CN106240774A - A kind of unmanned boat and system - Google Patents

A kind of unmanned boat and system Download PDF

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Publication number
CN106240774A
CN106240774A CN201610454324.1A CN201610454324A CN106240774A CN 106240774 A CN106240774 A CN 106240774A CN 201610454324 A CN201610454324 A CN 201610454324A CN 106240774 A CN106240774 A CN 106240774A
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CN
China
Prior art keywords
module
unmanned boat
information
cable
data
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CN201610454324.1A
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Chinese (zh)
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CN106240774B (en
Inventor
郑卫锋
其他发明人请求不公开姓名
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北京臻迪机器人有限公司
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Application filed by 北京臻迪机器人有限公司 filed Critical 北京臻迪机器人有限公司
Priority to CN201610454324.1A priority Critical patent/CN106240774B/en
Priority claimed from PCT/CN2016/093121 external-priority patent/WO2017140096A1/en
Publication of CN106240774A publication Critical patent/CN106240774A/en
Priority claimed from US15/847,880 external-priority patent/US10661867B2/en
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Publication of CN106240774B publication Critical patent/CN106240774B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/38Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar

Abstract

The invention discloses a kind of unmanned boat and system, including: image capture module, sonar contact module, communication module and central controller, wherein: described image capture module, it is used for recording and shooting underwater picture;Described sonar contact module, is used for detecting underwater environment and shoal of fish position and the degree of depth;Described communication module, the information obtained for the image information status information of unmanned boat, image capture module obtained and sonar detecting module is transmitted to exterior terminal, transmits the control instruction of exterior terminal to central controller simultaneously;Described central controller, is connected with above-mentioned modules, controls the traveling action of unmanned boat, and coordinates the work of each module.One unmanned boat of the present invention comprises existing fishing unmanned boat function can realize again certain depth dive simultaneously, it is possible to realizes and the telecommunication on bank, can return underwater picture information in real time.

Description

A kind of unmanned boat and system

Technical field

The present invention relates to a kind of unmanned boat;A kind of can dive and the unmanned boat of floating.

Background technology

Robotics development is rapid in recent years, is suitable for the unmanned machine such as unmanned plane of varying environment, unmanned vehicle, nothing in a large number People's ship etc., but limited these equipment by factors such as technology and the most extensively enter civil area.As a example by unmanned boat, existing Unmanned boat mostly is military, as completed investigation tasks, and long-range attack task dispatching.Also there are some for scientific research field, such as ocean number According to monitoring, experiment sample collection etc..The industrially remote maintenance of equipment in some water, the aspect such as commercial mining.Civilian The application of aspect is the most limited, at present in addition to as the unmanned boat of recreational use, is used for the unmanned boat of fishing in civilian city The demand of field is increasing, therefore proposes the highest requirement for fishing unmanned boat.

Some fishing unmanned boat technical specifications in the market are the highest, function singleness, it is impossible to provide comprehensive specialty Fishing is experienced.And difference is little compared with tradition fishing, does not has revolutionary change.

The function of the unmanned gear of existing fishing has following a few class:

Beat nest and put hook function: the such as Chinese patent of application number 201320333558.2 discloses a kind of remote control location bait throwing in Ship, containing remote control with receive device, hull, power supply and control and decoding circuit, hull be provided with some bilge to hatch door tilt only Vertical cabin;Hatch door is provided with magnet steel, and hull is provided with electric magnet with hatch door magnet steel correspondence position;Electric magnet is by controlling and decoding electricity Road is connected with receiving device;Described independent cabin sets four altogether, is divided into hull both sides.Disclosed in this patent, unmanned boat can be remote Distance multipoint positioning throws in the bait, fish hook, and can play the effect beating the poly-fish of nest.

Sonar contact function: it is wireless that the such as Chinese patent of application number 201520499153.5 discloses a kind of hybrid power Remote control aquaculture monitoring ship, this patent is except carrying out pinpointing bait throwing in, it is also possible to by the sonar contact number of fish school under water With fish size, judge whether to cultivate overstocked with this, if can fish for, beneficially next step operation of poultry feeders.Its Can detect approximate location and the substantially quantity of object according to Sonar Signal, user needs to be visited according to the micro-judgment of oneself Survey the kind of thing and particular location and particular number, and cannot definitely learn the kind of detected thing, size and geographical position.Example As: when detecting the shoal of fish, user need rule of thumb to judge this be what fish, substantially where, and can not be definite Ground knows it is the concrete longitude at what fish, the size of fish and shoal of fish place, latitude information.

GPS pinpoints function: the such as Chinese patent of application number 201010300353.5 discloses a kind of wireless remote control fishing Ship, gps satellite alignment system and fish survey meter are incorporated into this line fishing boat by this patent, to prevent ship under steam inclined Boat, is apparent from the fish channel morphology in place, the depth of water, water temperature, the movement pattern of fish, and determines and store the orientation beating nest, weight with GPS It is automatically found original beating nest position and return to one's starting point again exactly, it is simple to go fishing and beat nest.This patent can realize storage and beat Nest and the function of navigation automatically are beaten in den, fixed point.

The most visible, existing fishing unmanned boat has beats nest, under water sonar contact and the merit of GSP orientation navigation Energy.But details under water cannot be obtained, especially the acquisition to the underwater picture of certain depth.This is due to existing fishing Fish unmanned boat does not have underwater camera, although the patent of application number 201520499153.5 has photographic head, but is not to arrange Under water but on the water surface.Further, even if arranging underwater camera on existing fishing unmanned boat and also cannot obtaining detailed Shoal of fish information under water.Because existing fishing unmanned boat all can not realize dive, not dive is to certain depth, it is impossible to abundant with the shoal of fish Close, the most just cannot get the image information of fish, it is impossible to the information of sonar contact is verified.This can largely effect on fishing Effect, when the data of sonar contact are wrong, it is impossible to find in time, such as, roll into a ball Sargassum under water or pasture and water and is identified as the shoal of fish, Fisherman can waste time and bait in the case of unwitting.

As can be seen here, the defect of existing fishing unmanned boat is to obtain underwater picture information and cannot be real in detail the most accurately The dive of existing effective depth.Why unmanned boat is difficult to dive, be the decay transmitted in water due to radio wave very Seriously, therefore communication issue is difficult to solve to become the barrier limiting unmanned boat dive.

Although prior art there being some with the unmanned machine under water of dive, but can all there are some problems, be not suitable for the people With field and field of fishing.This is because at present, existing underwater robot mostly uses autonomy or has cable control model.Autonomous Pattern, is used in untethered robot more, robot according to the host computer being previously set or receive according to variable interval instruct into Row underwater performance, thus can not obtain underwater information in real time and control robot;And having cable pattern, it is simply that robot passes through The umbilical cables being connected with surface mother ship obtains power, and carries out data transmission and man-machine interaction with the host computer on lash ship, and it can To realize the real-time control to robot, but its activity is restricted by umbilical cables, easily makes under particularly complicated underwater environment Becoming winding accident, motility is inadequate.

As can be seen here, existing can have three kinds of problems by dive unmanned machine:

(1) submerged depth is inadequate, it is impossible to obtain detail image;

(2) although but submerged depth enough can not control and back information in real time, it is impossible to solve communication issue;

(3) radio communication cannot be realized, but be controlled by cable, be only applicable to vertical drop dive and simple without environment under water The situation of no-sundries, is not suitable for by the non-perpendicular remote dive on bank to profundal zone.This by the control of cable very Unrealistic, in river, river, lake, the wide water domain such as sea and reservoir do when fishing at a distance, owing to waters is broad, a distance bank of fishing Limit is far, and sub-marine situations is the most intricate, and a cable is very easy to be wound in tow, and needs to carry a large amount of cable very Inconvenient.

Existing hydrospace detection device is such as: utilizing the diving under water device of sonar contact technology, it can only be believed according to sonar Number detect approximate location and the substantially quantity of object, user need according to the micro-judgment of oneself be detected thing kind and Particular location and particular number, and cannot definitely learn the kind of detected thing, size and geographical position.Such as: when detecting During the shoal of fish, user need rule of thumb to judge this be what fish, substantially where, and can not know exactly which is what The concrete longitude at fish, the size of fish and shoal of fish place, latitude information.

Due to above-mentioned defect, it is badly in need of wanting one to comprise existing fishing unmanned boat function and can realize again certain depth simultaneously Dive, and it is capable of the telecommunication with bank, the one of underwater picture information can be returned in real time for the field of going fishing Unmanned boat.

Summary of the invention

For the problems referred to above, it is an object of the invention to provide one and can utilize sonar contact immersed body information, and Can dive certain depth, it is achieved remote radio communication the most waterborne, obtain in real time underwater picture information also return to outside eventually The unmanned boat of end.

Particular content is:

A kind of unmanned boat, it is characterised in that including: image capture module, sonar contact module, communication module, and central authorities Controller, wherein:

Described image capture module, is used for recording and shooting underwater picture;

Described sonar contact module, is used for detecting underwater environment and shoal of fish position and the degree of depth;

Described communication module, for the image information status information of unmanned boat, image capture module obtained and sonar The control instruction of exterior terminal, to exterior terminal, is transmitted to central controller by the information transmission that detecting module obtains simultaneously;

Described central controller, is connected with above-mentioned modules, controls the traveling action of unmanned boat, and coordinates each module work Make.

Further, described image capture module, sonar contact module, communication module, twisted and released of the cable module and central authorities' control Device processed is located in unmanned boat main body, also includes a floatable buoy, and at least antenna part of described communication module is arranged on floating In mark, it is connected by a retractable cable between described buoy with unmanned boat main body;Also include twisted and released of the cable module, described electricity Dive or floating that the depth information of the unmanned boat that cable folding and unfolding module obtains and central controller send instruct, and discharge or regain The cable of corresponding length so that the degree of depth residing for cable length and unmanned boat adapts.

Further, described twisted and released of the cable module includes a hoist-engine controller and a hoist engine, and described hoist engine is arranged In unmanned boat main body, described can folding and unfolding cable hank around being arranged on hoist engine and realizing folding and unfolding by hoist engine;Or described electricity Cable folding and unfolding module is directly controlled by central controller.

Further, also including power plant module, described power plant module is for driving unmanned boat under central controller controls Realize the motion in the direction such as upper and lower, forward and backward.Described power plant module includes motor driver, and two be connected with motor driver Individual horizontal drive motor and a vertical driving motor.Said two horizontal drive motor is arranged on about unmanned boat afterbody two Side, described vertical driving motor is arranged on unmanned boat vertical direction.

Further, described communication module is that DDL figure number passes one transport module, and described DDL figure number passes one transmission mould The figure number of delivering a letter and bidirectional data transfers signal integration are that single link is transmitted by block;Also include being connected with central controller GPS module, described GPS module is arranged in buoy, and described GPS module determines the position of unmanned boat for receiving gps satellite signal Put, and the GPS position information of unmanned boat is sent to exterior terminal.And sent extremely by DDL figure biography number biography one transport module Exterior terminal.

Further, described central controller also includes that one navigates by water module automatically, and described automatic navigation module receives and deposits The way point information that storage exterior terminal is sent, waypoint location and order information are also demarcated on GPS map, are obtained according to GPS module Unmanned boat real time position and navigation direction, control power plant module drive unmanned boat towards destination advance.

Further, also include that a tenaculum module, described tenaculum module are used for accommodating fish hook or fishing line, and can be a fish snapped at the bait Shi Songkai fish hook or fishing line.Tenaculum module includes that tenaculum device and a controller, described tenaculum device are a blessing mechanism, and it is arranged Having sensor and electric magnet, after a fish snapped at the bait, sensor signals, and controller controls electric magnet and attracts blessing mechanism to open, pine Open fish hook or fishing line;Or described tenaculum module is directly controlled by central controller.

Further, described sonar contact module includes: emitter, transducer and receiver, and described central controller Control to sonar contact module includes: control opening and closing and the direction of transducer transmitting sound wave of sonar module.

Further, described image taking module includes photographic head, LED illumination lamp and the steady The Cloud Terrace of increasing, and described central authorities control The control of image taking module is included by device: send ON/OFF instruction to photographic head, sends ON/OFF instruction to LED illumination lamp, to Increase steady The Cloud Terrace and send rotation angle commands.Or, according to the image information that image taking module is transmitted or according to outside eventually Image taking module is controlled by the control instruction that end is sent.Described unmanned boat front end is a transparent kuppe, described in take the photograph As head, LED illumination lamp and the steady The Cloud Terrace of increasing are arranged in kuppe.

Further, power module, sensor assembly and memory module are also included;Described power module is for unmanned boat Power supply, including power management module and power supply;Described sensor assembly includes, pressure transducer, depth transducer, three axle gyros Instrument, three axis accelerometer, three-axle magnetic field meter leakproof detector and Inertial Measurement Unit;Described memory module is used for storing unmanned boat Aeronautical data, the picture of image capture module record or video data etc.;Described cable is zero to float communication cable.

Further, described central controller, control sound dispensing device and the image taking module of sonar contact module Photographic head be in same direction and angle.

Further, the sound dispensing device of described sonar contact module and the photographic head of image taking module combine one Rise;And when central controller controls transducer sends sound wave, control photographic head and start to take pictures, or/and when transducer connects simultaneously When receiving acoustic echo, central controller controls photographic head is taken pictures.

Further, described central controller, sonar contact module, image taking module, twisted and released of the cable module, tenaculum mould Block and power plant module are arranged on inside unmanned boat, at least antenna part is arranged on buoy of described communication module, described buoy It is connected with unmanned boat by cable.

A kind of unmanned boat system, it is characterised in that include described unmanned boat and an exterior terminal, described exterior terminal and nothing The communication module wireless connections of people's ship, for remotely controlling the motion of described unmanned boat, detection, shooting process, and connect Receive sonar data, view data, operational configuration data and gps data etc. that unmanned boat is sent.

Further, described exterior terminal includes CPU, display module, input module, terminal communication module and storage mould Block, wherein:

CPU is connected with display module, input module, transmitting and receiving module and memory module, and controls these modules System, sends control instruction by transmitting and receiving module to unmanned boat;

Display device: the view data of unmanned boat, sonar data, gps data, aeronautical data and the biography received for display The information such as sensor;

Terminal communication module: for launching wireless signal to unmanned boat and receiving the wireless signal from unmanned boat, can adopt With WIFI, bluetooth, the communication pattern such as radio frequency and optic communication;

Input module: for external command is inputed to CPU, described input module can be stick, keyboard, touch The combination of one or more in screen, phonetic entry and gesture input;

Memory module: the view data of unmanned boat, sonar data, gps data, aeronautical data and the biography received for storage The input information of the information such as sensor or user or the unmanned boat sail mode prestored in advance and automatic sail information.

Further, also there is power module, UBS interface;Described terminal be mobile phone, panel computer, computer or its Its mobile terminal.

Further, described exterior terminal, also there is voice broadcast module, described voice broadcast module will be for receiving The information such as aeronautical data be converted into audio-frequency information and reported by speaker.

Further, the memory module of described terminal is further used for, the information of detected thing, institute in the water that storage is preset State in the water preset that the communication module of unmanned boat can be sent the image information come and other information and memory module storage by CPU The information of detected thing is compared, and sends comparison result and advisory information to display module or voice broadcast module.

Further, described unmanned boat is preset with a key and makes a return voyage pattern, and described terminal is preset with the key that makes a return voyage, memory module Prestore coordinate points of making a return voyage, when terminal detect user press make a return voyage key time, send, to unmanned boat, control instruction of making a return voyage.

One unmanned boat of the present invention, comprises the function of existing fishing unmanned boat, available sonar module detection immersed body, Certain depth dive can be realized again simultaneously, by arranging image capture module on unmanned boat, it is achieved underwater picture collection, and And it is capable of the telecommunication with bank, passback underwater picture information in real time.The unmanned boat wheeled of the present invention is at the water surface On, sonar module detect under water the shoal of fish information time, can carry out dive observation, and swim on the water surface and unmanned boat by one By the buoy of the built-in communication antenna that cable connects, give outside waterborne eventually by image capture module real-time Transmission underwater picture End, shows, to user, the information and the image information of shooting that unmanned boat detects by exterior terminal display module.May determine that Whether there is the shoal of fish, and be what kind of fish, and other detailed immersed body information.

Accompanying drawing explanation

Fig. 1 is that in the embodiment of the present invention, unmanned boat and exterior terminal realize mutual relation block diagram

Fig. 2 is the structured flowchart of unmanned boat in the embodiment of the present invention

Fig. 3 is twisted and released of the cable module hoist engine schematic diagram in the embodiment of the present invention

Fig. 4 is the schematic diagram that in the embodiment of the present invention, hoist engine is arranged on outside unmanned boat

Fig. 5 is the schematic diagram that in the embodiment of the present invention, hoist engine is arranged within unmanned boat

Fig. 6 is the schematic diagram that in the embodiment of the present invention, hoist engine is arranged on unmanned boat exterior groove

Fig. 7 is the structured flowchart of embodiment of the present invention peripheral terminal

Fig. 8 is embodiment of the present invention application scenarios schematic diagram

Unmanned boat 100, central controller 110, image capture module 120, sonar contact module 130, communication module 140, Antenna 141, figure number one transport module 142, twisted and released of the cable module 150, hoist-engine controller 151, hoist engine 152, power mould Block 160, automatically navigation module 170, sensor assembly 180, power module 190, GSP module 101, memory module 102, tenaculum mould Block 103, exterior terminal 200, CPU210, display module 220, input module 230, terminal communication module 240, terminal storage module 250, terminal supplying power module 260, voice broadcast module 270, APP201, cable 300, buoy 400

Detailed description of the invention

Along with the rise of unmanned air vehicle technique, various unmanned machines are used widely, and unmanned boat starts in fishing field To increasing application, but existing unmanned boat has a lot of defect in fishing field.Therefore the present invention provides a kind of unmanned boat, Available sonar module detection immersed body, can realize again certain depth dive, by arranging image on unmanned boat simultaneously Acquisition module, it is achieved underwater picture collection, and be capable of under water to the telecommunication on bank, real-time passback is schemed under water As information.Improve the success rate of fishing, improve the recreational of the activity of fishing and operability, bring for user and differ The remote control of sample is tested.

Below in conjunction with the accompanying drawings and specific embodiment the present invention is further described in more detail.

The composition of the unmanned boat system that Fig. 1 provides for the embodiment of the present application and realize mutual relation frame with exterior terminal Figure, this system specifically includes that exterior terminal 200 and unmanned boat 100, and unmanned boat 100 of the present invention can be kept afloat, it is also possible to slips into Under water.Wherein,

Exterior terminal 200: be used for the motor control to unmanned boat 100 and detection and/or shooting process is remotely controlled Make, and dive and floating control, and receive the information of detected thing, positional information and the image information that unmanned boat 100 is sent.

Unmanned boat 100: for realizing motor control under the remotely control of terminal 200 and carrying out detecting and/or shooting, And by communication module thereon, the information of detected thing, positional information and the image information that obtain are sent to exterior terminal 200。

As in figure 2 it is shown, the structured flowchart of a kind of unmanned boat that Fig. 2 provides for the embodiment of the present application, it is characterised in that bag Include: image capture module 120, sonar contact module 130, communication module 140, twisted and released of the cable module 150, and central controller 110, wherein:

Described image capture module 120, is used for recording and shooting underwater picture;

Described sonar contact module 130, is used for detecting underwater environment, shoal of fish position and the degree of depth;

Described communication module 140, for the image letter status information of unmanned boat 100, image capture module 120 obtained The control instruction of exterior terminal 200, to exterior terminal 200, is passed by the information transmission that breath and sonar detecting module 130 obtain simultaneously Transport to central controller 110;

Dive that described twisted and released of the cable module 150 sends according to central controller 110 or instruction of floating, discharge or regain right Answer the cable 300 of length so that the degree of depth residing for cable 300 length and unmanned boat adapts;

Described central controller 110, is connected with above-mentioned modules, controls the traveling action of unmanned boat 100, and coordinates each Module works.

Unmanned boat of the present invention has sonar contact module 130 and image capture module 120, existing fishing unmanned boat simultaneously Typically not there is photographic head, even if there being photographic head can only gather the image near the water surface, for the detection of certain depth under water yet Can only detect approximate location and the substantially quantity of object according to Sonar Signal, user needs the micro-judgment quilt according to oneself The detection kind of thing and particular location and particular number, and cannot definitely learn the kind of detected thing, size and geographical position. Such as: when detecting the shoal of fish, user need rule of thumb to judge this be what fish, substantially where, and can not be true Know it is the concrete longitude at what fish, the size of fish and shoal of fish place, latitude information with cutting.The unmanned boat 100 of the present invention can With dive and have image capture module, thus image information accurately can be got, can accurately see the object of detection What is, if for the shoal of fish, fish why kind etc..Substantially increase fish success rate and Consumer's Experience.

Further, described image capture module 120, sonar contact module 130, communication module 140, twisted and released of the cable module Being located in unmanned boat main body with central controller, it is floatable that at least antenna 141 part of described communication module 140 is arranged on one In buoy 400, it is connected by a retractable cable 300 between described buoy 400 with unmanned boat 100 main body;Also include cable Folding and unfolding module 150, the depth information of the unmanned boat that described twisted and released of the cable module 150 obtains and central controller 110 send Dive or instruction of floating, discharge or regain the cable 300 of correspondence length so that degree of depth phase residing for cable 300 length and unmanned boat Adapt to.

The benefit so arranged is to ensure that proper communication under water, owing to underwater electromagnetic wave attenuation is serious, and at the water surface and At the interface of air, electromagnetic wave can attenuate again most.And when going fishing unmanned boat would generally navigate by water to deepwater regions away from Farther out, now the line between unmanned boat and user is not to be perpendicular to the water surface to the user on offshore limit, but almost horizontal, letter Number having a suitable segment distance is at water transmission, even if so the least degree of depth of now dive all can cause signal interruption.

Therefore arranging unmanned boat 100 of the present invention and be also connected with a buoy 400, the communication module 140 of described unmanned boat 100 is at least Antenna part 141 is arranged in buoy 400 (maybe can also communication module 140 be arranged in buoy), buoy 400 and unmanned boat 100 are connected by cable 300.Buoy 400 swims on the water surface, is equivalent to relay station, serves the waterborne and subsurface communication of connection Function, be marine communication between buoy 400 and exterior terminal 200, entered by cable 300 between buoy 400 and unmanned boat 100 Row wire communication, signal decays the least in air and cable, thereby ensure that stablizing of communication, reduces energy consumption.

Further, arranging and be described twisted and released of the cable module 150, twisted and released of the cable module sends according to central controller 110 Dive or instruction of floating, discharge or regain the cable 300 of correspondence length so that degree of depth phase residing for cable 300 length and unmanned boat Adapt to.

Existing unmanned boat the most thoroughly realizes the switching of market waterborne and market under water, otherwise can only water sailing, or only Carry out underwater navigation.There is certain defect, the most only carry out the unmanned boat of market under water, although underwater picture can be obtained, but It is during the navigation from bank phytal zone to profundal zone, is easily wound around by pasture and water, especially when wide water domain is fished, navigation Distant, user cannot visually arrive the underway position of unmanned boat, and giving fishes brings very big inconvenience.

Switching with underwater navigation waterborne, except the puzzlement of communication issue, it is also a technology that the buoyancy of unmanned boat changes A difficult problem, as used submarine to be arranged distant from buoyancy compartment and draining cabin, cost is greatly increased, and structure complexity is not suitable for civil area.If Line fishing boat is set to neutral buoyancy (density approximates with water), although may insure that normal dive, but be difficult to water surface market, And the propeller needing vertical direction during surface navigation works offer buoyancy always, it is greatly increased energy consumption undoubtedly.And water The resistance surface navigation to be far longer than of lower market, this can be greatly increased the energy loss in finding fishing point process.

The benefit so arranged is available with buoy 400 and realizes the unmanned boat switching with underwater navigation waterborne, works as needs When carrying out surface navigation, by cable 300 is regained so that unmanned boat 100 contacts laminating with buoy 400, and unmanned boat 100 utilizes The buoyancy of buoy 400 can be always in the scope traveling of adjoined water surface, it is not necessary to the motor of vertical direction drives, it is not required that Arrange the labyrinths such as buoyant cabin in unmanned boat to realize floating.Simplify structure, save energy consumption, add cruising time.

In actual use, unmanned boat 100 first keep beginning that cable 300 reclaims in water surface market by bank as deep water Region travels, and utilizes sonar contact module 130 to detect underwater environment in suitable waters, when being detected with doubtful fish When the object of group occurs, (exterior terminal 200 is also provided with a key dive can to send dive instruction by exterior terminal 200 Function key, keeps the data such as submerged depth speed in terminal storage module 250 in advance), send dive instruction, now cable is received Amplification module 150 discharges the length of cable 300, and unmanned boat 100 may be configured as similar or bigger with the density of water, and now unmanned boat is real Now diving, dive process can be accelerated by the driving motor of vertical direction, and twisted and released of the cable module 150 receives unmanned boat simultaneously The depth data of depth transducer 181, determines the length of release cable 300, deep to guarantee residing for cable 300 length and unmanned boat Degree adapts.When dive to certain depth, can pass through image capture module 120, real-time Transmission picture under water, user can pass through Display module 220 on exterior terminal 200, the detailed features of Real Time Observation to immersed body, if for the shoal of fish, the kind of fish, The information such as quantity.Judgement of further fishing is made according to image information.The standard of sonar contact it is greatly improved in conjunction with image information Really property, improves fishing and experiences.Unmanned boat of the present invention can also arrange depthkeeping pattern, according to the information of depth transducer 181, control Vertical direction propeller rotating speed processed, it is achieved Depth control.

Further, as it is shown on figure 3, the embodiment of the present invention uses a hoist engine being arranged on unmanned boat 100 to realize electricity The folding and unfolding of cable 300.Described twisted and released of the cable module 150 includes hoist-engine controller 151 and a hoist engine 152, a described hoist engine Be arranged in unmanned boat 100 main body, described can folding and unfolding cable 300 coiling be arranged on hoist engine 152 and by hoist engine 152 reality Existing folding and unfolding.

Further, as shown in Figure 4, described hoist engine 152 may be provided at the outside of unmanned boat 100, itself and unmanned boat 100 Internal hoist-engine controller 151 electrically connects by the way of sealing is waterproof.Described twisted and released of the cable module can also be controlled by central authorities Device processed directly controls, and specially central controller can directly control the opening and closing of hoist engine 152 and adjust direction of rotation.

Further, as it is shown in figure 5, described hoist engine 152 can also be provided at unmanned boat 100 inside, particularly in nothing Arranging an elevator cabin inside people's ship, cable 300 is stretched out outside unmanned boat 100 by nacelle top one movable sealing mouth, and and buoy 400 connect.

In a preferred embodiment, as shown in Figure 6, it is also possible to a groove structure is set outside unmanned boat 100 hull, described Groove structure coordinates for the lower surface with buoy 400, so can be after retracting cable 300 so that buoy 400 embeds groove In, buoy 400 and unmanned boat become an entirety, beneficially stability during surface navigation.

Further, also include that power plant module 160, described power plant module 160 drive under controlling at central controller 110 Dynamic unmanned boat 100 realizes the motion in the direction such as upper and lower, forward and backward.Described power plant module 160 includes motor driver 161, and with Two horizontal drive motors 162 of motor driver connection and a vertical driving motor 163.Said two horizontal drive motor 162 are arranged on the unmanned boat afterbody left and right sides, and described vertical driving motor 163 is arranged on the downside of unmanned boat.Described motor drives Device 161 receives the instruction of central controller 110, according to instruction, motor is carried out rotating speed and direction controlling.Moving in unmanned boat 100 Power module 160 provides power for unmanned boat, and unmanned boat 100 carries out mass motion control, such as: drive unmanned boat 100 to enter in water The motion in each orientation of row (such as: move upward, move downward or advance, retreat, rotary motion etc.), and can be driven by motor Dynamic device 161 carries out information exchange with controller 110.This kind of control instruction can also be sent by exterior terminal 200, through communication module 140 receptions are then transferred to central controller 110, and central controller 110 controls power plant module according to the instruction of portion's terminal 200 160,.Its power status information is also sent to central controller 110 and outside communication module 140 is sent to by power plant module 160 Portion's terminal 200.The horizontal drive motor 162 arranged must guarantee that unmanned boat 100 has certain speed of a ship or plane and capacity of anti-storm, design Unmanned boat 100 can resist the ocean current of 1.5-2.0 meter per second, and the horizontal speed of a ship or plane can reach 3-4 joint.Motor uses brshless DC motor to drive Dynamic, built-in motor FOC controls and speed, current feedback closed loop.

Further, in order to optimize communication efficiency, reducing signal disturbing, the described communication module of embodiment of the present invention employing is DDL figure number passes one and passes 142 defeated modules, and described DDL figure number passes one transport module 142 by the figure number of delivering a letter and bidirectional data transfers Signal integration is that single link is transmitted (signal includes unmanned boat running data, sonar data, view data), uses one Antenna.Avoid and be respectively provided with the situation that interference occurs when figure passes the biography antenna two paths of signals transmission of antenna sum, reduce energy simultaneously Consumption.The terminal called module 240 of exterior terminal 200 can also be arranged to DDL figure number and pass one transport module, and described figure number passes mould Picture signal on unmanned boat 100 and outer end 200 and data signal are integrated into same link signal and are transmitted by block, and will The same link signal that unmanned boat 100 and exterior terminal 200 receive is decoded as picture signal and data signal, it is achieved unmanned boat 100 and the bidirectional data transfers of exterior terminal 200.Signal can use WIFI, bluetooth, radio frequency, Long Term Evolution (Long Term Evolution, LTE) pattern, remote measurement Frequency Modulated radio (the Telemetry FM Radio) mode such as mode, satellite mode transmit and The communication patterns such as optic communication.

Further, also include that GPS module 101, described GPS module 101 are used for receiving gps satellite signal and determine unmanned boat The position of 100, and the GPS position information of unmanned boat 100 is sent to exterior terminal 200.The described mistake being transmitted to exterior terminal Journey can pass number biography one transport module 141 by DDL figure and send to exterior terminal 200.It should be noted that in order to ensure to visit Measuring signal, gps antenna should remain and be exposed on the water surface.It is thus desirable to GPS module 101 is arranged in buoy 400. Gps antenna can be omnidirectional antenna (Multi-angel antenna), smart antenna (Smart antenna) or plate aerial. The advantage arranging GPS module is to obtain in real time the position of unmanned boat, and can be further by depositing on GSP map Storage coordinate points realizes automatically navigating by water and pinpointing fishing.

Further, also including an automatic navigation module 170, described automatic navigation module 170 receives and stores outside whole The way point information sent of end 200, by waypoint location and order information and demarcate on GPS map, obtain according to GPS module 101 Unmanned boat real time position and navigation direction, control power plant module 160 adjust rotating speed and direction in real time, with drive unmanned boat towards Destination is advanced.Automatically the control method of navigation uses an automatic orientation loop, makes unmanned boat 100 keep the navigation angle given, After central controller 110 is obtained course heading by AHRS navigation attitude reference system, according to course error and fuzzy-adaptation PID control Algorithm obtains product thrust size and defence line, carries out propulsive force distribution further, obtains rotating speed and the direction of each driving motor, Thus realizing closed loop control, it is ensured that navigation is the most fixed automatically.

Further, also include that a tenaculum module 103, described tenaculum module are used for accommodating fish hook or fishing line, and can be fish Fish hook or fishing line is unclamped when rising to the bait.Tenaculum module includes tenaculum device and a controller, and described tenaculum device is a blessing mechanism, on it Being provided with sensor and electric magnet, after a fish snapped at the bait, sensor signals, and controller controls electric magnet and attracts blessing mechanism to open Open, unclamp fish hook or fishing line.Described tenaculum module directly can also be controlled by central controller.Specifically, described central authorities control Device directly controls the opening and closing of tenaculum device.

Further, described sonar contact module includes 130: emitter, transducer and receiver, and described centre control The control of sonar contact module is included by device processed: control opening and closing and the direction of transducer transmitting sound wave of sonar module.Sonar Detecting module 130 utilizes the surrounding enviroment of acoustic detection water, such as: distance how far have fish, whether have barrier, the distance water surface or Detection target has the information such as how deep;The surrounding enviroment information of acquisition is sent to exterior terminal 200 by communication module 140;Outward The information that sonar contact module 130 is sent by portion's terminal 200 processes, and the input according to result or according to user is raw Become control instruction, be sent to the communication module 140 of unmanned boat 100, thus sonar contact module 130 is controlled.Such as: control Sonar contact module 140 processed send the size of sound wave, horizontal direction, pitch orientation and direction of rotation regulation (such as: to the left, To the right, regulation downward or upward), in order to faster, more accurately detect the detected thing required for user.

In actual applications, unmanned boat 100 also includes the sensor for water temperature detection etc..Central controller 110 will pass The status information of sensor sends terminal 10 to by communication module 205.

Further, described image capture module 120 includes photographic head 121, LED illumination lamp 123 and the steady The Cloud Terrace 122 of increasing, The control of image taking module 120 is included by described central controller 110: send ON/OFF instruction to photographic head, to LED illumination 123 lamps send ON/OFF instruction, send rotation angle commands to increasing steady The Cloud Terrace 122.Or, transmit according to image taking module Image information or the control instruction sent according to exterior terminal image taking module is controlled.Described unmanned boat front end Being a transparent kuppe, described photographic head, LED illumination lamp and the steady The Cloud Terrace of increasing are arranged in kuppe.Described LED illumination 123 Lamp arranges two groups, adjustable brightness, and brightness can control corresponding drive circuit by pwm signal and be adjusted.Described shooting 121 support visible rays, it is also possible to installation infrared module, wide-angle lens can be used to obtain comprehensive picture further, can meet 1080P high-definition shooting.The steady The Cloud Terrace of described increasing 122 is two axle The Cloud Terraces or multiaxis The Cloud Terrace.

Image capture module receives the control of cause central controller 110 and shoots surrounding enviroment, and will obtain Image information be transferred to exterior terminal 200 by communication module 140;After exterior terminal 200 receives Image Information Processing, display To user.And image information is processed by exterior terminal 200, the input according to result or according to user generates and controls Instruction, sends instruction to by the communication module 140 of unmanned boat 100, from by central controller 110 to image capture module 120 are controlled, such as: control the direction of photographic head of image capture module 120 and angular adjustment (such as: to the left, to the right, to Lower or be adjusted up, level angle and luffing angle regulation), beat the LED etc. of opening/closing photographic head, in order to faster, more accurately Photograph the detected thing required for user.

In one preferred embodiment, image capture module 120 also comprises an intelligent video camera head, and this intelligent video camera head is stretched by one Compression apparatus (such as: hawser, expansion link etc.) is located on unmanned boat 100, and described intelligent video camera head is provided with LED.When detected Thing from unmanned boat 100 farther out time (such as: time beyond 5 meters), central controller 110 sends to the retractor device of intelligent video camera head Control command controls retractor device, thus realizes the flexible of photographic head, can send to camera control module simultaneously and control life Order is to open the LED on photographic head, so that shooting/photographic effects is more preferably.

Further, power module 190, sensor assembly 180 and memory module 102 are also included;Described power module is used In powering to unmanned boat, including power management module and power supply;Design meets 1 continuous throughout the twenty-four hour24, and power management module is permissible Intelligent adjustment power consumption, increases cruising time.It is provided with umbilical cables waterproof port, it may be necessary to carry in unmanned boat 100 main body Current supply cable is powered and controls data communication.

Further, described sensor die 180 pieces includes, pressure transducer, depth transducer, three-axis gyroscope, three axles Accelerometer, three-axle magnetic field meter, leakproof detector and Inertial Measurement Unit;Unmanned boat 100 of the present invention is by sensor assembly 180 Obtain the information such as the speed of unmanned boat, acceleration, attitude.Utilization navigation attitude reference system AHRS can provide real-time appearance State, acceleration and angular velocity information, use EKF filter to three-axis gyroscope, three axis accelerometer and three-axle magnetic field meter Data merge, result of calculation by RS232 interface export to controller.

Further, described memory module 102 is for storing the aeronautical data of unmanned boat, image capture module 120 record Picture or video data, sonar contact mould 130 detection environmental data, exterior terminal 200 send come automatic course data Deng;

Further, described cable 300 is for using zero to float communication cable.The advantage using neutral buoyancy communication cable is, Unmanned boat dive will not be impacted, and the attitude that cable is in water is more stable, it is not easy to be wound around.

Further, described central controller 110 controls sound dispensing device and the image acquisition of sonar contact module 130 The photographic head of module 120 is in same direction and angle.

Further, the sound dispensing device of described sonar contact module and the photographic head of image taking module combine one Rise;And when central controller controls transducer sends sound wave, control photographic head and start to take pictures, or/and when transducer connects simultaneously When receiving acoustic echo, central controller controls photographic head is taken pictures.Preferably, when detected thing is in time relating to close to unmanned boat 100 (such as: time within 5 meters), the sound dispensing device of sonar contact module 130 and the photographic head combination of image capture module 120 Together, such as Side by side groupings together;Central controller 110 controls sonar contact module 130 when sending sound wave, controls figure simultaneously As acquisition module 120 is taken pictures;So, the details of same detected thing just can be learnt, including: how deep from the water surface?What is Object (what fish in this way)?Detected thing is much?The quantity of detected thing is how many?Etc., and these details are passed through Exterior terminal 200 is shown to user.

In one embodiment, the terminal storage module 250 of exterior terminal 200 prestores the coupling of different types of fish Information, such as: the shape of different types of fish, color, the bait liked and the fishing rod being proposed with, net and skill of fishing, spread The information such as net skill.The fish location information come and image information is sent, outward when exterior terminal 200 receives unmanned boat 100 The CPU210 of portion's terminal calls the information prestored in terminal storage module 250, and compares, and then ties according to comparison Really, being shown to user, such as the title of fish, color, the bait liked, skill of fishing and skill etc. of casting net, user believes according to these Breath, it is easy to just can catch the fish oneself wanted.

Further, described central controller 110, sonar contact module 130, image taking module 120, twisted and released of the cable mould It is internal that block 150, tenaculum module 103 and power plant module 160 are arranged on unmanned boat 100,141, at least antenna of described communication module Point being arranged in buoy 400, described buoy 400 is connected with unmanned boat by cable.

Concrete, each functional module elements of unmanned boat 100 of the embodiment of the present invention uses the design of independent nacelle, as advanced Cabin, image storehouse, main body storehouse independently Seal Design, machine shaft uses mechanical dynamic seal mode to carry out Project Realization.

Further, the central controller 110 of a kind of unmanned boat of the embodiment of the present invention can also divide according to reality application Being two unit modules: master controller 111 and pilot controller 112, described master controller 111 is used for connecting control unmanned boat 100 modules travelled: such as sensor assembly 180, drive module 160, communication module 140, power module etc. 190, automatically Travel module 170, GSP module 101 etc.;Described pilot controller 112 is used for connecting the modules of observation underwater information: such as sound Detecting module 130, image capture module 120, LED illumination lamp etc..

Embodiment of the present invention one unmanned boat system, as it is shown in figure 5, include described unmanned boat 100 and an exterior terminal 200, communication module 140 wireless connections of described exterior terminal 200 and unmanned boat, for the motion of described unmanned boat, detection, Shooting process remotely controls, and receives sonar data, view data, operational configuration data and GPS number that unmanned boat is sent According to etc..

Further, described exterior terminal includes CPU210, display module 220, input module 230, terminal communication module 240 and terminal storage module 250, wherein:

CPU210 is connected with display module, input module, transmitting and receiving module and memory module, and carries out these modules Control, send control instruction by transmitting and receiving module to unmanned boat;

Display module 220: for display receive the view data of unmanned boat, sonar data, gps data, aeronautical data With information such as sensors;

Terminal communication module 240: for launching wireless signal to unmanned boat and receiving the wireless signal from unmanned boat, can Use WIFI, bluetooth, radio frequency, Long Term Evolution (Long Term Evolution, LTE) pattern, remote measurement Frequency Modulated radio (Telemetry FM Radio) mode such as mode, satellite mode is transmitted and the communication pattern such as optic communication.433Mhz electricity can be used Platform (or 2.4G, 5.8G etc.) carries out two-way communication.Terminal communication module 240 may be used without figure number and passes integrated module, can be by nothing Single link signal after the integration that people's ship 100 sends is split as image and data signal.

Input module 230: for external command inputs to CPU, described input module can be stick, keyboard, touch Touch the combination of one or more in screen, phonetic entry and gesture input;Concrete, permissible to the input module of unmanned boat 100 Including remote-control handle, the horizontal movement of unmanned boat 100 is controlled by two axle sticks.The dive motion side of unmanned boat 100 To with speed, the brightness of LED illumination lamp and the focal length etc. of photographic head, can be controlled by arranging rotating potentiometer, remote control The input of the action bars of handle, knob and switch is controlled after being gathered by CPU210.

Terminal storage module 250: for storage receive the view data of unmanned boat, sonar data, gps data, navigation The input information of the information such as data and sensor or user or the unmanned boat sail mode prestored in advance and automatic sail information.

Further, also there is terminal supplying power module 260, UBS interface;Described terminal is mobile phone, panel computer, computer Or other mobile terminal.It is provided with in described terminal for controlling the various function of unmanned boat and checking unmanned boat information and image APP。

Further, described exterior terminal 200, also there is voice broadcast module 270, described voice broadcast module is used for will The information such as the aeronautical data received are converted into audio-frequency information and are reported by speaker.

Further, the storage mould of described terminal 250 pieces is further used for, the letter of detected thing in the water that storage is preset Breath, described CPU the communication module of unmanned boat 100 can be sent the image information come and other information is pre-with what memory module stored If water in the information of detected thing compare, send comparison result and recommendation letter to display module or voice broadcast module Breath.

Further, described unmanned boat 100 is preset with a key and makes a return voyage module 280, described exterior terminal 200 is preset with and returns Boat key, terminal storage module 250 prestores coordinate points of making a return voyage, when terminal detect user press make a return voyage key time, to unmanned boat 100 Go out control instruction of making a return voyage.

One unmanned boat of the present invention, comprises the function of existing fishing unmanned boat, available sonar module detection immersed body, Certain depth dive can be realized again simultaneously, by arranging image capture module on unmanned boat, it is achieved underwater picture collection, and And it is capable of the telecommunication with bank, return underwater picture information in real time.The unmanned boat wheeled of the present invention is at water On face, sonar module detect under water the shoal of fish information time, can carry out dive observation, and by one swim on the water surface with unmanned The buoy of the built-in communication antenna that ship is connected by cable, gives outside waterborne by image capture module real-time Transmission underwater picture Terminal, shows, to user, the information and the image information of shooting that unmanned boat detects by exterior terminal display module, it is provided that The latent fishing of unprecedented visualization is experienced.

Embodiment in above-described embodiment can be further combined or replace, and embodiment is only to the present invention's Preferred embodiment is described, and is not defined the spirit and scope of the present invention, without departing from design philosophy of the present invention Under premise, the various changes and modifications that in this area, technical scheme is made by professional and technical personnel, belong to this Bright protection domain.

Claims (10)

1. a unmanned boat, it is characterised in that including: image capture module, sonar contact module, communication module and central authorities control Device, wherein:
Described image capture module, is used for recording and shooting underwater picture;
Described sonar contact module, is used for detecting underwater environment and shoal of fish position and the degree of depth;
Described communication module, for the image information status information of unmanned boat, image capture module obtained and sonar contact The control instruction of exterior terminal, to exterior terminal, is transmitted to central controller by the information transmission that module obtains simultaneously;
Described central controller, is connected with above-mentioned modules, controls the traveling action of unmanned boat, and coordinates the work of each module.
A kind of unmanned boat, it is characterised in that also including a buoy, described communication module is at least Antenna part is arranged in a floatable buoy, between described buoy and unmanned boat main body by a retractable cable even Connect;Also including twisted and released of the cable module, depth information and the central controller of the unmanned boat that described twisted and released of the cable module obtains are sent out The dive that goes out or instruction of floating, discharge or regain the cable of correspondence length so that the degree of depth residing for cable length and unmanned boat is fitted mutually Should.
A kind of unmanned boat, it is characterised in that described twisted and released of the cable module includes that a hoist engine controls Device and a hoist engine, described hoist engine is arranged in unmanned boat main body, described can folding and unfolding cable hank around being arranged on hoist engine also Folding and unfolding is realized by hoist engine;Or described twisted and released of the cable module is by central controller controls.
4. according to the arbitrary described a kind of unmanned boat of claim 1-3, it is characterised in that also include power plant module, described power mould Block realizes the motion in the direction such as upper and lower, forward and backward, described power plant module bag for driving unmanned boat under central controller controls Include motor driver, and two horizontal drive motors being connected with motor driver and a vertical driving motor, said two Horizontal drive motor is arranged on the unmanned boat afterbody left and right sides, and described vertical driving motor is arranged on unmanned boat vertical direction.
A kind of unmanned boat, it is characterised in that described communication module is DDL figure number one transmission mould Block, the figure number of delivering a letter and bidirectional data transfers signal integration are that single link is transmitted by described DDL figure number one transport module; Also including the GPS module being connected with central controller, described GPS module is arranged in buoy, and described GPS module is used for receiving Gps satellite signal determines the position of unmanned boat, and the GPS position information of unmanned boat is sent to exterior terminal, and is schemed by DDL Pass number and pass one transport module transmission to exterior terminal.
A kind of unmanned boat, it is characterised in that also include that one navigates by water module automatically, described automatic boat Row module receives and stores the way point information that exterior terminal is sent, waypoint location and order information and demarcates on GPS map, root The unmanned boat real time position obtained according to GPS module and navigation direction, control power plant module and drive unmanned boat to advance towards destination;
Also include that a tenaculum module, described tenaculum module are used for accommodating fish hook or fishing line, and can unclamp when a fish snapped at the bait fish hook or Fishing line, tenaculum module includes that tenaculum device and a controller, described tenaculum device are a blessing mechanism, is provided with sensor and electricity Magnet, after a fish snapped at the bait, sensor signals, and controller controls electric magnet and attracts blessing mechanism to open, and unclamps fish hook or fishing line; Or described tenaculum module is by central controller controls.
A kind of unmanned boat, it is characterised in that described image taking module includes photographic head, adjustable Brightness LED illumination lamp and the steady The Cloud Terrace of increasing, the control of image taking module is included by described central controller: send to photographic head ON/OFF instructs, and sends the instruction of ON/OFF brightness regulation to LED illumination lamp, to increasing steady The Cloud Terrace transmission rotation angle commands, or according to Image taking module is carried out by the image information transmitting image taking module or the control instruction sent according to exterior terminal Control;Described unmanned boat front end is a transparent kuppe, described photographic head, and brightness-adjustable LED illumination lamp and the steady The Cloud Terrace of increasing set Put in kuppe.
8. according to the arbitrary described a kind of unmanned boat of claim 1-7, it is characterised in that also include for power module, sensor die Block and memory module;Described power module is for powering to unmanned boat, including power management module and power supply;Described sensor die Block includes, pressure transducer, depth transducer, three-axis gyroscope, three axis accelerometer, and three-axle magnetic field meter leakproof detector is with used Property measuring unit;Described memory module is for storing the aeronautical data of unmanned boat, the picture of image capture module record or video Data etc.;Described cable is neutral buoyancy communication cable;Described central controller, sonar contact module, image taking module, cable Folding and unfolding module, tenaculum module and power plant module are arranged on inside unmanned boat, and at least antenna part of described communication module is arranged on In buoy, described buoy is connected with unmanned boat by cable.
9. according to the unmanned boat system of the arbitrary described unmanned boat of claim 1-8, it is characterised in that include described unmanned boat and Exterior terminal, the communication module wireless connections of described exterior terminal and unmanned boat, for the motion of described unmanned boat, detection, Shooting process remotely controls, and receives sonar data, view data, operational configuration data and GPS number that unmanned boat is sent According to etc..
Unmanned boat system the most according to claim 9, it is characterised in that described exterior terminal includes CPU, display module, defeated Enter module, terminal communication module and memory module, wherein:
CPU is connected with display module, input module, transmitting and receiving module and memory module, and is controlled these modules, logical Cross transmitting and receiving module and send control instruction to unmanned boat;
Display device: the view data of unmanned boat, sonar data, gps data, aeronautical data and the sensor received for display Etc. information;
Terminal communication module: for launching wireless signal to unmanned boat and receiving the wireless signal from unmanned boat, can use WIFI, bluetooth, the communication pattern such as radio frequency and optic communication;
Input module: for external command is inputed to CPU, described input module can be stick, keyboard, touch screen, language The combination of one or more in sound input and gesture input;
Memory module: the view data of unmanned boat, sonar data, gps data, aeronautical data and the sensor received for storage Etc. the input information of information or user or the unmanned boat sail mode prestored in advance and automatic sail information.
CN201610454324.1A 2016-06-21 2016-06-21 Unmanned ship and system CN106240774B (en)

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CN201690000206.7U CN208360444U (en) 2016-06-21 2016-08-03 A kind of unmanned boat and system
PCT/CN2016/093121 WO2017140096A1 (en) 2016-02-18 2016-08-03 Unmanned ship and system
US15/847,880 US10661867B2 (en) 2016-02-18 2017-12-19 Underwater drone with capacity of fishing, rapidly moving and wireless remote control
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