application and important equipment indispensable in interest protection.Underwater surface unmanned vehicles are related to Marine engineering, lead to
The ambit such as news and navigation, Based Intelligent Control, power drive, information transfer and treatment, is the focus of comprehensive crossing research.
Foreign countries, the water surface or unmanned vehicles under water, are widely used to ocean engineering and ocean military field, particularly with beautiful, Europe
For underwater surface unmanned vehicles are classified as important developing direction by the west various countries for representing.
At home, the research of unmanned boat is carried out it is later, at present technically with advanced country's gap such as U.S., Israel very
Greatly.
For example, a kind of semi-submersible type unmanned boat is just refer in patent CN205707188U, including hull；It is characterized in that：
The bottom of the hull is provided with propeller；Control device, navigation equipment receiving terminal, ship are equiped with hull and carry communication equipment
And supervision equipment；The control device controls the motion of propeller；The control device, navigation equipment receiving terminal, monitoring set
Standby to be connected with ship load communication apparatus communication, the ship carries communication equipment and passes through communication link between antenna and telecommunication equipment
Connect.When using a kind of semi-submersible type unmanned boat of the present utility model, telecommunication equipment can carry communication equipment to control by ship
Device sends control signal, so as to control propeller to move to control the movement of hull；Navigation equipment receiving terminal can be obtained
Positional information and forming position signal, then carry communication equipment and send telecommunication equipment to by ship, can so be obtained long-range
Know the position of hull；Supervision equipment is monitored to surrounding environment and is formed monitoring signal, and then carrying communication equipment by ship passes
Telecommunication equipment is given, so the ambient condition around hull can be remotely being learnt.So, a kind of partly latent of the present utility model
During formula unmanned boat operation, in remote tracing job position and operating environment state can be understood, and control the movement of hull, can
Unmanned operation is performed in related waters.
But the semi-submersible type unmanned boat in said structure still suffers from certain defect：Its control system integration degree is low, independently
Avoidance means are single, intelligent not enough with independence, can not effectively implement various of ocean observation, target identification tracking etc.
Business.
The content of the invention
The technical problem to be solved in the present invention is to provide that a kind of level of integrated system is high, various avoidance means are combined, move
Control more intelligent, the semi-submersible type miniature self-service ship integrated control system with over the horizon.
In order to solve the above technical problems, the technical scheme is that：A kind of integrated control system of semi-submersible type miniature self-service ship
Unite, its innovative point is：Including
One is used to monitor unmanned boat motion state and selects the bank base integrated control system of unmanned boat motor pattern, the bank base collection
Include a bank base communication system, a bank base processing system of data interchange into control system, also including a pair of bank base communication systems
And the shore-based power supply system that bank base processing system is powered；
The one warship base integrated control system for being responsible for control unmanned boat motion, the warship base integrated control system includes data interchange
One warship base communication system, a warship base processing system, also including a pair of warship base communication systems and warship base processing system and are powered
Warship base electric power system, the warship base processing system include one with the warship base industrial computer of warship base communication system data interchange, it is described
An obstacle avoidance system, a kinetic control system, a pose navigation system and a vision system are connected with warship base industrial computer.
Further, the bank base communication system is collectively constituted by a bank base data transmission equipment, a bank base Image transmission equipment.
Further, the bank base processing system includes a bank base industrial computer, the bank base industrial computer and bank base communication system
Data interchange is realized, one handle, a multi-screen are connected with the bank base industrial computer, different use are shown on the multi-screen
In the human-computer interaction interface of display monitoring unmanned boat motion state.
Further, the shore-based power supply system includes the bank base 220VAC/24VDC lithium batteries being sequentially connected and bank base electricity
Buckling parallel operation.
Further, the warship base communication system is collectively constituted by a warship base data transmission equipment, a warship base Image transmission equipment.
Further, the obstacle avoidance system includes a millimetre-wave radar for being used to measure the water surface, aerial target and barrier,
The one multi beam wave sound for being used to measure target and barrier in water.
Further, the kinetic control system includes that one is used to change the direction of motion of unmanned boat and in water
Liter, the warship machine system of dive, one provides the main power system of power for the forward-reverse of unmanned boat.
Further, the pose navigation system includes a Big Dipper/GPS for being used for positioning unmanned boat position in water in real time
Module, one is used to measure orientation, speed, acceleration, the micro- inertial navigation pose module of angular rate information of the unmanned boat in water, and one uses
In the depth flow sensor of measurement unmanned boat flow velocity of the depth of dive and unmanned boat ambient water in water.
Further, the vision system includes CCD camera, the use for being used to gather unmanned boat external environment condition image
In the head of rotation CCD camera.
Further, the warship base electric power system includes the warship base voltage converter and a carrier-borne 72V lithiums that are sequentially connected
Battery/24VDC lithium batteries.
The advantage of the invention is that：Control system in the present invention is by bank base integrated control system and warship basis set into control
The mutual cooperation of system, by the motion state of bank base integrated control system charge of overseeing unmanned boat, selects the motion mould of unmanned boat
Formula, and warship base integrated control system is used to merge various sensor informations, forms complete integrated navigation information, and it is responsible for control
The motion of unmanned boat so that this control system has that level of integrated system is high, the unmanned boat of motion control more intelligent, over the horizon is transported
The advantages of dynamic control, mode of operation is controlled to be combined by multi-motion, system is reliable and stable.
By bank base communication system, bank base processing system, warship base communication system, warship base processing system cooperating, make
It is of the invention in semi-submersible type miniature self-service ship possess four kinds of motion control mode of operations：Hand behaviour's motion control mode of operation,
Cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control mode of operation,
Motion control is more intelligent.
Hand grasp motion control mode of operation from human-computer interaction interface and handle jointly be achieved；Cruise motion control
Mode of operation from human-computer interaction interface, bank base industrial computer, carrier-borne industrial computer it is common be achieved；Visual target tracking is moved
Control mode of operation from CCD camera, carrier-borne industrial computer, bank base industrial computer, multi-screen it is common be achieved；Automatic obstacle avoiding
Motion control mode of operation is by carrier-borne industrial computer, the Big Dipper/GPS module, micro- inertial navigation pose module, depth flow sensor, millimeter
Ripple radar, multi beam wave sound, CCD camera jointly coordinate be achieved.
In the present invention, for being provided with a voltage changer in shore-based power supply system and warship base electric power system, so that
It can be as needed to be powered to each equipment again after needing voltage by the voltage transformation of lithium battery, it is ensured that the trouble-free operation of equipment.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the schematic diagram of semi-submersible type miniature self-service ship integrated control system of the invention.
Fig. 2 is multi-sensor information integrated fusion schematic diagram in the present invention.
Fig. 3 is the flow chart of hand behaviour's motion control mode of operation in the present invention.
Fig. 4 is the flow chart of cruise motion control mode of operation in the present invention.
Fig. 5 is the flow chart of visual target tracking motion control mode of operation in the present invention.
Fig. 6 is the flow chart of automatic obstacle avoiding motion control mode of operation in the present invention.
Specific embodiment
The following examples can make professional and technical personnel that the present invention is more fully understood, but therefore not send out this
It is bright to be limited among described scope of embodiments.
A kind of semi-submersible type miniature self-service ship integrated control system as shown in Figure 1, including
One is used to monitor unmanned boat motion state and selects the bank base integrated control system 1 of unmanned boat motor pattern, and bank base is integrated
Control system 1 includes a bank base communication system 12, a bank base processing system of data interchange, also including a pair of bank base communication systems
12 and the shore-based power supply system that is powered of bank base processing system.
Bank base communication system 12 is collectively constituted by a bank base data transmission equipment 121, a bank base Image transmission equipment 122.
Bank base processing system includes a bank base industrial computer 16, and the bank base industrial computer 16 realizes data with bank base communication system 12
Intercommunication, is connected with one handle 13, a multi-screen 14 on bank base industrial computer 16, is shown on multi-screen 14 different for showing
Monitor the human-computer interaction interface 15 of unmanned boat motion state.
Shore-based power supply system includes the bank base 220VAC/24VDC lithium batteries 11 and bank base voltage changer 17 that are sequentially connected.
By being provided with a bank base voltage changer 17, so as to the voltage of bank base 220VAC/24VDC lithium batteries 11 can be become as needed
It is changed to after needing voltage and is powered to each equipment in bank base communication system 12 and bank base processing system again, it is ensured that the integrated control of bank base
The overall trouble-free operation of system processed 1.
The one warship base integrated control system 2 for being responsible for control unmanned boat motion, the warship base integrated control system 2 includes that data are mutual
A logical warship base communication system 21, a warship base processing system, also including a pair of warship base communication systems 21 and warship base processing system and
The warship base electric power system being powered, warship base processing system includes the warship base industrial computer of one and the intercommunication of warship base communication system data 21
23, an obstacle avoidance system 24, a kinetic control system 25, a pose navigation system 22 and are connected with warship base industrial computer 23 and are regarded
Feel system 26.
Warship base communication system 21 is collectively constituted by a warship base data transmission equipment 211, a warship base Image transmission equipment 212.
Obstacle avoidance system 24 includes a millimetre-wave radar 241 for being used to measure the water surface, aerial target and barrier, and one is used to survey
The multi beam wave sound 242 of target and barrier in amount water.
Kinetic control system 25 includes the direction of motion and the rising in water, the warship of dive for being used to change unmanned boat
Machine system 251, one provides the main power system 252 of power for the forward-reverse of unmanned boat.
Pose navigation system 22 includes a Big Dipper/GPS module 221 for being used for positioning unmanned boat position in water in real time, one
Micro- inertial navigation pose module 222 for measuring orientation of the unmanned boat in water, speed, acceleration, angular rate information, one is used to survey
Measure the depth flow sensor 223 of unmanned boat flow velocity of the depth of dive and unmanned boat ambient water in water.
Vision system 26 includes that a CCD camera 261, for being used to gather unmanned boat external environment condition image is used to rotate
The head 262 of CCD camera 261.
Warship base electric power system includes the warship base voltage converter 27 and a carrier-borne 72V lithium batteries/24VDC lithiums that are sequentially connected
Battery 28.By being provided with a warship base voltage converter 27, so that can as needed by carrier-borne 72V lithium batteries/24VDC lithium batteries
28 voltage transformation is to be powered to each equipment in warship base communication system 21 and warship base processing system again after needing voltage, it is ensured that
The overall trouble-free operation of warship base integrated control system 2.
In this control system, bank base communication system 12 and warship base communication system 21 constitute unmanned boat integrated control system
Communication system, for the transmission of bank base integrated control system 1 and the data and image of warship base integrated control system 2.
Schematic diagram as shown in Figure 2 understands that the formation of integrated navigation information is by the Big Dipper/GPS module 221, micro- inertial navigation position
Appearance module 222, depth flow sensor 223 and multi beam wave sound 242 are connected by RS232 interfaces with carrier-borne industrial computer 23 respectively
Connect, millimetre-wave radar 241 and CCD camera 261 are connected by Ethernet interface with carrier-borne industrial computer 23 respectively, carrier-borne industry control
The information data of each sensor is carried out treatment fusion by machine 23, forms complete integrated navigation information, is sent by communication system
To bank base integrated control system 2.
Semi-submersible type miniature self-service ship in the present invention has four kinds of motion control mode of operations, respectively：Hand behaviour's motion control
Mode of operation processed, cruise motion control mode of operation, visual target tracking motion control mode of operation and automatic obstacle avoiding motion control
Mode of operation processed, motion control is more intelligent.
Schematic diagram as shown in Figure 3 understands that the workflow of hand behaviour's motion control mode of operation is：Electricity is initial on unmanned boat
It is that hand behaviour's motor pattern works by unmanned boat operator selection unmanned boat motor pattern after change, unmanned boat operator is in visual model
Enclose position, the appearance of interior or remote unmanned boat attitude and environment information acquisition unmanned boat according to human-computer interaction interface 15
State, and choose whether that carrying out handle 13 operates, if it is, into next step, if it is not, then proceed previous step obtaining
The position of unmanned boat, attitude, selection carry out handle 13 operate after, through the data of 16 acquisition process handle of bank base industrial computer 13 after,
Instruction to warship base industrial computer 23 is transmitted by communication system, then is processed by carrier-borne industrial computer 23 and is generated motion control commands, passed
It is defeated that main power system 252, the motor setting in motion of warship machine system 251 control the motion of unmanned boat to kinetic control system 25,
It is achieved thereby that hand behaviour's motion control mode of operation of unmanned boat.
Schematic diagram as shown in Figure 4 understands that the workflow of motion control mode of operation of cruising is：Electricity is initial on unmanned boat
After change, unmanned boat operator unmanned boat attitude and ring according to human-computer interaction interface 15 in visual range or at a distance
Environment information obtain unmanned boat position, attitude, and choose whether enter cruise motor pattern work, unmanned boat operator according to appoint
Business needs, and prior to the cruise route that unmanned boat is set on human-computer interaction interface 15, is processed through bank base industrial computer 16, is by communicating
Moving line is sent to carrier-borne industrial computer 23 by system transmission instruction, is processed by carrier-borne industrial computer 23 and generated motion control commands,
It is transferred to kinetic control system 25, main power system 252, the motor setting in motion of warship machine system 251, control unmanned boat is according to setting
Fixed line is moved, it is achieved thereby that the cruise motion control mode of operation of unmanned boat.
Schematic diagram as shown in Figure 5 understands that the workflow of visual target tracking motion control mode of operation is：Unmanned boat
After power-up initializing, unmanned boat motor pattern is selected to be worked for visual target tracking motor pattern by unmanned boat operator, CCD takes the photograph
As the water surface, air environment information in first 261 shooting unmanned boat movement environments, processed by carrier-borne industrial computer 23, be by communicating
Whether system is transferred to bank base industrial computer 16, is shown by multi-screen 14, selectes track target on picture by unmanned boat operator,
If so, then enter next step, if it is not, then CCD camera 261 continues to shoot the water surface, air environment letter in unmanned boat movement environment
Breath, selection tracking target after, after being processed by bank base industrial computer 16, by communication system will track target information pass back to it is carrier-borne
Industrial computer 23, then processed by carrier-borne industrial computer 23 and generate motion control commands, kinetic control system 25 is transferred to, control nobody
Ship tracks selected target campaign, and head 262 rotates the rotation of drive CCD camera 261 and tracks target, it is achieved thereby that
The visual target tracking motion control mode of operation of unmanned boat.
Schematic diagram as shown in Figure 6 understands that the workflow of automatic obstacle avoiding motion control mode of operation is：Electricity on unmanned boat
After initialization, under cruise motion control mode of operation and visual target tracking motion control mode of operation, unmanned boat has certainly
Main avoidance motion control function, by the Big Dipper/GPS module 221, micro- inertial navigation pose module 222, depth flow sensor 223, millimeter
Ripple radar 241, multi beam wave sound 242 and CCD camera 261 have detected whether barrier, and feed back information to carrier-borne industry control
Machine 23, then by carrier-borne industrial computer 23 by merging the Big Dipper/GPS module 221, micro- inertial navigation pose module 222, depth flow-velocity sensing
The information data information of device 223, millimetre-wave radar 241, multi beam wave sound 242 and CCD camera 261, judges barrier
Information, automatically generates motion control commands, is transferred to kinetic control system 25, and control unmanned boat circumvents barrier motion, so that
Realize the automatic obstacle avoiding motion control mode of operation of unmanned boat.
It should be understood by those skilled in the art that, the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
By appending claims and its equivalent thereof.
Claims (10)
1. a kind of semi-submersible type miniature self-service ship integrated control system, it is characterised in that：Including
One is used to monitor unmanned boat motion state and selects the bank base integrated control system of unmanned boat motor pattern, the bank base collection
Include a bank base communication system, a bank base processing system of data interchange into control system, also including a pair of bank base communication systems
And the shore-based power supply system that bank base processing system is powered；
The one warship base integrated control system for being responsible for control unmanned boat motion, the warship base integrated control system includes data interchange
One warship base communication system, a warship base processing system, also including a pair of warship base communication systems and warship base processing system and are powered
Warship base electric power system, the warship base processing system include one with the warship base industrial computer of warship base communication system data interchange, it is described
An obstacle avoidance system, a kinetic control system, a pose navigation system and a vision system are connected with warship base industrial computer.
2. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The bank base communication
System is collectively constituted by a bank base data transmission equipment, a bank base Image transmission equipment.
3. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The bank base treatment
System includes a bank base industrial computer, and the bank base industrial computer realizes data interchange with bank base communication system, on the bank base industrial computer
One handle, a multi-screen are connected with, the different people for display monitoring unmanned boat motion state are shown on the multi-screen
Machine interactive interface.
4. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The shore-based power supply
System includes the bank base 220VAC/24VDC lithium batteries and bank base voltage changer that are sequentially connected.
5. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The warship base communication
System is collectively constituted by a warship base data transmission equipment, a warship base Image transmission equipment.
6. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The obstacle avoidance system
It is used to measuring the millimetre-wave radar of the water surface, aerial target and barrier including one, one is used to measuring target and barrier in water
Multi beam wave sound.
7. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The motion control
System includes the direction of motion and the rising in water, the warship machine system of dive for being used to change unmanned boat, and one is unmanned boat
Forward-reverse provide power main power system.
8. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The pose navigation
System includes a Big Dipper/GPS module for being used for positioning unmanned boat position in water in real time, and one is used to measure unmanned boat in water
Orientation, speed, acceleration, micro- inertial navigation pose module of angular rate information, one is used to measure the depth of unmanned boat dive in water
And the depth flow sensor of the flow velocity of unmanned boat ambient water.
9. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The vision system
It is used to gathering the CCD camera of unmanned boat external environment condition image including one, one is used to rotate the head of CCD camera.
10. semi-submersible type miniature self-service ship integrated control system according to claim 1, it is characterised in that：The warship base is supplied
Electric system includes the warship base voltage converter and a carrier-borne 72V lithium batteries/24VDC lithium batteries that are sequentially connected.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243483.1A CN106873608A (en) | 2017-04-14 | 2017-04-14 | A kind of semi-submersible type miniature self-service ship integrated control system |
| CN201710494427.5A CN107256026A (en) | 2017-04-14 | 2017-06-26 | A kind of semi-submersible type miniature self-service ship integrated control system |
| PCT/CN2017/116478 WO2019000855A1 (en) | 2017-04-14 | 2017-12-15 | Integrated control system of semi-submersible small unmanned surface vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710243483.1A CN106873608A (en) | 2017-04-14 | 2017-04-14 | A kind of semi-submersible type miniature self-service ship integrated control system |
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| CN106873608A true CN106873608A (en) | 2017-06-20 |
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| CN201710243483.1A Pending CN106873608A (en) | 2017-04-14 | 2017-04-14 | A kind of semi-submersible type miniature self-service ship integrated control system |
| CN201710494427.5A Pending CN107256026A (en) | 2017-04-14 | 2017-06-26 | A kind of semi-submersible type miniature self-service ship integrated control system |
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| CN108375989A (en) * | 2018-01-23 | 2018-08-07 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of unmanned boat control system |
| WO2019000855A1 (en) * | 2017-04-14 | 2019-01-03 | 江苏科技大学 | Integrated control system of semi-submersible small unmanned surface vehicle |
| CN109194385A (en) * | 2018-10-31 | 2019-01-11 | 中国船舶工业系统工程研究院 | Unmanned surface vehicle long-range control method based on Big Dipper short message |
| CN109398638A (en) * | 2018-09-14 | 2019-03-01 | 天津海之星水下机器人有限公司 | The auxiliary display method and system of unmanned surface vehicle beyond-the-horizon communication |
| CN109541610A (en) * | 2019-01-10 | 2019-03-29 | 浙江嘉蓝海洋电子有限公司 | Shallow sea water sound mapping system |
| CN110673638A (en) * | 2019-10-15 | 2020-01-10 | 中国特种飞行器研究所 | Unmanned airship avoiding system and unmanned airship flight control system |
| CN111986518A (en) * | 2020-08-31 | 2020-11-24 | 上海大学 | Unmanned ship cooperative communication control system |
| CN112407171A (en) * | 2020-12-28 | 2021-02-26 | 上海大学 | Unmanned underwater vehicle deployment and recovery system and deployment and recovery method |
| CN112666936A (en) * | 2020-12-07 | 2021-04-16 | 江苏科技大学 | Intelligent obstacle avoidance system and method for semi-submersible unmanned ship |
| CN115857490A (en) * | 2022-11-21 | 2023-03-28 | 中国人民解放军海军工程大学 | Modularized allopatric multi-base-station cooperative control system and method for unmanned surface vehicle |
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| CN105184816A (en) * | 2015-08-18 | 2015-12-23 | 江苏科技大学 | Visual inspection and water surface target tracking system based on USV and detection tracking method thereof |
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- 2017-12-15 WO PCT/CN2017/116478 patent/WO2019000855A1/en active Application Filing
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| Publication number | Publication date |
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| WO2019000855A1 (en) | 2019-01-03 |
| CN107256026A (en) | 2017-10-17 |
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