CN105752280A - Robot ship system used for acquiring water-area information and control method of robot ship system - Google Patents

Robot ship system used for acquiring water-area information and control method of robot ship system Download PDF

Info

Publication number
CN105752280A
CN105752280A CN201510969261.9A CN201510969261A CN105752280A CN 105752280 A CN105752280 A CN 105752280A CN 201510969261 A CN201510969261 A CN 201510969261A CN 105752280 A CN105752280 A CN 105752280A
Authority
CN
China
Prior art keywords
robot
server
control
ship
robot ship
Prior art date
Application number
CN201510969261.9A
Other languages
Chinese (zh)
Other versions
CN105752280B (en
Inventor
魏松杰
程浩
时召伟
赵春霞
陆建峰
王泰瑞
乔著汉
席泽生
Original Assignee
南京理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京理工大学 filed Critical 南京理工大学
Priority to CN201510969261.9A priority Critical patent/CN105752280B/en
Publication of CN105752280A publication Critical patent/CN105752280A/en
Application granted granted Critical
Publication of CN105752280B publication Critical patent/CN105752280B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/02Network-specific arrangements or communication protocols supporting networked applications involving the use of web-based technology, e.g. hyper text transfer protocol [HTTP]
    • H04L67/025Network-specific arrangements or communication protocols supporting networked applications involving the use of web-based technology, e.g. hyper text transfer protocol [HTTP] for remote control or remote monitoring of the application
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/12Network-specific arrangements or communication protocols supporting networked applications adapted for proprietary or special purpose networking environments, e.g. medical networks, sensor networks, networks in a car or remote metering networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04MTELEPHONIC COMMUNICATION
    • H04M1/00Substation equipment, e.g. for use by subscribers; Analogous equipment at exchanges
    • H04M1/72Substation extension arrangements; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selecting
    • H04M1/725Cordless telephones
    • H04M1/72519Portable communication terminals with improved user interface to control a main telephone operation mode or to indicate the communication status
    • H04M1/72522With means for supporting locally a plurality of applications to increase the functionality
    • H04M1/72527With means for supporting locally a plurality of applications to increase the functionality provided by interfacing with an external accessory
    • H04M1/72533With means for supporting locally a plurality of applications to increase the functionality provided by interfacing with an external accessory for remote control of appliances

Abstract

The invention discloses a robot ship system used for acquiring water-area information and a control method of the robot ship system. The robot ship system comprises robot ship terminals, a control server, a user terminal and a communication network, wherein the robot ship terminals are used for carrying sensors to carry out remote control or automatic sailing in a water-area environment, and receiving an instruction of the server and uploading monitoring results; the control server is responsible for organizing and managing all the robot ship terminals, calculating a track, storing data and providing a utilization and manipulation interface and a control pipeline for a user; the user of the user terminal does information monitoring and control operation by adopting a Web browser manner through accessing a Web page provided by the server; the communication network adopts an Internet framework based on a TCP/IP (Transmission Control Protocol/Internet Protocol) network protocol; the control server has a fixed IP address and domain name; the terminal user obtains services by accessing the server through a Web browser; each robot ship terminal is communicated with the server through a wireless communication module of a carried smartphone so as to acquire the control instruction and uploading the monitoring data.

Description

A kind of robot boat system for waters information gathering and control method thereof

Technical field

The present invention relates to waters Internet of Things and robot bateau neck territory, be specifically related to a kind of small-sized, low cost, differently configured sensor can be carried, there is collaborative mardelling capacity, autonomous operational capabilities and remotely automatic robot's ship platform of monitoring capacity and control system.

Background technology

Automatic robot's ship platform is waters Internet of Things and the basic network terminal of sensor network structure; can with rivers and creeks, lake, seashore, the waters such as bay for target, have a wide range of applications basis in exploration water body resource, monitoring waters situation, protection water body environment etc..The network node of current waters sensing network mainly includes static node and movement node two kinds.Static node (includes sensing node, aggregation node, control node etc.) and is laid in position, fixing waters, realizes difference in functionality by carrying the unit such as sensing, communication, calculating.Waters motion network node includes independently floating and wireless remote control two class, completes the perception task by way of waters in motor process.They are all confined to the limitation such as network node costliness, networking complicated, autgmentability poor, node motor-driven monitoring capability deficiency, little, the system administration troublesome maintenance of monitoring range.Robot boat system design subsystem and equipment are more, and existing control system and communication system design compatibility and autgmentability are poor, and computing capability is not enough, lacks entirely autonomous ability.If adopt hull to carry the point-to-point remote control of radio frequency, hull carries the framework such as industrial computer, navigation chip, then can increase cost, the laying quantity of restricted water sensing network node and speed.

In order to expand the application of waters Internet of Things, optimize construction speed and the construction cost of waters sensor network, be badly in need of at present a kind of water area wireless sensing network framework with versatility, autgmentability, reliability, and adapt to this network flexible, cheap, can the robot ship terminal of rapid build dilatation.

Summary of the invention

Present invention aims to the development and application demand of waters Internet of Things, it is provided that a kind of robot boat system for waters information gathering and control method thereof.

The technical solution realizing the object of the invention is: whole system is made up of robot ship terminal, control server, user terminal, communication network four part.

Wherein said robot ship terminal be a kind of function modoularization, can fast construction, extension water surface robot platform, carry out remotely controlling or independently navigating by water in water environment in order to carry sensor, receive server instruction and also monitoring result is uploaded.Robot ship terminal is made up of power plant module, control module, communication module, sensing module four major part.

Described robot ship power module is responsible for advancing ship motion, hull adopts double-propeller structure, two propellers are symmetrically distributed in hull afterbody, are responsible for driving by two motors respectively, reach the regulable control to hull headway and navigation direction by regulating the rotating speed of motor.Battery unit is used for storing energy and powering to drive motor.Electric-motor drive unit is responsible for the driving control command controlling module is converted into the signal of telecommunication, to realize the regulable control to motor speed.Electric-motor drive unit is simultaneously by receiving motor speed, battery voltage information, to the state controlling the current robot ship power module of module real-time report.

Described robot ship controls module and is made up of single-chip microcomputer and smart mobile phone two parts.Single-chip microcomputer, as the integration module of whole terminal system, connects smart mobile phone, power plant module, sensing module, is responsible for receiving control instruction and drives power plant module, is responsible for from sensor readings and stores.Smart mobile phone is controlling to provide in module three functions, communication, calculating and storage.First can pass through airborne wireless communication function, receive the control instruction that server end pushes, and the control instruction received is transmitted to single-chip microcomputer, single-chip microcomputer take charge of the explanation execution.Secondly calculating task it is responsible for, for instance the calculating to hull flight path, the process to sensing data are compressed.3rd storage being responsible for data, mainly by the storage card on mobile phone and data base, carries out the tissue storage of aeronautical data, sensing data.

Described robot ship communication module, is responsible for the wireless connections communication based on TCP/IP procotol between robot ship and between ship and control server.

The sensing module of described robot ship, by the various kinds of sensors that hull carries, carries out detection sampling to hull self and surrounding body state.Sensor is connected to single-chip microcomputer mainboard by USB or serial ports, is divided three classes, position sensor, adopts the global position system of mobile phone, electronic compass, gyroscope etc., it is provided that the spatialities such as hull position in waters, speed, attitude;Video sensor, adopts the photographic head of mobile phone, mike, hull surrounding is carried out audio-visual collection;Hydrology sensor, is responsible for gathering corresponding water quality parameter.

Control the integrating control unit that server is whole robot boat system, be responsible for organizing all of robot ship terminal, calculate track, store data, provide the user use operation and control interface and control pipeline.Control server to be made up of four parts, respectively Web page, Restful interface, data base and computing unit.

The Web page of described control server, terminaloriented user provides the control to robot ship based on browser and management function.The embedded map of system homepage, shows the position icon of all robots ship in present scope on map.Map can zoom in and out with mouse and drag.Drop-down menu select or in map, clicks any one ship, it is possible to showing the specifying information of this robot ship, including positional information, movable information, trace information, control information.Sail mode includes Remote and autonomous navigation two kinds.Under Remote pattern, user is by the speed choosing ship in the adjustment page and direction, it is possible to the kinestate of remote control robot ship terminal.Under autonomous navigation model, first user draws dog-leg path or enclosed region on map and is set to the kinematic constraint of ship, and self-contr ol, after receiving instruction, is navigated by water along broken line, or back and forth cruises in enclosed region by robot ship terminal.The page will show up-to-date sensing data and acquisition time simultaneously.

The Restful interface of described control server provides remote interaction to access the channel of server resource to robot ship.Interface API adopts HTTP standard URL format, GET or POST request mode, and returning result is JSON form.The interface function that server provides includes following a few class:

Information report (POST mode), reports self-position and state for robot ship to server.

Data-pushing (POST mode), for robot ship to server push data block, for instance sensing data.

Request command (GET mode), for robot ship to server lookup instruction.

Data download (GET mode), download data or program more fresh code for robot ship from server.

The data base of described control server adopts different tables of data, records all of robot ship information, ship movable information, user profile, control command, Monitoring Data.Its data content is as follows:

Robot ship tables of data:<equipment configures for ship identifier, IP address>

Shipping moves tables of data:<ship identifier, time, position, speed, angle, motor pattern, equipment state>

User data table:<user name, Entered state, user type, IP address>

Control command data table:<command sequence number, user name, ship identifier, order time, command context>

Monitoring tables of data:<data sequence number, data time, data type, ship identifier, data content>

The computing unit of described control server is responsible for the evaluation work of all of server end, including the generation to the calculating of ship track and control command, the response to user's request, the process to sensing data.

User terminal is the control of robot ship and user accesses system and uses the terminal platform of server controls function.User adopts the mode of Web browser, by accessing the Web page that server provides, carries out information monitoring and controls operation.

Communication network adopts the Internet architecture based on TCP/IP procotol.Control server and there is fixing IP address and domain name.Terminal use adopts Web browser to access server domain name to obtain service.Each robot ship terminal, by wireless technologys such as WIFI, 3G/4G-LTE, Zigbee of the smart mobile phone of its lift-launch, is connected to the Internet by having the access point of DHCP service and obtains IP address.Set up TCP between robot ship and server be connected and continue a session stage.Robot ship passes through Restful interface accessing server resource during this period, and server can also pass through active push mode and transmit data to robot ship.

Compared with prior art, its remarkable advantage is the present invention: (1) present invention propose a kind of small-sized, low cost, differently configured sensor can be carried, there is collaborative mardelling capacity, autonomous operational capabilities and remotely automatic robot's ship platform of monitoring capacity and control system thereof;(2) for the shortcoming that network node in the sensing network of current waters is complicated, expensive, the network node in the present invention has the advantage of miniaturization, low cost;(3) for the shortcoming of network node autgmentability difference in the sensing network of current waters, the network node in the present invention can realize carrying differently configured sensor by navigational duty demand;(4) the network node machine people's ship terminal in the present invention has collaborative mardelling capacity, it may be achieved collaborative work and Monitoring Data between robot ship are shared;(5) the robot ship in the present invention has autonomous operational capabilities completely, and self-contr ol, after receiving autonomous sailing command, is navigated by water along broken line, or back and forth cruises in enclosed region by robot ship terminal.

Accompanying drawing explanation

The system construction drawing of Tu1Shi robot of the present invention ship and control system thereof.

The system construction drawing of Tu2Shi robot of the present invention ship terminal.

The module that Fig. 3 is present system connects and information flow chart.

Fig. 4 is the present invention user interface schematic diagram based on browser.

Tu5Shi robot of the present invention ship independently navigates by water schematic diagram.

The workflow diagram of Tu6Shi robot of the present invention boat system.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Fig. 1 show robot ship and controls the system construction drawing of system, including robot ship terminal, controls server, user terminal and connects the communication network of former three.Robot boat system passes through equipment network and remote control technology, it is achieved the autonomous navigation of robot ship and Monitoring Data are shared.The access point of robot boat system, control are communicated by TCP/IP procotol between server, user terminal, and adopt the mobile radio telecommunications technology based on WIFI or 3G/4G-LTE to be attached between access point and robot ship.The present invention mainly realizes following functions:

1) connection of smart mobile phone and server and data communication;

2) connection of smart mobile phone and single-chip microcomputer and data communication;

3) calculating and process, the storage monitoring data and the transmission of the setting of parameter, control signal are controlled.

Fig. 2 show the system structure of robot ship terminal, robot ship terminal logic is made up of power plant module, control module, communication module, sensing module four major part, is specifically responsible for realization by parts such as hull, motor drive ic, motor, battery, single chip microcomputer circuit board, smart mobile phones.

The hull of robot ship terminal adopts twin hull construction, two propellers are symmetrically distributed in hull two sides of tail, improve its speed to alleviate the weight of hull simultaneously, the hull that material is thin, toughness is strong should be adopted as far as possible, in implementation process, intend adopting reinforced igelite (PVC plastic) hull.The hollow structure of hull, is mainly used in laying smart mobile phone, single chip microcomputer circuit board and driving set of cells.

In order to strengthen the power plant module of robot ship terminal in implementation process, adopt the pattern in double; two DC MOTOR CONTROL navigation direction.In implementation process, intend adopting L298N motor drive ic to drive two-way 380 direct current generator to realize the adjustment to headway and navigation direction.Battery unit in power plant module provides supply of electric power guarantee for whole system, feed back battery voltage information to electric-motor drive unit, from energy-conserving and environment-protective, the angle reducing cost, it is proposed that adopt high performance rechargeable battery simultaneously, in implementation process, intend adopting 10000mAh lithium battery.

Single chip microcomputer circuit board, as the surface-mounted integrated circuit of whole system, connects smart mobile phone, power plant module, various kinds of sensors.It is responsible for driving power plant module, is responsible for from sensor readings simultaneously.The Arduino series monolithic being prone to wiring and stable performance should be adopted, in implementation process, intend adopting ArduinoMega2560 single-chip microcomputer.

Smart mobile phone receives and storage for position and state-detection, motor control, the sensing data of hull.Smart mobile phone detects hull position and state by airborne GPS alignment system, gyroscope, compass, photographic head, is responsible for simple avoidance and hull control decision simultaneously.Smart mobile phone and single-chip microcomputer are communicated by serial communication protocol, and communication mode is free flexibly, the mode such as including USB connection and bluetooth connection.

Fig. 3 show the module of system and connects and information flow chart, and server has fixing IP address and domain name.Terminal use adopts Web browser to access server domain name to obtain service.Each robot ship, by wireless technologys such as WIFI, 3G/4G-LTE, Zigbee of the smart mobile phone of its lift-launch, is connected to the Internet by having the access point of DHCP service and obtains IP address.Set up TCP between smart mobile phone with server be connected and continue a session stage.The smart mobile phone that robot ship carries during this period is by Restful interface accessing server resource, and server can also pass through active push mode and transmit data to robot ship.Smart mobile phone in individual machine people's hull and adopt bluetooth or USB to be connected between single-chip microcomputer mainboard to realize serial communication, obtained the concrete dynamic Control order from server by smart mobile phone to mainboard transmission, to mobile phone terminal transmission sensing data and uploaded onto the server by mainboard simultaneously.

Robot ship is adopted centralized management by server, is responsible for the task distribution of individual machine people's ship, human intervention, status monitoring, path planning and the task coordinate between multiple robots ship and cooperation.As the robot boat system having collaborative mardelling capacity, between robot ship and robot ship, communication can be carried out either directly through TCP/IP procotol.

Fig. 4 show the user interface based on browser, user logs in robot bow page by the browser on user terminal, can checking positional information and other essential information of robot ship on map, the icon clicking a certain bar ship just enters the page of the display status information of this robot ship, control information and movable information.On this page, user can be returned to the hydrographic information of server and outdoor scene picture and video by monitoring robot ship, also has the history ship trajectory of this robot ship to show on embedded map.User first has to select the identifier of a robot ship in combobox, then just can be controlled operating and have detected of return information to it.Control mode has two kinds of selections, including remotely controlling and two radio buttons of autonomous navigation.If user selects distance control mode, then needing the headway revising this robot ship to control in real time with navigation direction, user directly can revise concrete numerical value in text box, it is also possible to the button clicking both sides carrys out acceleration-deceleration and regulates direction;If user selects autonomous sail mode, then the button can clicked below map is operated.Click the scale of " amplification " and " reducing " button adjustably figure, convergent-divergent map can certainly be carried out with the roller of mouse, click " vectogram " and " satellite mapping " and can freely switch the form of map so that observing, broken line or corresponding graphics field can be drawn on map after clicking the buttons such as " broken line ", " rectangle ", " polygon ", " circle ", and in this, as the restriction of the navigation route set or tradding limit.No matter select which kind of control model, once after clicking " determination " button, the setting of the amendment of the data before made, path or scope all can be saved in data base, and to being transmitted the parameter of the corresponding operating that user makes to this robot ship by Restful interface by server.

Fig. 5 (a) show robot ship and independently navigates by water pathway figure, Fig. 5 (b) show robot ship and independently navigates by water schematic diagram, there is certain error and time delay in the robot ship position status information obtained in implementation process due to boat-carrying position sensor, the real navigation path of robot ship and path planning are not completely the same, there is certain deviation, but general trend remains along the path planning navigation set.Robot ship can constantly calculate self distance with each path planning course line section to determine self currently position in path planning section in navigation process, concrete grammar is the distance comparing robot ship current location with each planning course line section, it has been generally acknowledged that namely distance reckling is that current robot ship is just at underway path planning, on this basis, required motor speed is calculated by pid control algorithm, then the rotating speed of hull two sides of tail motor is regulated respectively, reach the desired value calculated, finally realize robot ship and adjust self course, constantly close to reduce the purpose of navigation deviation to this path planning.

Server provides several Restful interface to robot ship terminal so that the access of mutual and resource of data.First robot ship terminal to set up communication linkage with server, and server can return the identifier of a ship after receiving request, represents that this robot ship terminal has been set up with server and is connected;Following robot ship terminal just periodically reports the status information of self to server, including longitude, latitude, speed, direction, current time etc., server is returned to the information confirming to receive after being successfully received useful data, otherwise return corresponding error message, as out-of-date in information etc.;Additionally, robot ship timing can transmit the data such as hydrographic information, environmental information, image acquisition to server;Then, robot ship sends the request obtaining subscriber control information and parameter to server, server can obtain corresponding data from data base, and with JSON data form packaged after return to robot ship terminal, a data record there may be sail mode (module), regional extent type (range_type), longitude of vertex (longitude), latitude of vertex (latitude), headway (speed), the navigation direction information such as (direction);Also have an interface, when program code, realize function have renewal time, for robot ship terminal access and obtain more new resources.

Setting that all users make and the parameter of input, also have data that robot ship beams back, information all can are saved in the data base of server end in time.Data base need altogether five tables, robot ship tables of data have recorded server-assignment to the identifier of Mei Tiao robot ship, the IP address of robot ship terminal, robot ship hardware configuration (including hull, model, driving chip type, motor type etc.);The dynamic tables of data of shipping have recorded ship identifier, the longitude of certain historical time point, latitude, speed, direction, sail mode (" remotely controlling " or " independently navigation "), the value of timestamp, equipment the duty (include the electricity of battery, data etc. that the rotating speed of motor, sensor acquisition arrive) of each ingredient;User data table have recorded the IP address of the pet name of user, current Entered state ("Yes" or "No"), the type (" domestic consumer ", " member " or " manager " etc.) of user, user's beaching accommodation;The type (" broken line ", " rectangle ", " polygon " or " circle ") of the sequence number of control command data table record order, the pet name of user, the identifier of ship, the time of user setup order, Control Cooling (" remotely controlling " or " independently navigation "), the speed arranged, the navigation direction of setting, the route of autonomous navigation or scope;Route under autonomous sail mode or the apex coordinate longitude and latitude of scope;Monitoring tables of data have recorded the sequence number of data, the type (" water temperature ", " water level ", " flow velocity ", " picture " etc.) of the time of data, data beamed back by the identifier of ship, ship;The value of the type data or the storing path of picture.

Control all evaluation works of the computing unit charge server end of server, mainly include the calculating to ship track and the generation of control command, as under autonomous sail mode, if how the coordinate beyond restriction scope, according to subsequent point adjusts direction and the speed etc. of navigation;It addition, also to respond request that user sends and judge that whether the parameter arranged is reasonable;The sensing data that computing unit is also required to robot ship is beamed back processes, including the preservation etc. of the process of hydrographic information and picture.

User terminal is that client's game server realizes measuring robots boat state and issues the terminal platform of control command, and detailed description of the invention is with the Web page of server.

Fig. 6 show the workflow diagram of above robot boat system.

Specifically comprise the following steps that

Step 1: robot ship terminal performs the necessary initial work such as start energising;

Step 2: robot ship terminal connects Internet by airborne wireless communication module, and access control server also registers self information;

Step 3: robot ship terminal obtains instruction from the data base controlling server;

Step 5: after robot ship terminal acquisition instruction, decision instruction type is to perform specific action, if obtaining control instruction, performs step 6;If obtaining sensing instruction, perform step 9;If acquisition END instruction, perform step 15;

Step 6: the control model in decision instruction after robot ship terminal acquisition control instruction, if autonomous sail mode, performs step 7;If distance control mode, directly perform step 8;

Step 7: robot ship terminal calculates the navigation route of autonomous sail mode pontoon;

Step 8: robot ship terminal calculates motor control instruction, adjusts Motor control parameters according to instruction result of calculation, then performs step 14;

Step 9: the sensor type in decision instruction after robot ship terminal acquisition sensing instruction, if position sensor, performs step 10;If video sensor, perform step 11;If hydrology sensor, perform step 12;

Step 10: robot ship terminal obtains the positional information of robot ship terminal by position sensor, then performs step 13;

Step 11: robot ship terminal obtains the video information of robot ship terminal surrounding water environment by video sensor, then performs step 13;

Step 12: robot ship terminal obtains the hydrographic information in waters, robot ship terminal place by hydrology sensor;

Step 13: the heat transfer agent that robot ship terminal obtains, uploads onto the server while being saved in robot ship terminal local memory element;

Step 14: robot ship terminal obtains system mode and uploads onto the server, returns step 4;

Step 15: if obtaining END instruction, then robot ship terminal will end task, stops navigation.

Claims (8)

1. the robot boat system for waters information gathering, it is characterised in that: include robot ship terminal, control server, user terminal and communication network;
Robot ship terminal, carries out remotely controlling, independently navigating by water in water environment in order to carry sensor, receives and control server instruction and the Monitoring Data that sensing module obtains uploaded,
Control server, it is responsible for organizing all of robot ship terminal, ship trajectory under calculating robot's ship terminal remote control pattern, the Monitoring Data that storage sensing module obtains, provide the user use operation and control interface and control pipeline, including Web page, Restful interface, data base and computing unit;
User terminal, user adopts the mode of Web browser, by the Web page that access control server provides, carries out information monitoring and controls operation;
Communication network adopts the Internet architecture based on TCP/IP procotol, terminal use accesses server by Web browser and obtains service, and robot ship terminal is obtained control instruction by the wireless communication module of the smart mobile phone of its lift-launch with controlling server communication and uploads Monitoring Data.
2. the robot boat system for waters information gathering according to claim 1, it is characterized in that: described robot ship terminal, including power plant module, control module, communication module and sensing module, power plant module is responsible for advancing ship motion, hull adopts twin hull construction, is responsible for driving by the two of power plant module motors respectively;Control module and include single-chip microcomputer and smart mobile phone, smart mobile phone is received by airborne wireless communication module and controls the control instruction that server end pushes, single-chip microcomputer receives control instruction and drives power plant module, read sensing data from sensing module simultaneously and store, realize the calculating to hull flight path by smart mobile phone computing unit and the compression to sensing data processes, carried out the tissue storage of aeronautical data, sensing data by smart mobile phone memory element;Communication module, is responsible for the wireless connections communication based on TCP/IP procotol between robot ship and between ship and control server.
3. the robot boat system for waters information gathering according to claim 2, it is characterized in that: described sensing module includes position sensor, video sensor and hydrology sensor, sensing data includes hydrology sensor and is responsible for the Hydrology volume datas such as the water temperature of collection, water level, water body oxygen content, position sensor is responsible for the hull of collection position in waters, speed, configuration space status data, and video sensor is responsible for the video/audio image data of the hull water proximate environment gathered.
4. the robot boat system for waters information gathering according to claim 1, it is characterised in that: described Web page, terminaloriented user provides the control to robot ship based on browser and management function;Described Restful interface accesses for realizing robot ship terminal and the remote interaction controlled between server;Described data base adopts different tables of data, records all of robot ship information, ship movable information, user profile, control command and Monitoring Data;Described computing unit is responsible for the evaluation work of all of server end, including the generation to the calculating of ship track and control command, the response to user's request, the process to sensing data.
5. the robot boat system for waters information gathering according to claim 4, it is characterized in that: the Restful interface of described control server provides remote interaction to access the channel of server resource to robot ship, interface API adopts HTTP standard URL format, GET or POST request mode, returning result is JSON form, and the interface function that server provides includes following a few class:
Information report (POST mode), reports self-position and state for robot ship to server;
Data-pushing (POST mode), for robot ship to server push data block, for instance sensing data;
Request command (GET mode), for robot ship to server lookup instruction;
Data download (GET mode), download data or program more fresh code for robot ship from server.
6. the robot boat system for waters information gathering according to claim 4, it is characterised in that: described robot ship information includes the hardware configuration of the globally unique identifier of Mei Tiao robot ship, the IP address of robot ship terminal, robot ship;Ship movable information includes the identifier of ship, ship the longitude of certain historical time point, latitude, speed, direction, sail mode, the value of timestamp, equipment the duty of each ingredient;User profile refers to the IP address of the pet name of user, current Entered state, the type of user, user's beaching accommodation.
null7. the control method for the robot boat system of waters information gathering,It is characterized in that: robot ship terminal is after the initialization having performed necessity,Internet is connected by airborne wireless communication module,Access the server with fixed ip address and domain name and to server registration self information,Then from the data base of server, obtain instruction,After robot ship terminal acquisition instruction, decision instruction type is to perform specific action,If obtaining control instruction, continue the control model in decision instruction,Under autonomous sail mode, first robot ship terminal calculates course line,Then motor control instruction is calculated,Motor control parameters is adjusted according to result of calculation,And robot ship terminal need not calculate course line under distance control mode,Directly calculate motor control instruction,Motor control parameters is adjusted according to result of calculation,Under two kinds of control models,Robot ship terminal finally all needs to obtain system mode and uploads onto the server,Then proceed to access server and obtain new instruction;If obtaining sensing instruction, continue the sensor type in decision instruction, position sensor is for obtaining the positional information of robot ship terminal, video sensor is for obtaining the video information of robot ship terminal surrounding water environment, hydrology sensor is for obtaining the hydrographic information in waters, robot ship terminal place, the heat transfer agent obtained, to upload onto the server to realize the real-time monitoring to waters while being saved in robot ship terminal local memory element, finally, robot ship terminal obtains system mode and uploads onto the server, then proceed to access server and obtain new instruction;If acquisition END instruction, then robot ship terminal will end task, and stop navigation.
8. the control method of the robot boat system for waters information gathering according to claim 7, it is characterized in that: robot ship terminal connects Internet access control server and obtains instruction, water environment carries out remotely control or independently navigate by water, utilize the Sensor monitoring hull self of its lift-launch and surrounding body state is carried out detection sampling, and monitoring result is uploaded onto the server.
CN201510969261.9A 2015-12-18 2015-12-18 A kind of robot boat system and its control method for waters information gathering CN105752280B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510969261.9A CN105752280B (en) 2015-12-18 2015-12-18 A kind of robot boat system and its control method for waters information gathering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510969261.9A CN105752280B (en) 2015-12-18 2015-12-18 A kind of robot boat system and its control method for waters information gathering

Publications (2)

Publication Number Publication Date
CN105752280A true CN105752280A (en) 2016-07-13
CN105752280B CN105752280B (en) 2018-01-23

Family

ID=56342128

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510969261.9A CN105752280B (en) 2015-12-18 2015-12-18 A kind of robot boat system and its control method for waters information gathering

Country Status (1)

Country Link
CN (1) CN105752280B (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106357752A (en) * 2016-08-30 2017-01-25 孟玲 Robot ship system for acquiring water area information
CN106648614A (en) * 2016-11-05 2017-05-10 杭州畅动智能科技有限公司 Modular platform-based robot development system architecture and main control unit thereof
CN106959623A (en) * 2017-02-17 2017-07-18 中国人民解放军海军工程大学 The hydrometeorological data transfer control system of ship based on the Big Dipper and method
CN107229278A (en) * 2017-06-02 2017-10-03 华中科技大学 A kind of unmanned boat monitoring system based on cloud network
CN107271625A (en) * 2017-05-26 2017-10-20 宁波天勤电子科技有限公司 Offshore waters ambient intelligence monitoring and data analysis system and its method
CN107566501A (en) * 2017-09-13 2018-01-09 深圳市益鑫智能科技有限公司 A kind of water regime monitoring management system for water conservancy
CN108303508A (en) * 2018-02-06 2018-07-20 武汉理工大学 Ecology language system and method based on laser radar and deep learning optimum path search
WO2018137088A1 (en) * 2017-01-24 2018-08-02 深圳企管加企业服务有限公司 Information exchange method and system combining internet of things and robot
WO2018137087A1 (en) * 2017-01-24 2018-08-02 深圳益创信息科技有限公司 Danger warning system and method based on robot
CN109283858A (en) * 2018-08-14 2019-01-29 北京云迹科技有限公司 Apparatus control method and device based on interface
CN109737975A (en) * 2018-12-21 2019-05-10 北京四维图新科技股份有限公司 Map data collecting monitoring method, apparatus and system
CN111037575A (en) * 2020-03-13 2020-04-21 广东博智林机器人有限公司 Robot instruction transmission and processing method and device, electronic equipment and storage medium
CN111037575B (en) * 2020-03-13 2020-06-26 广东博智林机器人有限公司 Robot instruction transmission and processing method and device, electronic equipment and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100145514A1 (en) * 2008-12-08 2010-06-10 Electronics And Telecommunications Research Institute Apparatus and method for controlling multi-robot linked in virtual space
CN201966955U (en) * 2010-12-31 2011-09-07 中国科学院沈阳自动化研究所 Manned underwater vehicle surface of water monitor
EP2416227A1 (en) * 2010-08-02 2012-02-08 Sogenai S.p.A. Monitoring system
CN102394917A (en) * 2011-10-19 2012-03-28 上海海洋大学 Ocean environment monitoring and early warning system
CN202306258U (en) * 2011-07-13 2012-07-04 浙江海洋学院 Dynamically monitoring and managing system of offshore ship
CN104503414A (en) * 2014-12-29 2015-04-08 广州文冲船厂有限责任公司 Intelligent ship information monitoring system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100145514A1 (en) * 2008-12-08 2010-06-10 Electronics And Telecommunications Research Institute Apparatus and method for controlling multi-robot linked in virtual space
EP2416227A1 (en) * 2010-08-02 2012-02-08 Sogenai S.p.A. Monitoring system
CN201966955U (en) * 2010-12-31 2011-09-07 中国科学院沈阳自动化研究所 Manned underwater vehicle surface of water monitor
CN202306258U (en) * 2011-07-13 2012-07-04 浙江海洋学院 Dynamically monitoring and managing system of offshore ship
CN102394917A (en) * 2011-10-19 2012-03-28 上海海洋大学 Ocean environment monitoring and early warning system
CN104503414A (en) * 2014-12-29 2015-04-08 广州文冲船厂有限责任公司 Intelligent ship information monitoring system

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106357752A (en) * 2016-08-30 2017-01-25 孟玲 Robot ship system for acquiring water area information
CN106648614A (en) * 2016-11-05 2017-05-10 杭州畅动智能科技有限公司 Modular platform-based robot development system architecture and main control unit thereof
WO2018137088A1 (en) * 2017-01-24 2018-08-02 深圳企管加企业服务有限公司 Information exchange method and system combining internet of things and robot
WO2018137087A1 (en) * 2017-01-24 2018-08-02 深圳益创信息科技有限公司 Danger warning system and method based on robot
CN106959623A (en) * 2017-02-17 2017-07-18 中国人民解放军海军工程大学 The hydrometeorological data transfer control system of ship based on the Big Dipper and method
CN107271625A (en) * 2017-05-26 2017-10-20 宁波天勤电子科技有限公司 Offshore waters ambient intelligence monitoring and data analysis system and its method
CN107229278A (en) * 2017-06-02 2017-10-03 华中科技大学 A kind of unmanned boat monitoring system based on cloud network
CN107229278B (en) * 2017-06-02 2018-12-07 华中科技大学 A kind of unmanned boat monitoring system based on cloud network
CN107566501A (en) * 2017-09-13 2018-01-09 深圳市益鑫智能科技有限公司 A kind of water regime monitoring management system for water conservancy
CN107566501B (en) * 2017-09-13 2020-04-17 安徽省万豪水坝节能技术有限公司 Water regime monitoring and management system for water conservancy
CN108303508A (en) * 2018-02-06 2018-07-20 武汉理工大学 Ecology language system and method based on laser radar and deep learning optimum path search
CN108303508B (en) * 2018-02-06 2020-01-07 武汉理工大学 Ecological early warning system and method based on laser radar and deep learning path optimization
CN109283858A (en) * 2018-08-14 2019-01-29 北京云迹科技有限公司 Apparatus control method and device based on interface
CN109737975A (en) * 2018-12-21 2019-05-10 北京四维图新科技股份有限公司 Map data collecting monitoring method, apparatus and system
CN111037575A (en) * 2020-03-13 2020-04-21 广东博智林机器人有限公司 Robot instruction transmission and processing method and device, electronic equipment and storage medium
CN111037575B (en) * 2020-03-13 2020-06-26 广东博智林机器人有限公司 Robot instruction transmission and processing method and device, electronic equipment and storage medium

Also Published As

Publication number Publication date
CN105752280B (en) 2018-01-23

Similar Documents

Publication Publication Date Title
JP6179000B2 (en) Method, program and terminal for providing flight information
US10185318B2 (en) Return path configuration for remote controlled aerial vehicle
US9927809B1 (en) User interface to facilitate control of unmanned aerial vehicles (UAVs)
US10466695B2 (en) User interaction paradigms for a flying digital assistant
US20170186329A1 (en) Aerial vehicle flight control method and device thereof
EP3064963B1 (en) System and method for mapping an indoor environment
US10240930B2 (en) Sensor fusion
Barrientos et al. Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots
US20180046187A1 (en) Unmanned aerial image capture platform
WO2017211029A1 (en) Method and device for planning flight path for unmanned aerial vehicle
CN105492985B (en) A kind of system and method for the control loose impediment in environment
CN106292697B (en) A kind of indoor path planning and navigation method of mobile device
US8825377B2 (en) Mobile navigation to a moving destination
CN102707724B (en) Visual localization and obstacle avoidance method and system for unmanned plane
ES2601728T3 (en) Discovery of construction equipment in a network
US20160306351A1 (en) System for authoring, executing, and distributing unmanned aerial vehicle flight-behavior profiles
US7418320B1 (en) Navigating a UAV having an on-board digital camera to capture desired geographic area
CN105556410B (en) Mobile object and its antenna automatic aligning method, system
Meier et al. PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision
CN105573330B (en) Aircraft control method based on intelligent terminal
US7130741B2 (en) Navigating a UAV with a remote control device
Zhang et al. Control of coordinated patterns for ocean sampling
US20190371184A1 (en) Method and device for controlling flight of unmanned aerial vehicle and remote controller
US7469183B2 (en) Navigating UAVs in formation
CN102589531B (en) Underwater topography measurement boat as well as manufacturing method and measurement method

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant