CN108646753A - A kind of unmanned boat control system and unmanned boat - Google Patents
A kind of unmanned boat control system and unmanned boat Download PDFInfo
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- CN108646753A CN108646753A CN201810695840.2A CN201810695840A CN108646753A CN 108646753 A CN108646753 A CN 108646753A CN 201810695840 A CN201810695840 A CN 201810695840A CN 108646753 A CN108646753 A CN 108646753A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
This application involves unmanned boat field waterborne more particularly to a kind of unmanned boat control system and unmanned boats.For in existing unmanned boat, the fish finding module of different manufacturers is communicated with main control module to have difficulties, the problem that fish finding module and main control module can not be compatible with, the application provides a kind of unmanned boat control system, the unmanned boat control system of the application includes protocol translation module, the fish finding protocol translation of different manufacturers can be the data protocol that main control module can identify by it, and main control module is sent the data to by serial ports or other bus forms, to reach the fish finding module of compatible different manufacturers, realize modularization, facilitate the upgrading or replacement of the fish finding module of different manufacturers.The application also provides a kind of unmanned boat simultaneously.
Description
Technical field
This application involves unmanned boat field waterborne more particularly to a kind of unmanned boat control system and unmanned boats.
Background technology
All the time, water body will ensure maximum economic benefit by keeping rational fish culture density in fishery.
Fish culture density is excessively high or too low can all be had an impact to economic benefit.However, water is supported to the adult fish that grows up, fish under seedling
Grow the parameter that density is a variation.The method of traditional statistics fish culture density is the quantity of off line statistics fish.This method needs
It manually to sail and off line in different places.It is time-consuming and laborious in this way, it is dangerous and of high cost.Due to always with
Carry out the simple and reliable statistical method of cultivation density all neither ones of fish, so more on fishery cultivating breed fish fry by rule of thumb, by
This is likely to result in that fish density in water body is excessive or too small, and economic benefit can not maximize.On the other hand, shoal of fish size, fish
The information such as position the economic benefit of aquaculture can also be had an impact.
Chinese patent, publication number CN206932316U, publication date 2018.01.26, it discloses a kind of fish finding system and nothings
People's ship.It includes shell, and the shell includes upper shell and lower housing, and sonar unit, shooting list are equipped in the chamber of lower housing
Member, lighting unit, attracting unit, control unit；It is equipped with supply unit in the chamber of upper shell and is carried out with external equipment wireless
The wireless communication unit of communication.It has a defect that：The data of sonar unit (type for being equivalent to fish deteclor) acquisition
When carrying out data transmission with control unit, when the sonar unit of different manufacturers carries out data transmission with control unit, due to not
The number used with control unit with the Data Transport Protocol that the sonar unit (type for being equivalent to fish deteclor) of producer uses
It is different according to transport protocol, so can not be communicated.
To sum up, there are following defects in existing unmanned boat：After the fish finding module fish finding of different manufacturers, shoal of fish number will be obtained
After being handled, it is transmitted using different fish finding agreements, fish finding module is communicated with main control module there are great difficulty,
Fish finding module and main control module can not be compatible with.
Invention content
1, it to solve the problems, such as
It has difficulties in existing unmanned boat, the fish finding module of different manufacturers is communicated with main control module, fish finding mould
The problem that block and main control module can not be compatible with, the application provide a kind of unmanned boat control system, the unmanned boat control of the application
System includes protocol translation module, and the fish finding protocol translation of different manufacturers can be the number that main control module can identify by it
Main control module is sent the data to according to agreement, and by serial ports or other bus forms, to reach compatible different manufacturers
Fish finding module.The application also provides a kind of unmanned boat simultaneously.
2, technical solution
To solve the above problems, the application adopts the following technical scheme that.
A kind of unmanned boat control system, the unmanned boat control system include：Fish finding module, the protocol translation communicated successively
Module and main control module；
The fish finding module, the relevant information for detecting water fish, and handle and obtain the first data, and according to the first number
First data are sent according to transport protocol；Wherein：The relevant information of the fish includes shoal of fish size, fish density, position residing for fish
It one of sets or combination；
The protocol translation module, for receiving first data transmitted according to the first data transmission agreement simultaneously
It is converted into the second data transmitted according to the second Data Transport Protocol；
The main control module, for receiving second data transmitted according to second Data Transport Protocol.
Preferably, the protocol translation module, for handling and compressing first data.
Preferably, the unmanned boat control system further includes the first navigation module, and the main control module receives described the
The third data that one navigation module is sent, the third data are the latitude and longitude information of unmanned boat；
The unmanned boat control system further includes the second navigation module, and the main control module receives the second navigation mould
The first control instruction that block is sent, first control instruction position of unmanned boat, unmanned boat speed and fore direction in order to control
In one kind or combination.
Preferably, after the main control module receives the third data, the second control instruction is sent to power plant module
In, second control instruction position of unmanned boat, unmanned boat speed and one kind in fore direction or combination in order to control.
Preferably, the fish finding module includes electroacoustic transducer and fish finding data processing module；
The electroacoustic transducer connects the fish finding data processing module；
The fish finding data processing module connects the protocol translation module.
Preferably, the unmanned boat control system further includes：First communication module, the second communication module and terminal；
The main control module, first communication module, second communication module and the terminal connect successively
It connects.
Preferably, the main control module receives the third control instruction that terminal is sent, and is subsequently sent to power plant module；
The third control instruction allows unmanned boat by " bow " zig-zag path and/or " rice " by controlling the power plant module
Zig-zag path cruises.
Preferably, when the main control module was connected with the signal of terminal more than the predetermined time, triggering unmanned boat carries out certainly
Master is maked a return voyage.
Preferably, the unmanned boat control system further includes battery module, and the battery module sends electric quantity signal master control
Molding block after main control module receives the electric quantity signal of battery module transmission, is sent to the first communication module, second logical successively
Interrogate module and terminal.
A kind of unmanned boat, the unmanned boat include the unmanned boat control system described in above-mentioned any one.
3, advantageous effect
Compared with the prior art, the application has the beneficial effect that：
(1) in the application, by the way that protocol translation module, protocol translation mould are arranged between fish finding module and main control module
The data protocol that block can identify the fish finding protocol conversion that fish finding module is sent at main control module, to overcome fish finding mould
Block and main control module difficult communication, the fish finding module so as to realize different manufacturers is compatible with main control module, realizes mould
Block facilitates the upgrading of unmanned boat control system or replaces different manufacturers fish finding module；
(2) the protocol translation module in the application can compress the data that fish finding resume module obtains, (whole to simplify
Close) fish finding message, reduces data volume, improves data radio station transmission range；
(3) the unmanned boat control system in the application, by the way that the first communication module, the second communication module and terminal is arranged,
The information such as shoal of fish size in waters, fish density, fish present position can easily be monitored in real time；Pass through setting the first navigation mould
Block, the second navigation module, to realize the independent navigation and manual navigation of unmanned boat；
(4) the unmanned boat control system in the application has fail-safe mechanisms, when the signal of main control module and terminal
When connection disconnects for a long time, unmanned boat can be triggered and independently maked a return voyage behavior, that is, starting point be returned to, to prevent unmanned boat from losing；
(5) the unmanned boat control system in the application is combined by both the cruise of " bow " font and the cruise of " rice " font, can
To realize following effect：" bow " font, which cruises, may be implemented the rapid screening of large mass of water, and quick and relatively accurate finds
There is the region of fish, is then cruised again by " rice " font, further increase the accuracy rate for looking for fish.Two combine, and realize big face
Ponding domain is quick and accurately looks for the unification of fish.
Description of the drawings
Fig. 1 is the preferred unmanned boat structural schematic diagram of the application；
Fig. 2 is the preferred unmanned boat control system flow chart of the application；
Fig. 3 is " bow " font cruise route schematic diagram of the unmanned boat of application；
Fig. 4 is " rice " font cruise route schematic diagram of the unmanned boat of application.
In figure：1, pontoon；2, upper hull；3, the first navigation module；4, the second navigation module；5, main control module；6、
Protocol translation module；7, fish finding module；71, fish finding data processing module；72, electroacoustic transducer；8, the first communication module；9,
Two communication modules；10, terminal；11, battery module；12, power plant module；121, motor；122, protective cover；123, rudder；124, spiral shell
Revolve paddle.
Specific implementation mode
Present invention will now be described in detail with reference to the accompanying drawings..
Embodiment 1
A kind of unmanned boat control system is present embodiments provided, as shown in Figure 1 and Figure 2,
A kind of unmanned boat control system, including：Fish finding module 7, protocol translation module 6 and the main control module communicated successively
5；
The fish finding module 7, the relevant information for detecting water fish, and handle and obtain the first data, and according to first
Data Transport Protocol sends first data；Wherein：The relevant information of the fish includes shoal of fish size, fish density, residing for fish
One of position or combination；
The protocol translation module 6, for receiving first data transmitted according to the first data transmission agreement
And it is converted into the second data transmitted according to the second Data Transport Protocol；
The main control module 5, for receiving second data transmitted according to second Data Transport Protocol.
The fish finding module 7 is used to obtain the relevant information of water fish, and information above is handled and sent.Fish
Relevant information may include but be not limited to：Including shoal of fish size, fish density, fish present position etc..
As the specific implementation mode of the present embodiment, fish finding module 7 uses the relevant information of supersonic sounding fish.Specifically：
Fish finding module 7 includes electroacoustic transducer 72 and fish finding data processing module 71, and fish finding data processing module 71 turns with the agreement
Change module 6 to connect, electroacoustic transducer 72 is connect with fish finding data processing module 71.
Electroacoustic transducer 72 is mounted on the bottom of pontoon 1, stretches into water, and fish finding data processing module 71 is mounted on and goes on board
In body 2, protocol translation module 6 is mounted in upper hull 2, and main control module 5 is mounted in upper hull 2.
When work, the fish finding data processing module 71 in fish finding module 7 emits the electronic pulse signal of 200KHz, electricity
Subpulse signal is through ovennodulation, after boosting, is converted to high-power acoustic signals through electroacoustic transducer 72 and is transmitted in water, sound wave letter
It number is reflected into electroacoustic transducer 72 through water-bed or object in water, electroacoustic transducer 72 will reflect back into the acoustic signals come and be converted to
Electric signal, electric signal amplify with after filtering by signal, are sent in fish finding data processing module 71, first is obtained by processing
Data, first data include the information such as shoal of fish size, fish density, fish present position in water.Reflected sound wave letter
Claim back wave.
In the prior art, after handling the first data due to the fish finding module 7 of different manufacturers production, the first data is sent and are used
Fish finding agreement (fish finding agreement namely first data transmission agreement) it is different, cause the different fish finding agreements of different manufacturers cannot
It is communicated with main control module 5, cannot be compatible with main control module 5 so as to cause the fish finding module 7 of different manufacturers.
So the improvement as the present embodiment, the present embodiment further includes protocol translation module 6, and protocol translation module 6 is used for
It converts different fish finding modules 7 to can be compatible with by main control module 5 second according to the data that respective transport protocol transmits
Data Transport Protocol.The process of 7 transmission data of fish finding module is：Fish finding module 7 is according to built-in first data transmission agreement by
One data are sent in protocol translation module 6, after protocol translation module 6 is compressed and handled to the first data, obtain second
Data, while first data transmission protocol translation is that the second data that main control module 5 can identify pass by protocol translation module 6
Defeated agreement, then in second Data Transport Protocol of the use of protocol translation module 6 transmission, second data to main control module 5,
Send the second data can be by being sent to main control module 5 by serial ports or other bus forms.It is compatible in this way
The fish finding module of different producers, accomplishes modularization, and unmanned boat control system is facilitated to replace different manufacturers fish finding module or upgrading.
On the other hand, protocol translation module 6 compresses the first data, to simplify (integration) fish finding message, reduces
Data volume improves data radio station transmission range.
The primary processor of protocol conversion module 6 is AVR single chip, can be set according to actual needs different serial ports, is wrapped
It includes but is not limited to 2 serial ports, wherein first serial is connected with fish finding data processing module 71, reads fish finding data processing module 71
The data analysis portion of the first data sent, first serial is divided the second Data Transport Protocol of first data transmission protocol conversion,
The second data are obtained after fish finding data processing module 7 is handled, are then assisted with the second data transmission by second serial
View will be in the second data transmission to main control module 5.
Fish finding data processing module 71 sends the first data, the original number of the first data with certain rate to first serial
According to data of both the information of the main system set-up information including fish finding data processing module 71 and back wave.Fish finding data
Processing module 71 handles the initial data of the first data, obtains the first data, so as to reflect shoal of fish size, fish
One of density, fish present position or combination；
In the present embodiment, fish finding data processing module 71 is sent with the rate of 115200bps to first serial
The first data of 1030Byte.
The system set-up information of fish finding data processing module 71 includes mainly fish finding range, resolution ratio, fish finding data processing
The initial data such as the voltage of module 71, the transmission power of 71 launching electronics pulse signal of fish finding data processing module, fish finding data
The size of data of the system set-up information of processing module 71 can be configured according to actual needs, fish finding data in the present embodiment
The size of data of the system set-up information of processing module 71 is 30Bytes；
The information of back wave mainly include reflection wave signal shape, the information such as intensity of back wave, the information of back wave
Size of data can be configured as needed, and in the present embodiment, the size of data of the information of back wave is 1000Bytes, root
According to fish finding range and resolution ratio, in conjunction with the data processing model of fish finding data processing module 71, it may be determined that each byte generation
The information such as the shoal of fish size of table, fish density, fish present position.What fish present position indicated is the depth of fish in water, such as
There is fish at 0.5 meter of underwater, then fish present position is 0.5 meter of underwater.
The signal strength range of back wave indicates that 0 indicates the signal strength of back wave most with the natural number between 0-255
Small, 255 indicate that the signal strength of back wave is most strong, and number is bigger, indicates that the signal strength of back wave is bigger；
For example fish finding range is 10 meters, then back wave sends back first character section and can be expressed as 1 centimetre of water depth
Reflection wave signal intensity, the second byte can be expressed as the reflection wave signal intensity of 2 centimetres of water depth, and so on, n-th of word
Section indicates the reflection wave signal intensity of n centimetres of water depth, and the weight of for another example every fish is in different size, then the letter of back wave
Number intensity and shape are different, and such as the stone in water, the signal strength and shape of back wave that the water plant in water returns also differ
Sample；
The data processing model of fish finding data processing module 71 can also be strong according to the shape and reflection wave signal of back wave
Degree, is filtered the interference signal in water body, such as can be for statistical analysis by all data to hydrospace detection, right
Interference signal in water is such as：Stone in water, the signal strength and shape of the back wave that the water plant in water returns carry out statistics
Analysis, establishes corresponding data filtering model, by the stone in water, the signal strength and shape of the back wave that the water plant in water returns
Shape filters out, and removes these interference signals, and interference signal may include the stone in water, the back wave that the water plant in water returns
Signal strength and shape, but not limited to this.Due to having filtered out interference signal, so data volume greatly reduces, while not shadow again
The precision and accuracy of data are rung, the information such as shoal of fish size, fish density, fish present position in the water that can really react.So
It afterwards will be in the second data transmission to main control module 5 by second serial.By the way that protocol translation module 6 is arranged, this preferred skill
Art scheme meets the first data and the second data in low bandwidth, it is remote under the conditions of stabilization and the requirement quickly transmitted.It examines
The fish finding agreement for considering different producers is not consistent, adopting said method, it is only necessary to change protocol translation mould the first string in the block
The product of compatible different vendor can be realized in the data analysis portion point of mouth.
Fish finding number is passed through according to the shape of back wave and reflection wave signal intensity as the further preferred of the present embodiment
After the data processing model processing of processing module 71, the first data are obtained, then send the first data to protocol translation module
6, the second data are obtained after the processing of protocol translation module 6, main control module 5 receives the second number of the transmission of protocol translation module 6
According to rear, the 4th data are obtained after in real time being handled the second data, the 4th data are sent to second by the first communication module 8
Communication module 9, the second communication module 9 is re-send in terminal 10, and after terminal 10 handles the 4th data, drafting obtains water
The image at bottom can clearly indicate the information such as shoal of fish size, fish density, the fish present position in water by the image.
Embodiment 2
As shown in Figure 1 and Figure 2, the present embodiment and embodiment 1 are essentially identical, the difference is that：
The main control module 5 receives the third data that the first navigation module 3 is sent, and the third data are unmanned boat
Latitude and longitude information.
After the main control module 5 receives the third data, send in the second control instruction to power plant module 12, institute
State the second control instruction position of unmanned boat, unmanned boat speed and one kind in fore direction or combination in order to control.
In this implementation, the first navigation module 3 is mounted in upper hull 2, and the first navigation module 3 can be to the master control of unmanned boat
Molding block 5 sends the current latitude and longitude information of unmanned boat, and in the present embodiment, the first navigation module 3 is preferably that the GPS/ Big Dippeves are fixed
Position system, built-in electronic compass in main control module 5, the sensors such as gyroscope and accelerometer.First navigation module 3 has hair
It penetrates signal and receives the function of signal.Main control module 5 further includes microprocessor.
When specific implementation, the microprocessor in main control module 5 receives the longitude and latitude that GPS/ BEI-DOU position systems are sent
Spend information (namely third data), and the electronic compass in real time parsing main control module 5, the posture of gyroscope and accelerometer
Information carries out posture position information fusion, and to obtain the unmanned boat location information of current accurate (sub-meter grade), unmanned boat speed is believed
Breath and fore directional information.The sail information of the sail information of pre-set unmanned boat in terminal 10, unmanned boat includes rule
The course line pulled and headway, course.Sail information is sent in the second communication module 9 by terminal 10, the second communication module 9
It re-sends in the first communication module 8, course information is sent in main control module 5 by the first communication module 8, main control module
After 5 receive course information, it is stored in main control module 5.Main control module 5 passes through the GPS/ BEI-DOU position systems received
Latitude information is compared in real time with pre-stored course information, thus by the physical location of current unmanned boat, unmanned boat ship
Head direction, unmanned boat speed with pre-set navigation route, headway compared with, calculating deviation, according to deviation,
Main control module 5 sends the second control instruction to power plant module 12, is adjusted by controlling motor 121, rudder 123, propeller 124
Position, speed, the course of unmanned boat, to realize the independent navigation of unmanned boat.The position of second control instruction unmanned boat in order to control
It sets, the instruction of unmanned boat speed and one kind or combination in fore direction.
On the other hand, main control module 5 can in real time by the real-time location information of unmanned boat, real time speed information and
Fore direction is sent in terminal 10 in real time by the first communication module 8, the second communication module 9, after being handled, at end
The real-time location information, real time speed information and fore directional information of unmanned boat are shown in display equipment in end 10, it can be with
It is shown with the form of image.
Embodiment 3
As shown in Figure 1 and Figure 2, the present embodiment and embodiment 2 are essentially identical, the difference is that：The main control module 5
Receive the first control instruction of the second navigation module 4 transmission, first control instruction position of unmanned boat, unmanned boat in order to control
Speed and one kind in fore direction or combination.
In the present embodiment, the second navigation module 4 can manually adjust the position of unmanned boat, unmanned boat speed and fore side
To.Second navigation module 4 is carried by unmanned boat operating personnel, small, easy to carry.In the present embodiment, the second navigation mould
Block 4 is preferably hand-held remote controller.Second navigation module 4 has the function of emitting signal and receives signal.Second navigation module 4 with
Main control module 5 connects, and can be wireless, such as bluetooth, WIFI, it is possibility to have line connects, and such as passes through cable connection.This implementation
In preferably WIFI connections.
Specific implementation when, unmanned boat operating personnel observe on the coast the position of unmanned boat, unmanned boat speed and
Fore direction emits the first control instruction to main control module 5 when observing unmanned boat off-course by hand-held remote controller
In, after main control module 5 receives the first control instruction of hand-held remote controller transmitting, adjusted by controlling motor, rudder, propeller
Position, speed, the course of whole unmanned boat, to realize manually controlling for unmanned boat.When specific implementation, unmanned boat operation
Personnel start to execute self-navigation traveling after setting the information such as the navigation route of unmanned boat, unmanned boat speed on the coast, work as nothing
When people's ship detects that it deviates prearranged heading, after the unmanned boat real time status information detected is received by main control module 5,
It is parsed, is compared in real time with pre-stored course information, thus by the physical location of current unmanned boat, unmanned boat ship
Head direction, unmanned boat speed with pre-set navigation route, headway compared with, calculating deviation, according to deviation,
Main control module 5 sends adjustment signal to power plant module 12, nobody is adjusted by controlling motor 121, rudder 123, propeller 124
Position, speed, the course of ship, to realize the self-navigation of unmanned boat.Hand-held remote controller can also directly transmit adjustment signal
To power plant module 12, position, speed, the course of unmanned boat are adjusted by controlling motor 121, rudder 123, propeller 124, from up to
To directly manually control (namely manual mode) hull advance, retreat, turn to etc. actions, in time rapidly correct unmanned boat position
Set, speed, course.
The independent navigation and manual navigation of unmanned boat may be implemented by the first navigation module 3, the second navigation module 4.
On the other hand, in the present embodiment, unmanned boat control system has fail-safe mechanisms, when main control module 5 and eventually
The signal connection at end 10 disconnects for a long time, can trigger unmanned boat and independently make a return voyage behavior, that is, starting point be returned to, to prevent unmanned boat
It loses.Fail-safe mechanisms detailed process is：
When normal connection, a heartbeat message is sent within every 1 second between terminal 10 and main control module 5, when disconnecting is super
When spending certain time, the time can be arranged as required to.It is provided that in the present embodiment 15 seconds, when connection was disconnected more than 15 seconds
When namely the main control module 5 of unmanned boat be not received by the heartbeat message 15 seconds for coming from terminal 10, decide that signal disconnects
, then for main control module 5 according to the return route stored in advance in main control module 5, transmitting, which makes a return voyage to instruct, arrives power plant module
12, after power plant module 12 receives signal, by control motor 121, rudder 123, propeller 124 come adjust unmanned boat position,
Speed, course, to realize that the autonomous of unmanned boat makes a return voyage.Unmanned boat may be implemented back to bank or unmanned boat in autonomous make a return voyage
Homeposition.It independently makes a return voyage and can make a return voyage by minimum distance, i.e., straight line makes a return voyage, and can also be returned by former distance, prevent from bumping against water
In barrier, straight line, which makes a return voyage, to be used in vast expanse of waters, save electric power.Backtracking is made under complex environment
With avoiding bumping against thing.
As the preferred technical solution of the present embodiment, unmanned boat control system further includes：Battery module 11；The battery
Module 11 includes battery, battery for electric discharge manager, voltage regulator and electric-quantity display device.
The battery module 11 is respectively the main control module 5, first communication module 8, the power plant module 12
It powers with the fish finding module 7.In this preferred embodiment, battery can be lithium battery, accumulator, the nothing that this programme provides
People's ship preferred battery is 3S-6S lithium batteries, will not be polluted to water body.
Embodiment 4
As shown in Figure 1 and Figure 2,
The present embodiment and embodiment 3 are essentially identical, the difference is that：
Unmanned boat control system further includes：First communication module 8, the second communication module 9 and terminal 10；
The main control module 5 and first communication module 8, second communication module 9 and the terminal 10 are successively
Connection.
In the present embodiment, the first communication module 8 is mounted on the head of upper hull 2, and the placement of the second communication module 9 is closed on the coast
Suitable position, terminal 10 carry at one's side or are placed on suitable position on the bank by the personnel of manipulation unmanned boat.
First communication module 8 is the boat-carrying communication module on unmanned boat, preferably a pair of in this implementation to be operated in
The data radio station of ISM band is constituted, and the first communication module 8 can receive and emit signal；
Second communication module 9 is bank base communication module, the preferably a pair of data radio station for being operated in ISM band in this implementation
It is constituted with bluetooth, the second communication module 9 can receive and emit signal, and the data radio station and bank base communication module of ISM band are built
Vertical point-to-point connection；
Terminal 10 can be mobile phone, tablet computer, laptop, the equipment that desktop computer etc. carries display device, terminal
10 can receive and emit signal, and terminal 10 has the function of handling data.
Terminal 10 is preferably laptop in the present embodiment, and the software that can handle data, terminal are housed in terminal 10
10 can be connect by wireless telecommunications or wire communication with the second communication module 9, such as bluetooth, WIFI wireless telecommunications, such as cable
Etc. wired connections.In the present embodiment, terminal 10 is preferably connect by WIFI with the second communication module 9.Main control module 5 can lead to
It crosses wireless telecommunications or wire communication to connect with the first communication module 8, such as bluetooth, WIFI wireless telecommunications, such as the wired company of cable
It connects.It is preferably bluetooth connection in the present embodiment.
When specific implementation, after main control module 5 receives the second data of the transmission of protocol translation module 6, in real time will
Second data obtain the 4th data after being handled, the 4th data are sent to by bluetooth in the data radio station of ISM band, ISM
4th data are sent in bank base communication module by the data radio station of frequency range, and bank base communication module is sent out the 4th data by WIFI
It is sent in laptop, to show the letters such as shoal of fish size, fish density, fish present position in laptop in real time
Breath, for example can show the information such as shoal of fish size, fish density, fish present position with image formats such as fish diagram marks.Make to realize
Industry personnel's remote control unmanned boat is not necessarily to artificial water surface operation.Unmanned boat control system in the present embodiment can exist in real time
The information such as shoal of fish size, fish density, fish present position are shown with image format in terminal 10, cruising ability is strong, primary detectable
Water surface area is wide, efficient, easy to carry.
Communication module is provided separately by unmanned boat control system by the first communication module 8 of setting, the second communication module 9,
The volume for greatly reducing communication module, so as to reduce the volume of unmanned boat, while by between two communication modules
Relay communication, to realize the remote advantage of communication distance.
As the further preferred of the present embodiment, terminal 10 can directly transmit third control instruction to main control module 5
In or terminal 10 pass sequentially through the second communication module 9, the first communication module 8, third control instruction is sent to main control module
In 5, after main control module 5 receives the third control instruction, re-send in power plant module 12, by control motor 121,
Rudder 123, propeller 124 adjust position, speed, the course of unmanned boat, and third control instruction can allow unmanned boat by " rice " word
Shape route or " bow " zig-zag path or other sets itself routes carry out fish finding.
If the unmanned boat of the present embodiment beats nest for fish finding, the second navigation module 4 can be first passed through and open unmanned boat
To certain position in waters, fish finding is then carried out again and beats nest, water proximate is scanned by fish finding module 7, to obtain the water
The shoal of fish size in domain, fish density, fish present position, to know whether the specific place in the waters has fish, how much is fish, and the shoal of fish is big
The information such as small, to provide guidance to beat nest.
The unmanned boat of the offer of the present embodiment is portable due to transporting, and facilitates field work, volume design is smaller, therefore unmanned boat
The battery module size of upper dress is limited, if with manual mode come control unmanned boat carry out cruise look for fish, if that distance
It is too far, such as more than 200 meters, it is likely that can not see unmanned boat, or the forward andor aft of unmanned boat can not be differentiated, hold very much
Easily cause fish finding go in the wrong direction, repeated fish finding, the waste of battery module electricity situations such as, to fish finding inefficiency, to keep away
Exempt from unmanned boat in water fish finding when the case where leading to not return to bank because of not enough power supply.
In this preferred technical solution, terminal 10 can directly transmit third control instruction to main control module 5, main control
It after module 5 receives the third control instruction, re-sends in power plant module 12, by controlling motor 121, rudder 123, spiral
Paddle 124 adjusts position, speed, the course of unmanned boat, third control instruction unmanned boat can be allowed by " rice " zig-zag path or
" bow " route carries out fish finding.
As shown in figure 3, being " bow " font cruise route schematic diagram, unmanned boat can be moved along solid line shown in Fig. 3
It is dynamic, it is moved in a direction indicated by the arrow, negative direction shown in arrow can also be pressed and moved, to realize that " bow " font cruises.
As shown in figure 4, be " rice " font cruise route schematic diagram, unmanned boat can come along solid line shown in Fig. 4 back into
Row movement, to realize that " rice " font cruises.
" bow " font cruises and the cruise of " rice " font is used cooperatively control process：
Terminal 10 directly transmits third control instruction to main control module 5, and main control module 5 receives the third control
It after instruction, re-sends in power plant module 12, the position of unmanned boat is adjusted by controlling motor 121, rudder 123, propeller 124
Set, speed, course, allow unmanned boat by " bow " zig-zag path carry out fish finding.By controlling unmanned boat, allow unmanned boat first by " bow " word
Shape carries out fish finding cruise, can quickly scan through a piece of waters, while will not miss the region of fish, fast implement sheet
The covering in waters scans, and after " bow " font fish finding has been cruised, has found the region of fish, the navigation of the first navigation module 3 or second
Module 4 has the geographical location information in fish region to be sent to the first communication module 8 by main control module 5 this, is subsequently sent to
Second communication module 9, finally uploads in terminal 10, and terminal 10 stores the geographical location information.First navigation module 3 or the second
Navigation module 4 has the geographical location information in fish region by main control module 5 this, and main control module 5 receives the geography position
It can also be sent directly in terminal 10 after confidence breath.After terminal 10 receives the geographical location information, sent again in terminal 10
It instructs in main control module 5, after main control module 5 receives instruction, re-sends in power plant module 12, by controlling motor
121, rudder 123, propeller 124 enter the geographical location that last time uploads to terminal 10 to control unmanned boat, enter corresponding
Behind geographical location, terminal 10 sends third control instruction again, and unmanned boat is allowed to cruise by " rice " font.Pass through " rice " font
Cruise may be implemented overlapping scanning, further increase accuracy rate in the place that " rice " word intersects.
" bow " font cruises fish finding and cruise both the fish finding of " rice " font, relative to remote manual control fish finding in fish finding range and
There is apparent advantage in fish finding efficiency.In the case of remote manual control fish finding, unmanned boat in water move ahead more than 100 meters models
It encloses rear human eye and will be unable to clear resolution fore direction and operating range on bank, be only capable of the traveling for a period of time by unmanned boat
Judge that fore is approximately towards, straight-line travelling can not be carried out.If being assisted by telescope, although unmanned boat travel direction can be differentiated
But it distance and the travel speed of moving ahead and is limited by telescope, control straight-line travelling is more difficult, therefore remote manual control fish finding mode
Suitable for waters is smaller or the short distances fish finding such as reservoir lake corner." rice " font cruise fish finding advantage be suitable for compared with
The shoal of fish is fast and accurately detected (in such as 400 meters) in a wide range of, and can quickly detect shoal of fish aggregation zone." rice " font cruises
Fish finding reduces investigative range using " dichotomy " in a piece of waters by the way that constantly range is divided into two, with the shortest time
With minimum energy detecting fish school.The advantage of " bow " font cruise fish finding is to be suitable for blanket type in wide range and detects fish
Group, and to be not in the remote control deviation of directivity of remote manual control fish finding lead to repeated fish finding and " rice " font fish finding central intersection point
Fish finding is repeated several times." bow " font cruises fish finding in the communication module signal cover that unmanned boat is equipped with, can be according to
" bow " font moves forward, (such as even more than eye recognition range：300-400 meters) it also can normal straight traveling or according to predetermined
Route is turned or is turned around, and each place scanning probe is primary, can also reach acceptable accuracy.Pass through
" bow " font font cruises and both " rice " font cruise combinations, and following effect may be implemented：The cruise of " bow " font may be implemented
The rapid screening of large mass of water, quick and relatively accurate finding have the region of fish, are then cruised again by " rice " font, into
One step improves the accuracy rate for looking for fish.Two combine, and realize water field of big area quickly and accurately look for the unification of fish.
" bow " font cruises and the cruise of " rice " font can also separate and control process is used alone：
The cruise of " bow " font is used alone：
Terminal 10 directly transmits third control instruction to main control module 5, and main control module 5 receives the third control
It after instruction, re-sends in power plant module 12, the position of unmanned boat is adjusted by controlling motor 121, rudder 123, propeller 124
Set, speed, course, allow unmanned boat by " bow " zig-zag path carry out fish finding.By controlling unmanned boat, allow unmanned boat by " bow " font
Fish finding cruise is carried out, the cruise of " bow " font can allow the scanning of electroacoustic transducer to be ,ed to reality on one side to other while out of region
Existing entire area blanket type covering.The cruise of " bow " font can quickly scan through a piece of waters, while will not miss fish
Region, the covering scanning of quick and relatively accurate realization large mass of water.
The cruise of " rice " font is used alone：
Terminal 10 sends third control instruction to main control module 5, and main control module 5 receives the third control instruction
Afterwards, it re-sends in power plant module 12, position, the speed of unmanned boat is adjusted by controlling motor 121, rudder 123, propeller 124
Degree, course allow unmanned boat to carry out fish finding by " rice " zig-zag path.By controlling unmanned boat, unmanned boat is allowed to be carried out by " rice " font
Fish finding is cruised, and the covering of simple right-angled intersection is first carried out to region, then carries out region repeatedly oblique fining covering again,
The cruise of " rice " font is comparatively time saving accurate.
As the further preferred of the present embodiment, battery module 11 sends electric quantity signal, master control molding to main control module 5
After block 5 receives the electric quantity signal of the transmission of battery module 11, main control module 5 is sent to the first communication module 8 successively again, and second
Communication module 9 and terminal 10.Electric quantity signal includes following information：The remaining capacity information and unmanned boat of battery module 11 are estimated surplus
Remaining voyage information and not enough power supply information.Terminal 10 processing after shown in terminal 10 battery module 11 remaining capacity information and
Unmanned boat expected residual voyage.If the not enough power supply for occurring battery module 11 during fish is looked in cruise so that unmanned boat returns to starting
Point or situations such as return to bank, electricity red high aobvious, low battery audible alarm, low battery pop-up etc. may be used in terminal 10 at this time
A kind of or combination low battery alarm form.After terminal 10 receives not enough power supply signal, terminal 10 can also directly transmit
Not enough power supply instruction is independently maked a return voyage behavior to trigger unmanned boat to main control module 5.Detailed process is as follows：Main control module 5
After the not enough power supply instruction for receiving the transmission of terminal 10, main control module 5 emits instruction of making a return voyage and arrives power plant module 12, power mould again
After block 12 receives signal, position, speed, the course of unmanned boat are adjusted by controlling motor 121, rudder 123, propeller 124,
To realize that the autonomous of unmanned boat makes a return voyage.It to avoid unmanned boat due to not enough power supply, is parked on the water surface, needs manually to go for
It returns, reduces cost.
On the other hand, after terminal 10 receives not enough power supply signal, unmanned boat operator, it is seen that shown in terminal 10
Not enough power supply alarm signal after, can also directly be maked a return voyage by hand-held remote controller manual manipulation unmanned boat.To avoid nobody
Ship is parked in due to not enough power supply on the water surface, is needed manually to go to give for change, is reduced cost.
In this preferred technical solution, it can be set according to actual needs battery module remaining capacity and be less than some threshold value
When, judge battery module not enough power supply, the electric quantity signal of not enough power supply is sent to main control module 5 to trigger battery module.
Such as can be according to the size of lake surface, the waters if necessary to fish finding is very big, then needs that larger threshold value is arranged, electricity remaining in this way
Amount could allow unmanned boat to return to bank or starting point.Namely the threshold value optimal value can be：Unmanned boat can be allowed to return to starting point
Electricity or the electricity for returning to bank.The size of threshold value, reserved part electricity can certainly be properly increased.The threshold value can be at end
It is set automatically in end 10.For example the accumulation of unmanned boat fish finding early period data can be added according to the experience of technical staff, terminal can be with
The size of the adjust automatically threshold value.Such as the experience according to technical staff, in certain piece waters, unmanned boat is from the waters for needing fish finding
Somewhere return to the electricity that starting point needs at least residue 10%, then the threshold value could be provided as >=10%, such as 10%, 15%
It can.When battery module electricity≤10%, battery module is sent in not enough power supply signal to main control module 5.
Embodiment 5
As shown in Figure 1 and Figure 2, the present embodiment and embodiment 4 are essentially identical, the difference is that：Unmanned boat control system is also
Including：Power plant module 12；
The power plant module 12 is connect with the main control module 5.
In the present embodiment, power plant module 12 can provide power for unmanned boat, and unmanned boat is allowed to be navigated by water on the water surface.Power mould
Block 12 is connect with main control module 5, and main control module 5 sends the second control instruction to power plant module 12, to control unmanned boat
Navigation direction, speed, route.
As the further preferred of this implementation technical solution, the power plant module 12 includes motor 121, rudder 123, spiral
Paddle 124 and protective cover 122, power plant module 12 have the function of receiving signal.In this preferred technical solution, motor 121 can be with
For motor, using DC brush, either bi-motor differential propulsion mode may be used in brushless motor or single motor+mono- rudder promotes
Mode promotes.Rudder 123 controls the direction of unmanned boat navigation, and direct current generator is mounted in the pontoon 1 of unmanned boat, is stretched out by axis
It in pontoon 1 to water, is connected on propeller 124, has protective cover 122 outside propeller, prevent from winding on propeller miscellaneous in upper water
Object causes to damage to power plant module 12.Rudder 123 is mounted on the tail portion of pontoon 1, and propeller 124 is mounted on the tail portion of pontoon 1.
When specific implementation, main control module 5 sends the second control instruction to power plant module 12, and power plant module 12 connects
After receiving the second control instruction, navigation direction, the speed of unmanned boat are controlled by controlling motor 121, rudder 123, propeller 124
Degree, route.
Embodiment 6
As shown in Figure 1 and Figure 2, unmanned boat can be made of fiberglass or ABS plastic, ship length be preferably 1 meter with
Under, it is divided into pontoon 1, upper hull 2, hull has positive buoyancy, in water general work.First navigation module is housed in upper hull 2
3, main control module 5, protocol translation module 6, fish finding data processing module 71, the first communication module 8, equipped with electricity in pontoon 2
The tail portion of pond module 11, electroacoustic transducer 72, pontoon 2 is equipped with motor 121, rudder 123, propeller 124.
The unmanned boat of this implementation independent navigation or can manually control unmanned ship's head, underway position, boat on the water surface
Scanning frequency degree, by fish finding module 7, unmanned boat can obtain the information such as shoal of fish size, fish density, fish present position in water, from
And provide reference for fishery cultivating, and the fish finding of fishing of personal leisure field is beaten nest and is used.
Claims (10)
1. a kind of unmanned boat control system, which is characterized in that the unmanned boat control system includes：The fish finding module communicated successively
(7), protocol translation module (6) and main control module (5)；
The fish finding module (7), the relevant information for detecting water fish, and handle and obtain the first data, and according to the first number
First data are sent according to transport protocol；Wherein：The relevant information of the fish includes shoal of fish size, fish density, position residing for fish
It one of sets or combination；
The protocol translation module (6), for receiving first data transmitted according to the first data transmission agreement simultaneously
It is converted into the second data transmitted according to the second Data Transport Protocol；
The main control module (5), for receiving second data transmitted according to second Data Transport Protocol.
2. unmanned boat control system according to claim 1, which is characterized in that the protocol translation module (6), for locating
It manages and compresses first data.
3. unmanned boat control system according to claim 1, which is characterized in that the unmanned boat control system further includes
One navigation module (3), the main control module (5) receive the third data that first navigation module (3) sends, the third
Data are the latitude and longitude information of unmanned boat；
The unmanned boat control system further includes the second navigation module (4), and the main control module (5) receives second navigation
The first control instruction that module (4) is sent, first control instruction position of unmanned boat, unmanned boat speed and fore in order to control
One kind in direction or combination.
4. unmanned boat control system according to claim 3, which is characterized in that the main control module (5) receives institute
It after stating third data, sends in the second control instruction to power plant module (12), second control instruction unmanned boat in order to control
Position, unmanned boat speed and one kind in fore direction or combination.
5. unmanned boat control system according to claim 1, which is characterized in that the fish finding module (7) includes that electroacoustic changes
It can device (72) and fish finding data processing module (71)；
The electroacoustic transducer (72) connects the fish finding data processing module (71)；
The fish finding data processing module (71) connects the protocol translation module (6).
6. unmanned boat control system according to claim 1, which is characterized in that the unmanned boat control system further includes：
First communication module (8), the second communication module (9) and terminal (10)；
The main control module (5), first communication module (8), second communication module (9) and the terminal (10) four
Person is sequentially connected.
7. according to the unmanned boat control system described in claim 1-6 any one, which is characterized in that
The main control module (5) receives the third control instruction that terminal (10) is sent, and is subsequently sent to power plant module (12)；
The third control instruction allows unmanned boat by " bow " zig-zag path and/or " rice " by controlling the power plant module (12)
Zig-zag path cruises.
8. according to the unmanned boat control system described in claim 1-6 any one, which is characterized in that the main control module
(5) when being connected with the signal of terminal (10) more than the predetermined time, triggering unmanned boat is independently maked a return voyage.
9. according to the unmanned boat control system described in claim 1-6 any one, which is characterized in that unmanned boat control system is also
Including battery module (11), the battery module (11) sends electric quantity signal main control module (5), and main control module (5) receives
After the electric quantity signal sent to battery module, it is sent to the first communication module (8), the second communication module (9) and terminal successively
(10)。
10. a kind of unmanned boat, which is characterized in that the unmanned boat includes unmanned boat control described in any one of claim 1-9
System processed.
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| CN109808853A (en) * | 2019-03-05 | 2019-05-28 | 上海大学 | A kind of unmanned boat bow is to speed of a ship or plane multi-level control system and its control method |
| CN110347079A (en) * | 2019-07-04 | 2019-10-18 | 珠海云洲智能科技有限公司 | A kind of unmanned boat control circuit and unmanned boat with fail safe function |
| CN113515078A (en) * | 2021-05-20 | 2021-10-19 | 湖南湘船重工有限公司 | Intelligent ship information monitoring and alarm processing method and system |
| CN114063619A (en) * | 2021-11-15 | 2022-02-18 | 浙江大学湖州研究院 | Unmanned ship obstacle detection and breaking method based on carpet type scanning mode |
| CN115067288A (en) * | 2021-03-16 | 2022-09-20 | 王毅夫 | Automatic unmanned ship of fishing |
| CN115443793A (en) * | 2022-08-18 | 2022-12-09 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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