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

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

Unmanned ship and system

Technical Field

The invention relates to an unmanned ship; in particular to an unmanned ship capable of submerging and floating.

Background

In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.

Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.

The functions of the existing fishing unmanned ship are as follows:

the functions of digging a pit and placing a hook are as follows: for example, chinese patent application No. 201320333558.2 discloses a remote control positioning bait casting boat, which comprises a remote control and receiving device, a boat body, a power supply and a control and decoding circuit, wherein the boat body is provided with a plurality of independent cabins with the cabin bottoms inclined towards the cabin doors; the cabin door is provided with magnetic steel, and the ship body is provided with an electromagnet at a position corresponding to the cabin door magnetic steel; the electromagnet is connected with the receiving device through a control and decoding circuit; the number of the independent cabins is four, and the four independent cabins are respectively arranged on two sides of the ship body. The unmanned ship disclosed by the patent can throw bait and fishhooks in a long-distance multi-point positioning mode and can play the effects of digging and gathering fish.

Sonar detection function: for example, chinese patent application No. 201520499153.5 discloses a hybrid wireless remote control aquaculture monitoring ship, and this patent except can carrying out fixed point bait casting, can also survey underwater shoal quantity and fish size through the sonar to this judgement is whether bred the excessive density, whether can catch, is favorable to breeders' operation on next step. The general position and the general quantity of the object can be detected only according to the sonar signals, and a user needs to judge the type, the specific position and the specific quantity of the detected object according to own experience, but cannot exactly know the type, the size and the geographical position of the detected object. For example: when a fish school is detected, the user needs to determine what fish is and approximately where the fish is based on experience, and cannot know exactly what fish is, the size of the fish, and the specific longitude and latitude information of the fish school.

GPS fixed point function: for example, chinese patent application No. 201010300353.5 discloses a wireless remote control fishing boat which integrates a GPS satellite positioning system and a fish detector into the fishing boat to prevent the boat from yawing during traveling, clearly understand the topography of the riverbed, water depth, water temperature, and fish condition at the fishing site, and determine and store the orientation of nesting using GPS, and repeatedly and accurately find the original nesting position and return to the starting place, thereby facilitating fishing and nesting. This patent can realize the function of storage nest point, fixed point nest and automatic navigation.

In conclusion, the existing fishing unmanned ship has the functions of digging, underwater sonar detection and GSP positioning navigation. But detailed underwater information, especially underwater image acquisition at a certain depth, cannot be obtained. This is because the prior fishing unmanned ship does not have an underwater camera, and the patent of application No. 201520499153.5 has a camera, but is not disposed underwater but on the water surface. In addition, even if an underwater camera is arranged on the existing fishing unmanned ship, detailed underwater fish information cannot be obtained. Because the existing unmanned fishing boat can not submerge to a certain depth and can not be close to a fish school sufficiently, the image information of the fish can not be obtained, and the information detected by the sonar can not be checked. This can influence fishing effect greatly, and when the data that the sonar detected wrongly, can't in time discover, for example with the marine alga or the pasture and water group discernment under water for the shoal of fish, the fisher can be in vain waste time and bait under the condition of unwittingly.

Therefore, the existing unmanned fishing boat has the defects that detailed and accurate underwater image information cannot be obtained and effective depth submergence cannot be realized. The difficulty in submerging unmanned ships is that the communication problem is difficult to solve and becomes a barrier limiting the submerging of unmanned ships because the attenuation of radio wave transmission in water is very serious.

In the prior art, some underwater unmanned devices capable of sinking exist, but all have some problems, and are not suitable for the civil field and the fishing field. This is because, currently, most existing underwater robots adopt an autonomous or cabled control mode. The robot carries out underwater operation according to the preset or irregularly received upper computer instruction, so that underwater information cannot be acquired in real time and the robot cannot be controlled; the robot can realize real-time control on the robot, but the movement of the robot is limited by the umbilical cable, particularly winding accidents are easily caused under a complex underwater environment, and the flexibility is not enough.

It can be seen that the existing submersible unmanned device has three problems:

(1) the submergence depth is not enough, and a detailed image cannot be obtained;

(2) the submergence depth is enough but the information cannot be controlled and returned in real time, and the communication problem cannot be solved;

(3) the wireless communication can not be realized, but the cable control is adopted, so that the underwater submerged underwater vehicle is only suitable for the conditions of vertical submergence, no environment, simplicity and no sundries, and is not suitable for non-vertical remote submergence from a shore to a deep water area. The control through the cable is not practical, when the fishing is carried out in a wide water area such as a river, a lake, a sea, a reservoir and the like for a long distance, the fishing point is far away from the bank due to the wide water area, the underwater condition is complicated, the cable is very easy to be wound when being dragged, and a large amount of cables are very inconvenient to carry.

Existing underwater detection devices are for example: the underwater vehicle using the sonar detection technology can only detect the approximate position and the approximate quantity of objects according to sonar signals, and a user needs to judge the type, the specific position and the specific quantity of detected objects according to own experience, but cannot exactly know the type, the size and the geographical position of the detected objects. For example: when a fish school is detected, the user needs to determine what fish is and approximately where the fish is based on experience, and cannot know exactly what fish is, the size of the fish, and the specific longitude and latitude information of the fish school.

Due to the defects, an unmanned ship for fishing, which has the functions of the existing unmanned fishing ship, can realize submergence at a certain depth, can realize long-distance communication with the shore and can return underwater image information in real time, is urgently needed.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an unmanned ship capable of detecting underwater object information by using sonar, submerging to a certain depth, realizing long-distance underwater and overwater wireless communication, acquiring underwater image information in real time, and transmitting the underwater image information back to an external terminal.

The concrete contents are as follows:

an unmanned ship, comprising: image acquisition module, sonar detection module, communication module and central controller, wherein:

the image acquisition module is used for recording and shooting underwater images;

the sonar detection module is used for detecting the underwater environment, the position and the depth of the fish school;

the communication module is used for transmitting the state information of the unmanned ship, the image information acquired by the image acquisition module and the information acquired by the sonar detection module to an external terminal and transmitting a control instruction of the external terminal to the central controller;

and the central controller is connected with the modules, controls the advancing action of the unmanned ship and coordinates the work of the modules.

Furthermore, the image acquisition module, the sonar detection module, the communication module, the cable take-up and pay-off module and the central controller are arranged in the unmanned ship body, the unmanned ship body further comprises a floatable buoy, at least an antenna part of the communication module is arranged in the buoy, and the buoy is connected with the unmanned ship body through a retractable cable; the cable collecting and releasing device comprises a central controller, and is characterized by further comprising a cable collecting and releasing module, wherein the cable collecting and releasing module is used for collecting the depth information of the unmanned ship and a submerging or floating instruction sent by the central controller, and releasing or withdrawing the cable with the corresponding length, so that the length of the cable is matched with the depth of the unmanned ship.

Further, the cable take-up and pay-off module comprises a winch controller and a winch, the winch is arranged on the unmanned ship body, and the retractable cable is wound on the winch and is taken up and paid off through the winch; or the cable reeling and unreeling module is directly controlled by a central controller.

Further, the unmanned ship further comprises a power module, and the power module is used for driving the unmanned ship to move in the up, down, front and back directions under the control of the central controller. The power module comprises a motor driver, two horizontal driving motors and a vertical driving motor, wherein the two horizontal driving motors and the vertical driving motor are connected with the motor driver. The two horizontal driving motors are arranged on the left side and the right side of the tail of the unmanned ship, and the vertical driving motors are arranged in the vertical direction of the unmanned ship.

Furthermore, the communication module is a DDL graph data transmission integrated transmission module, and the DDL graph data transmission integrated transmission module integrates a graph transmission signal and a bidirectional data transmission signal into a single link for transmission; the unmanned ship further comprises a GPS module connected with the central controller, the GPS module is arranged in the buoy and used for receiving GPS satellite signals to determine the position of the unmanned ship and sending the GPS position information of the unmanned ship to an external terminal. And the data transmission integrated transmission module is transmitted to an external terminal through the DDL graph.

Furthermore, the central controller also comprises an automatic navigation module, the automatic navigation module receives and stores waypoint information, waypoint position and sequence information sent by an external terminal, marks the waypoint position and the sequence information on a GPS map, and controls the power module to drive the unmanned ship to move towards the waypoint according to the real-time position and navigation direction of the unmanned ship acquired by the GPS module.

The fishing hook comprises a fishing hook body, a fishing rod body and a hook holding module, wherein the fishing hook body is used for holding a fishing hook or a fishing line, and the fishing hook or the fishing line can be released when a fish is hooked. The hook holding module comprises a hook holder and a controller, the hook holder is a clamping mechanism, a sensor and an electromagnet are arranged on the hook holder, after a fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the clamping mechanism to open and release the fishhook or the fish line; or the hook holding module is directly controlled by a central controller.

Further, the sonar detection module includes: transmitter, transducer and receiver, and the control of central controller to sonar detection module includes: the on-off of the sonar module and the direction of sound wave emitted by the transducer are controlled.

Further, the image shooting module includes the camera, LED light and increases steady cloud platform, central controller includes to the control of image shooting module: and sending an on/off instruction to the camera, sending an on/off instruction to the LED illuminating lamp, and sending a rotation angle instruction to the stability augmentation holder. Or, the image shooting module is controlled according to the image information transmitted by the image shooting module or according to a control instruction transmitted by an external terminal. The unmanned ship is characterized in that the front end of the unmanned ship is a transparent air guide sleeve, and the camera, the LED illuminating lamp and the stability augmentation holder are arranged in the air guide sleeve.

Furthermore, the device also comprises a power module, a sensor module and a storage module; the power supply module is used for supplying power to the unmanned ship and comprises a power supply management module and a power supply; the sensor module comprises a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer leakage-proof detector and an inertia measurement unit; the storage module is used for storing navigation data of the unmanned ship, picture or video data recorded by the image acquisition module and the like; the cable is a zero-float communication cable.

Furthermore, the central controller controls the sound sending device of the sonar detection module and the camera of the image shooting module to be in the same direction and angle.

Furthermore, a sound sending device of the sonar detection module is combined with a camera of the image shooting module; and when the central controller controls the energy converter to emit sound waves, the camera is controlled to start to take pictures at the same time, or/and when the energy converter receives sound echoes, the central controller controls the camera to take pictures.

Furthermore, central controller, sonar detection module, image shooting module, cable receive and release module, hook holding module and power module set up inside unmanned ship, at least antenna part setting of communication module is in the buoy, the buoy passes through the cable and is connected with unmanned ship.

The utility model provides an unmanned ship system which characterized in that, includes unmanned ship and an external terminal, external terminal and unmanned ship's communication module wireless connection for to the motion of unmanned ship, survey, shoot the process and carry out remote control, and receive sonar data, image data, navigation state data and GPS data etc. that unmanned ship sent out.

Further, the external terminal includes a CPU, a display module, an input module, a terminal communication module, and a storage module, wherein:

the CPU is connected with the display module, the input module, the transmitting and receiving module and the storage module, controls the modules and sends a control instruction to the unmanned ship through the transmitting and receiving module;

a display device: the system is used for displaying received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship;

a terminal communication module: the wireless communication system is used for transmitting wireless signals to the unmanned ship and receiving wireless signals from the unmanned ship, and can adopt communication modes such as WIFI, Bluetooth, radio frequency, optical communication and the like;

an input module: the input module can be one or a combination of a plurality of joysticks, keyboards, touch screens, voice input and gesture input;

a storage module: the unmanned ship navigation system is used for storing received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship, input information of a user, and a pre-stored unmanned ship navigation mode and automatic navigation information.

Furthermore, the device also comprises a power supply module and a UBS interface; the terminal is a mobile phone, a tablet computer, a computer or other mobile terminals.

Further, the external terminal still has the voice broadcast module, the voice broadcast module is used for converting information such as received navigation data into audio information and broadcasting through the speaker.

Furthermore, the storage module of the terminal is further used for storing the information of the detected object in the preset water, the CPU can compare the image information and other information sent by the communication module of the unmanned ship with the information of the detected object in the preset water stored in the storage module, and sends the comparison result and the suggestion information to the display module or the voice broadcast module.

Further, a one-key return mode is preset on the unmanned ship, a return key is preset on the terminal, a return coordinate point is prestored in the storage module, and when the terminal detects that the user presses the return key, a return control instruction is sent to the unmanned ship.

The unmanned ship comprises the functions of the existing fishing unmanned ship, underwater objects can be detected by using a sonar module, meanwhile, submergence at a certain depth can be realized, the underwater image acquisition is realized by arranging the image acquisition module on the unmanned ship, and the underwater image information can be transmitted back in real time by realizing remote communication with a shore. The unmanned ship can run on the water surface, when the sonar module detects underwater fish information, the sonar module can perform submerged observation, and transmits the underwater image to the external terminal on the water surface in real time through the buoy which floats on the water surface and is connected with the unmanned ship through the cable and is provided with the communication antenna, and displays the information detected by the unmanned ship and the shot image information to a user through the external terminal display module. It can be determined whether there are fish schools and what kind of fish, and other detailed underwater object information.

Drawings

FIG. 1 is a block diagram illustrating a relationship between an unmanned ship and an external terminal according to an embodiment of the present invention

FIG. 2 is a block diagram of the unmanned ship according to the embodiment of the present invention

FIG. 3 is a schematic view of a cable take-up and pay-off module winch according to an embodiment of the present invention

FIG. 4 is a schematic view showing the winch installed outside the unmanned ship according to the embodiment of the present invention

FIG. 5 is a schematic view showing a winch installed inside an unmanned ship according to an embodiment of the present invention

FIG. 6 is a schematic view showing that a winch is disposed in a groove formed outside an unmanned ship according to an embodiment of the present invention

FIG. 7 is a block diagram of an external terminal according to an embodiment of the present invention

FIG. 8 is a schematic diagram of an application scenario of the embodiment of the present invention

Unmanned ship 100, central controller 110, image acquisition module 120, sonar detection module 130, communication module 140, antenna 141, integrative transmission module 142 of figure, cable receive and release module 150, winch controller 151, winch 152, power module 160, automatic navigation module 170, sensor module 180, power module 190, GSP module 101, storage module 102, hook holding module 103, external terminal 200, CPU210, display module 220, input module 230, terminal communication module 240, terminal storage module 250, terminal power module 260, voice broadcast module 270, APP201, cable 300, buoy 400

Detailed Description

With the rise of unmanned aerial vehicle technology, various unmanned devices are widely applied, unmanned ships begin to be applied more and more in the fishing field, but the existing unmanned ships have many defects in the fishing field. Therefore, the unmanned ship provided by the invention can detect underwater objects by using the sonar module, can realize submergence at a certain depth, can realize underwater image acquisition by arranging the image acquisition module on the unmanned ship, can realize remote communication from underwater to shore, and can return underwater image information in real time. The success rate of fishing is promoted, the entertainment and the maneuverability of fishing activities are promoted, and different remote control experience is brought to users.

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a block diagram of a relationship between components of an unmanned ship system and interaction with an external terminal according to an embodiment of the present application, where the system mainly includes: an external terminal 200 and an unmanned ship 100, the unmanned ship 100 of the present invention may be floated on the water surface or submerged under the water. Wherein,

the external terminal 200: the system is used for remotely controlling the motion control and detection and/or shooting process of the unmanned ship 100, submerging and surfacing control and receiving the information, position information and image information of the detected object sent by the unmanned ship 100.

Unmanned ship 100: the system is used for realizing motion control and detection and/or shooting under the remote control of the terminal 200, and sending the obtained information, position information and image information of the detected object to the external terminal 200 through a communication module on the system.

As shown in fig. 2, fig. 2 is a block diagram of an unmanned ship according to an embodiment of the present application, where the block diagram includes: image acquisition module 120, sonar detection module 130, communication module 140, cable receive and release module 150, and central controller 110, wherein:

the image acquisition module 120 is used for recording and shooting underwater images;

the sonar detection module 130 is used for detecting the underwater environment, the position of the fish school and the depth;

the communication module 140 is configured to transmit state information of the unmanned ship 100, image information acquired by the image acquisition module 120, and information acquired by the sonar detection module 130 to the external terminal 200, and transmit a control instruction of the external terminal 200 to the central controller 110;

the cable take-up and pay-off module 150 releases or retracts the cable 300 with the corresponding length according to a submergence or ascent instruction sent by the central controller 110, so that the length of the cable 300 is adapted to the depth of the unmanned ship;

the central controller 110 is connected to the above modules, and controls the advancing motion of the unmanned ship 100 and coordinates the operation of the modules.

The unmanned ship of the invention is provided with the sonar detection module 130 and the image acquisition module 120, the existing unmanned ship for fishing is generally not provided with a camera, the camera can only acquire images near the water surface even if the unmanned ship for fishing is provided with the camera, the approximate position and the approximate quantity of objects can be detected only according to sonar signals for the detection of a certain depth underwater, and a user needs to judge the type, the specific position and the specific quantity of the detected objects according to own experience, so that the type, the size and the geographic position of the detected objects can not be known exactly. For example: when a fish school is detected, the user needs to determine what fish is and approximately where the fish is based on experience, and cannot know exactly what fish is, the size of the fish, and the specific longitude and latitude information of the fish school. The unmanned ship 100 of the present invention can dive and have an image acquisition module, so that accurate image information can be acquired, and it can be accurately seen what the detected object is, whether it is a fish school, what kind of fish is, and the like. Greatly improving the fishing success rate and the user experience.

Further, the image acquisition module 120, the sonar detection module 130, the communication module 140, the cable retraction module and the central controller are arranged in the unmanned ship body, at least the antenna 141 of the communication module 140 is partially arranged in a floatable buoy 400, and the buoy 400 is connected with the unmanned ship 100 body through a retractable cable 300; the unmanned ship self-service monitoring system further comprises a cable retracting module 150, wherein the cable retracting module 150 releases or retracts the cable 300 with the corresponding length according to the depth information of the unmanned ship acquired by the cable retracting module 150 and a submergence or ascent instruction sent by the central controller 110, so that the length of the cable 300 is adapted to the depth of the unmanned ship.

The advantage of this arrangement is to ensure normal underwater communication, since underwater electromagnetic waves are severely attenuated and a large part of the waves are attenuated at the interface between the water surface and the air. And when fishing, the unmanned ship usually sails to a deep water area far away from a user on the shore, a connecting line between the unmanned ship and the user is not vertical to the water surface but nearly horizontal, and a signal is spread in water for a certain distance, so that the signal is interrupted even if the unmanned ship dives for a small depth.

Therefore, the unmanned ship 100 of the present invention is further provided with a buoy 400, the communication module 140 of the unmanned ship 100 is at least arranged in the buoy 400 by the antenna part 141 (or the communication module 140 can also be arranged in the buoy), and the buoy 400 is connected with the unmanned ship 100 by the cable 300. The buoy 400 floats on the water surface, which is equivalent to a relay station, and has the function of connecting the communication between the water and the water, the communication between the buoy 400 and the external terminal 200 is on the water, the buoy 400 and the unmanned ship 100 are in wired communication through the cable 300, and the attenuation of signals in the air and the cable is very small, so that the stability of the communication is ensured, and the energy consumption is reduced.

Further, the cable retracting and releasing module 150 is provided, and the cable retracting and releasing module releases or retracts the cable 300 with the corresponding length according to a submergence or ascent instruction sent by the central controller 110, so that the length of the cable 300 is adapted to the depth of the unmanned ship.

The existing unmanned ship can completely realize the switching between the water market and the underwater market, and can only sail on water or only sail underwater. Although an underwater image can be obtained, an unmanned ship which only carries out underwater market has certain defects, such as that the unmanned ship is easily wound by water plants in the sailing process from a shoreside shallow water area to a deep water area, and particularly when fishing is carried out in a wide water area, the sailing distance is long, so that a user cannot visually see the sailing position of the unmanned ship, and great inconvenience is brought to fishing.

The switching between water navigation and underwater navigation is not only troubled by the problem of communication, but also has the technical problem of changing the buoyancy of an unmanned ship, and if a submarine is used, the cost is greatly increased and the structure is complex and is not suitable for the civil field. If the fishing boat is set to have zero buoyancy (the density is similar to that of water), normal submergence can be ensured, but the water surface market is difficult to realize, and the propeller in the vertical direction is required to work all the time to provide buoyancy when sailing on the water surface, so that the energy consumption is undoubtedly greatly increased. And the resistance of underwater behavior is much greater than that of water navigation, which greatly increases the energy loss in finding fishing points.

The benefit that sets up like this can utilize buoy 400 to realize the switching of unmanned ship navigation on water and under water, when needs carry out the surface of water navigation, through withdrawing cable 300 for unmanned ship 100 and buoy 400 contact laminating, unmanned ship 100 utilizes buoy 400's buoyancy can be gone at the scope of pressing close to the surface of water always, does not need vertical direction's motor drive, also need not set up complicated structures such as buoyancy storehouse in unmanned ship and realizes the come-up. The structure is simplified, the energy consumption is saved, and the endurance time is increased.

In actual use, the unmanned ship 100 first keeps the cable 300 recovered to start to travel on the water surface from the shore like a deep water area, and the sonar detection module 130 is used to detect the underwater environment in a suitable water area, when the object suspected of being a fish shoal is detected, the external terminal 200 can send a diving instruction (the external terminal 200 can also be provided with a key diving function key, data such as diving depth speed and the like are pre-stored in the terminal storage module 250), the diving instruction is sent, at the moment, the cable take-up and pay-off module 150 releases the length of the cable 300, the unmanned ship 100 can be set to be similar to or slightly larger than the density of water, at the moment, the unmanned ship realizes diving, the diving process can be accelerated by a driving motor in the vertical direction, meanwhile, the cable take-up and pay-off module 150 receives the depth data of the unmanned ship depth sensor 181, and determines the length of the release cable 300, so as to ensure that the length of the cable 300 is adapted to the depth of the unmanned ship. When the underwater vehicle dives to a certain depth, the underwater image can be transmitted in real time through the image acquisition module 120, and a user can observe detailed characteristics of underwater objects, whether the underwater objects are fish schools, types and quantity of fish and other information in real time through the display module 220 on the external terminal 200. And making further fishing judgment according to the image information. The accuracy of sonar detection is greatly improved by combining image information, and fishing experience is improved. The unmanned ship can also be provided with a depth setting mode, and the rotating speed of the propeller in the vertical direction is controlled according to the information of the depth sensor 181, so that depth setting control is realized.

Further, as shown in fig. 3, the embodiment of the present invention employs a winch disposed on the unmanned ship 100 to reel and reel the cable 300. The cable winding and unwinding module 150 includes a winch controller 151 and a winch 152, the winch is disposed on the unmanned ship 100, and the retractable cable 300 is wound on the winch 152 and wound and unwound by the winch 152.

Further, as shown in fig. 4, the hoist 152 may be disposed outside the unmanned ship 100, and electrically connected to the hoist controller 151 inside the unmanned ship 100 in a waterproof sealing manner. The cable retraction module may also be directly controlled by a central controller, specifically, the central controller may directly control the opening and closing of the winding engine 152 and adjust the rotation direction.

Further, as shown in fig. 5, the winch 152 may be disposed inside the unmanned ship 100, specifically, a winch cabin is disposed inside the unmanned ship, and the cable 300 extends out of the unmanned ship 100 through a dynamic seal port at the top of the winch cabin and is connected to the buoy 400.

In a preferred embodiment, as shown in fig. 6, a groove structure may be further provided outside the unmanned ship 100, and the groove structure is used for matching with the lower surface of the buoy 400, so that the buoy 400 is embedded in the groove after the cable 300 is retracted, and the buoy 400 is integrated with the unmanned ship, thereby being beneficial to the stability of the unmanned ship during water surface navigation.

Further, a power module 160 is included, and the power module 160 is used for driving the unmanned ship 100 to move up and down, forward and backward and the like under the control of the central controller 110. The power module 160 includes a motor driver 161, and two horizontal driving motors 162 and a vertical driving motor 163 connected to the motor driver. The two horizontal driving motors 162 are disposed at the left and right sides of the tail of the unmanned ship, and the vertical driving motor 163 is disposed at the lower side of the unmanned ship. The motor driver 161 receives a command from the central controller 110, and controls the rotation speed and direction of the motor according to the command. The power module 160 in the drone 100 provides power to the drone, and the drone 100 performs overall motion control, such as: the unmanned ship 100 is driven to perform various azimuthal movements (e.g., upward movement, downward movement, or forward, backward, rotational movement, etc.) in the water, and information can be exchanged with the controller 110 through the motor driver 161. Such control commands may also be issued by the external terminal 200, received via the communication module 140 and then transmitted to the central controller 110, and the central controller 110 controls the power module 160 according to the commands of the external terminal 200. The power module 160 also transmits its power status information to the central controller 110 and to the external terminal 200 via the communication module 140. The horizontal driving motor 162 is arranged to ensure that the unmanned ship 100 has certain sailing speed and wind and wave resistance, the unmanned ship 100 is designed to resist ocean current of 1.5-2.0 m/s, and the horizontal sailing speed can reach 3-4 knots. The motor is driven by a brushless direct current motor, and a built-in motor FOC control and speed and current feedback closed loop is adopted.

Further, in order to optimize the communication effect and reduce signal interference, the embodiment of the present invention uses the communication module as a DDL image data transmission integrated transmission 142 transmission module, and the DDL image data transmission integrated transmission 142 integrates the image transmission signal and the bidirectional data transmission signal into a single link for transmission (the signal includes unmanned ship driving data, sonar data, and image data), and uses one antenna. The interference condition generated when two paths of signals of the image transmission antenna and the data transmission antenna are respectively arranged is avoided, and meanwhile, the energy consumption is reduced. The terminal communication module 240 of the external terminal 200 may also be configured as a DDL map data transmission integrated transmission module, which integrates the image signals and the data signals on the unmanned ship 100 and the external terminal 200 into the same link signal for transmission, and decodes the same link signal received by the unmanned ship 100 and the external terminal 200 into the image signal and the data signal, thereby implementing bidirectional data transmission between the unmanned ship 100 and the external terminal 200. The signal can adopt WIFI, Bluetooth, Radio frequency, Long Term Evolution (LTE) mode, telemetering frequency modulation Radio frequency (FM Radio) mode, satellite mode and other modes for transmission, optical communication and other communication modes.

Further, the unmanned ship 100 further comprises a GPS module 101, wherein the GPS module 101 is configured to receive GPS satellite signals to determine the position of the unmanned ship 100 and send GPS position information of the unmanned ship 100 to the external terminal 200. The process of transmitting to the external terminal may be transmitted to the external terminal 200 through the DDL map data transmission integral transmission module 141. It should be noted that the GPS antenna should remain exposed to the water surface at all times in order to ensure that a signal is detected. It is therefore necessary to locate the GPS module 101 within the buoy 400. The GPS antenna may be an omni-directional antenna (Multi-antenna), a Smart antenna (Smart antenna), or a flat panel antenna. The GPS module is advantageous in that the position of the unmanned ship can be obtained in real time, and automatic navigation and fixed-point fishing can be further achieved by storing coordinate points on the GSP map.

Further, the unmanned ship navigation system further comprises an automatic navigation module 170, wherein the automatic navigation module 170 receives and stores waypoint information sent by the external terminal 200, calibrates waypoint positions and sequence information on a GPS map, and controls the power module 160 to adjust the rotating speed and the direction in real time according to the real-time position and the navigation direction of the unmanned ship acquired by the GPS module 101 so as to drive the unmanned ship to move towards the waypoint. The control method of automatic navigation adopts an automatic directional loop to ensure that the unmanned ship 100 keeps a given navigation angle, after the central controller 110 obtains the navigation angle by an AHRS navigation attitude reference system, the central controller obtains the thrust and the defense line of a product according to the navigation error and a fuzzy PID control algorithm, further distributes the thrust, obtains the rotating speed and the direction of each driving motor, thereby realizing closed-loop control and ensuring the accurate determination of automatic navigation.

Further, the fishing device also comprises a hook holding module 103 which is used for holding a fishhook or a fishline and can release the fishhook or the fishline when a fish is hooked. The hook holding module comprises a hook holder and a controller, the hook holder is a clamping mechanism, a sensor and an electromagnet are arranged on the hook holder, after a fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the clamping mechanism to be opened, so that the fishhook or the fish line is loosened. The hook holding module can also be directly controlled by a central controller. Specifically, the central controller directly controls the opening and closing of the hook holder.

Further, the sonar detection module includes 130: transmitter, transducer and receiver, and the control of central department controller to sonar detection module includes: the on-off of the sonar module and the direction of sound wave emitted by the transducer are controlled. The sonar detection module 130 detects the surrounding environment of water using sound waves, such as: information such as how far away there is a fish, whether there is an obstacle, how deep there is from the water surface or the detection target, and the like; transmitting the obtained ambient environment information to the external terminal 200 through the communication module 140; the external terminal 200 processes information transmitted from the sonar detection module 130, generates a control command according to the processing result or according to the input of the user, and transmits the control command to the communication module 140 of the unmanned ship 100, thereby controlling the sonar detection module 130. For example: the sonar detection module 140 controls the emitted sound wave to be adjusted in size, horizontal direction, pitching direction and rotating direction (e.g., to be adjusted to the left, right, downward or upward) so as to detect the detected object required by the user more quickly and accurately.

In practical applications, the unmanned ship 100 further includes a sensor for detecting water temperature or the like. The central controller 110 transmits the state information of the sensor to the terminal 10 through the communication module 205.

Further, the image capturing module 120 includes a camera 121, an LED lighting lamp 123 and a stability enhancing cradle head 122, and the control of the central controller 110 on the image capturing module 120 includes: and sending an on/off instruction to the camera, sending an on/off instruction to the LED lighting 123 lamp, and sending a rotation angle instruction to the stability augmentation holder 122. Or, the image shooting module is controlled according to the image information transmitted by the image shooting module or according to a control instruction transmitted by an external terminal. The unmanned ship is characterized in that the front end of the unmanned ship is a transparent air guide sleeve, and the camera, the LED illuminating lamp and the stability augmentation holder are arranged in the air guide sleeve. The LED lighting 123 lamps are arranged in two groups, the brightness can be adjusted, and the brightness can be adjusted by controlling corresponding driving circuits through PWM signals. The camera 121 supports visible light, can also be provided with an infrared module, can further obtain a comprehensive picture by adopting a wide-angle lens, and can meet 1080P high-definition shooting. The stability-increasing cradle head 122 is a two-axis cradle head or a multi-axis cradle head.

The image acquisition module receives the image information from the central controller 110 and transmits the image information to the external terminal 200 through the communication module 140; the external terminal 200 receives the image information, processes the image information, and displays the processed image information to the user. And the external terminal 200 processes the image information, generates a control command according to the processing result or according to the input of the user, transmits the command to the communication module 140 passing through the unmanned ship 100, and controls the image capturing module 120 through the central controller 110, for example: the direction and angle adjustment (e.g., leftward, rightward, downward or upward adjustment, horizontal angle and pitch angle adjustment) of the camera of the image capturing module 120, the turning on/off of the LED lamp of the camera, etc. are controlled, so as to more quickly and accurately photograph the detected object desired by the user.

In a preferred embodiment, the image capturing module 120 further comprises an intelligent camera, which is disposed on the unmanned ship 100 via a retractable device (e.g., a cable, a retractable rod, etc.), and the intelligent camera is provided with an LED lamp. When the detected object is far away from the unmanned ship 100 (for example, beyond 5 meters), the central controller 110 sends a control command to the telescopic device of the intelligent camera to control the telescopic device, so that the telescopic of the camera is realized, and simultaneously, the control command can be sent to the camera control module to turn on the LED lamp on the camera, so that the shooting/photographing effect is better.

Further, the system also comprises a power module 190, a sensor module 180 and a storage module 102; the power supply module is used for supplying power to the unmanned ship and comprises a power supply management module and a power supply; the design satisfies 1 hour continuous operation, and power management module can intelligent regulation power consumption, increases duration. The unmanned ship 100 is provided with an umbilical waterproof interface on the main body, and can provide cable power supply and control data communication when necessary.

Further, the sensor module 180 includes a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer, a leak-proof detector and an inertial measurement unit; the unmanned ship 100 of the present invention obtains information such as speed, acceleration, attitude, etc. of the unmanned ship through the sensor module 180. Real-time attitude, acceleration and angular velocity information can be provided by using an AHRS (attitude heading reference System), data of a triaxial gyroscope, a triaxial accelerometer and a triaxial magnetic field meter are fused by adopting extended Kalman filtering, and a calculation result is output to a controller through an RS232 interface.

Further, the storage module 102 is configured to store navigation data of the unmanned ship, picture or video data recorded by the image acquisition module 120, environmental data detected by the sonar detection module 130, automatic airline data sent from the external terminal 200, and the like;

further, the cable 300 is a zero-floating communication cable. The zero-buoyancy communication cable has the advantages that the unmanned ship cannot be influenced by submerging, and the cable is stable in posture in water and not easy to wind.

Further, the central controller 110 controls the sound sending device of the sonar detection module 130 and the camera of the image acquisition module 120 to be in the same direction and angle.

Furthermore, a sound sending device of the sonar detection module is combined with a camera of the image shooting module; and when the central controller controls the energy converter to emit sound waves, the camera is controlled to start to take pictures at the same time, or/and when the energy converter receives sound echoes, the central controller controls the camera to take pictures. Preferably, when the detected object is close to the unmanned ship 100 (for example, within 5 meters), the sound transmitting device of the sonar detection module 130 and the camera of the image acquisition module 120 are combined together, for example, in parallel; when the central controller 110 controls the sonar detection module 130 to emit sound waves, the central controller controls the image acquisition module 120 to take pictures; thus, the detailed information of the same detected object can be obtained, and the detailed information comprises the following steps: how deep from the water? What is an object (e.g., what fish)? How large is the object detected? What is the number of detected objects? Etc., and displays the detailed information to the user through the external terminal 200.

In one embodiment, the terminal storage module 250 of the external terminal 200 stores matching information of different types of fish in advance, for example: the shape, color, favorite bait and suggested fishing rod, net and fishing skill, net casting skill, etc. information of different kinds of fish. When the external terminal 200 receives the position information and the image information of the fish from the unmanned ship 100, the CPU210 of the external terminal calls the information pre-stored in the terminal storage module 250, compares the information and displays the result to the user, such as the name, color, favorite bait, fishing skill, and net casting skill of the fish, so that the user can easily fish the desired fish according to the information.

Further, the central controller 110, the sonar detection module 130, the image capturing module 120, the cable housing module 150, the hook holding module 103, and the power module 160 are disposed inside the unmanned ship 100, at least the antenna 141 of the communication module is partially disposed in the buoy 400, and the buoy 400 is connected to the unmanned ship through a cable.

Specifically, each functional module unit of the unmanned ship 100 according to the embodiment of the present invention is designed to be an independent cabin, such as a propulsion cabin, an image cabin, and a main cabin, which are independently sealed, and a motor shaft is mechanically and dynamically sealed for engineering implementation.

Further, the central controller 110 of the unmanned ship according to the embodiment of the present invention may be further divided into two unit modules according to practical applications: a main controller 111 and an auxiliary controller 112, wherein the main controller 111 is used for connecting various modules for controlling the unmanned ship 100 to run: such as a sensor module 180, a driving module 160, a communication module 140, a power module 190, etc., an automatic driving module 170, a GSP module 101, etc.; the auxiliary controller 112 is used to connect various modules for observing underwater information: such as sonar detection module 130, image acquisition module 120, LED lights, etc.

An unmanned ship system according to an embodiment of the present invention, as shown in fig. 5, includes the unmanned ship 100 and an external terminal 200, where the external terminal 200 is wirelessly connected to a communication module 140 of the unmanned ship, and is configured to remotely control a motion, a detection, and a shooting process of the unmanned ship, and receive sonar data, image data, navigation state data, GPS data, and the like sent from the unmanned ship.

Further, the external terminal includes a CPU210, a display module 220, an input module 230, a terminal communication module 240, and a terminal storage module 250, wherein:

the CPU210 is connected with the display module, the input module, the transmitting and receiving module and the storage module, controls the modules and sends a control instruction to the unmanned ship through the transmitting and receiving module;

the display module 220: the system is used for displaying received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship;

the terminal communication module 240: the wireless communication system is used for transmitting wireless signals to the unmanned ship and receiving wireless signals from the unmanned ship, and can adopt modes such as a WIFI (wireless fidelity), a Bluetooth, a Radio frequency, a Long Term Evolution (LTE) mode, a telemeasuring frequency modulation Radio frequency (telemeasuring FM Radio) mode, a satellite mode and the like to transmit and communicate with optical communication and other communication modes. Bidirectional communication may be performed using a 433Mhz station (or 2.4G, 5.8G, etc.). The terminal communication module 240 may also adopt an image and data transmission integrated module, and may split the integrated single link signal sent by the unmanned ship 100 into an image and a data signal.

The input module 230: the input module can be one or a combination of a plurality of joysticks, keyboards, touch screens, voice input and gesture input; specifically, the input module to the drone 100 may include a remote control handle, with horizontal movement of the drone 100 controlled by a two-axis joystick. The direction and speed of the submerged movement of the unmanned ship 100, the brightness of the LED illumination lamp, the focal length of the camera, and the like can be controlled by setting a rotary potentiometer, and the input of the operation lever, the knob, and the switch of the remote control handle is collected by the CPU210 and then controlled.

The terminal storage module 250: the unmanned ship navigation system is used for storing received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship, input information of a user, and a pre-stored unmanned ship navigation mode and automatic navigation information.

Further, the terminal power supply module 260 and the UBS interface are also provided; the terminal is a mobile phone, a tablet computer, a computer or other mobile terminals. The terminal is provided with an APP for controlling various functions of the unmanned ship and checking unmanned ship information and images.

Further, external terminal 200 still has voice broadcast module 270, the voice broadcast module is used for converting information such as the navigation data received into audio information and broadcasts through the speaker.

Further, the storage module 250 of the terminal is further configured to store information of a preset underwater detected object, and the CPU may compare image information and other information sent by the communication module of the unmanned ship 100 with the information of the preset underwater detected object stored in the storage module, and send a comparison result and recommendation information to the display module or the voice broadcast module.

Further, the unmanned ship 100 is preset with a one-key return navigation module 280, the external terminal 200 is preset with a return navigation key, the terminal storage module 250 prestores a return navigation coordinate point, and when the terminal detects that the user presses the return navigation key, a return navigation control instruction is sent to the unmanned ship 100.

The unmanned ship comprises the functions of the existing fishing unmanned ship, underwater objects can be detected by using a sonar module, meanwhile, submergence at a certain depth can be realized, the underwater image acquisition is realized by arranging the image acquisition module on the unmanned ship, and the underwater image information can be transmitted back in real time by realizing remote communication with a shore. The unmanned ship can run on the water surface, when the sonar module detects underwater fish information, the sonar module can perform submarine observation, the image acquisition module transmits underwater images to an external terminal on water in real time through a buoy which floats on the water surface and is connected with the unmanned ship through a cable, and the information detected by the unmanned ship and the shot image information are displayed to a user through the external terminal display module, so that unprecedented visual submarine fishing experience is provided.

The embodiments in the above embodiments can be further combined or replaced, and the embodiments are only used for describing the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solution of the present invention by those skilled in the art without departing from the design idea of the present invention belong to the protection scope of the present invention.

Claims (10)

1. An unmanned ship, comprising: image acquisition module, sonar detection module, communication module and central controller, wherein:

the image acquisition module is used for recording and shooting underwater images;

the sonar detection module is used for detecting the underwater environment, the position and the depth of the fish school;

the communication module is used for transmitting the state information of the unmanned ship, the image information acquired by the image acquisition module and the information acquired by the sonar detection module to an external terminal and transmitting a control instruction of the external terminal to the central controller;

and the central controller is connected with the modules, controls the advancing action of the unmanned ship and coordinates the work of the modules.

2. The unmanned ship of claim 1, further comprising a buoy, wherein at least an antenna portion of the communication module is disposed within a floatable buoy, and wherein the buoy is connected to the unmanned ship body by a retractable cable; the cable collecting and releasing device comprises a central controller, and is characterized by further comprising a cable collecting and releasing module, wherein the cable collecting and releasing module is used for collecting the depth information of the unmanned ship and a submerging or floating instruction sent by the central controller, and releasing or withdrawing the cable with the corresponding length, so that the length of the cable is matched with the depth of the unmanned ship.

3. The unmanned ship of claim 2, wherein the cable pay-off and take-up module comprises a winch controller and a winch, the winch is arranged on the unmanned ship body, and the retractable cable is wound on the winch and is paid off and taken up by the winch; or the cable reeling and unreeling module is controlled by a central controller.

4. The unmanned ship of any one of claims 1-3, further comprising a power module, wherein the power module is used for driving the unmanned ship to move up and down, forward and backward in the same direction under the control of the central controller, the power module comprises a motor driver, and two horizontal driving motors and a vertical driving motor which are connected with the motor driver, the two horizontal driving motors are arranged on the left and right sides of the tail of the unmanned ship, and the vertical driving motor is arranged in the vertical direction of the unmanned ship.

5. The unmanned ship of claim 1, wherein the communication module is a DDL map number integrated transmission module, and the DDL map number integrated transmission module integrates a transmission signal and a bidirectional data transmission signal into a single link for transmission; the unmanned ship is characterized by further comprising a GPS module connected with the central controller, the GPS module is arranged in the buoy and used for receiving GPS satellite signals to determine the position of the unmanned ship, sending GPS position information of the unmanned ship to an external terminal and sending the GPS position information to the external terminal through a DDL (distributed data link) image data transmission integrated transmission module.

6. The unmanned ship according to claim 1, further comprising an automatic navigation module, wherein the automatic navigation module receives and stores waypoint information, waypoint position and sequence information transmitted from an external terminal, calibrates the waypoint position and the sequence information on a GPS map, and controls the power module to drive the unmanned ship to travel towards the waypoint according to the real-time position and navigation direction of the unmanned ship obtained by the GPS module;

the fish hook clamping device comprises a hook clamping module, a controller and a control module, wherein the hook clamping module is used for clamping a fish hook or a fish line and loosening the fish hook or the fish line when a fish is hooked, the hook clamping module comprises a hook clamping device and the controller, the hook clamping device is a clamping mechanism, a sensor and an electromagnet are arranged on the hook clamping device, after the fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the clamping mechanism to open and loosen the fish hook or the fish line; or the hook holding module is controlled by a central controller.

7. The unmanned ship of claim 1, wherein the image capturing module comprises a camera, an adjustable brightness LED lamp and a stability-enhancing cradle head, and the control of the image capturing module by the central controller comprises: sending an on/off instruction to the camera, sending an on/off brightness adjusting instruction to the LED illuminating lamp, sending a rotation angle instruction to the stability augmentation holder, or controlling the image shooting module according to image information sent by the image shooting module or a control instruction sent by an external terminal; the front end of the unmanned ship is provided with a transparent air guide sleeve, and the camera, the brightness-adjustable LED illuminating lamp and the stability-increasing cradle head are arranged in the air guide sleeve.

8. The unmanned ship of any one of claims 1-7, further comprising a power module, a sensor module, and a memory module; the power supply module is used for supplying power to the unmanned ship and comprises a power supply management module and a power supply; the sensor module comprises a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer leakage-proof detector and an inertia measurement unit; the storage module is used for storing navigation data of the unmanned ship, picture or video data recorded by the image acquisition module and the like; the cable is a zero-buoyancy communication cable; the unmanned ship comprises a central controller, a sonar detection module, an image shooting module, a cable winding and unwinding module, a hook holding module and a power module, wherein the central controller, the sonar detection module, the image shooting module, the cable winding and unwinding module, the hook holding module and the power module are arranged inside the unmanned ship, at least an antenna part of the communication module is arranged in a buoy, and the buoy is connected with the unmanned ship through a cable.

9. The unmanned ship system of the unmanned ship of any one of claims 1-8, comprising the unmanned ship and an external terminal, wherein the external terminal is wirelessly connected with the communication module of the unmanned ship, and is used for remotely controlling the motion, detection and shooting processes of the unmanned ship and receiving sonar data, image data, navigation state data, GPS data and the like sent by the unmanned ship.

10. The unmanned marine system of claim 9, wherein the external terminal comprises a CPU, a display module, an input module, a terminal communication module, and a storage module, wherein:

the CPU is connected with the display module, the input module, the transmitting and receiving module and the storage module, controls the modules and sends a control instruction to the unmanned ship through the transmitting and receiving module;

a display device: the system is used for displaying received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship;

a terminal communication module: the wireless communication system is used for transmitting wireless signals to the unmanned ship and receiving wireless signals from the unmanned ship, and can adopt communication modes such as WIFI, Bluetooth, radio frequency, optical communication and the like;

an input module: the input module can be one or a combination of a plurality of joysticks, keyboards, touch screens, voice input and gesture input;

a storage module: the unmanned ship navigation system is used for storing received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship, input information of a user, and a pre-stored unmanned ship navigation mode and automatic navigation information.