CN106530660A - Underwater unmanned ship control system - Google Patents
Underwater unmanned ship control system Download PDFInfo
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- CN106530660A CN106530660A CN201611110972.1A CN201611110972A CN106530660A CN 106530660 A CN106530660 A CN 106530660A CN 201611110972 A CN201611110972 A CN 201611110972A CN 106530660 A CN106530660 A CN 106530660A
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- unmanned boat
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- fish
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
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Abstract
The invention discloses an underwater unmanned ship control system. The underwater unmanned ship control system comprises a sealed underwater unmanned ship with zero buoyancy and a water control terminal. A controller, a driving module, a fish finding module and a communication module are arranged in the underwater unmanned ship, the driving module, the fish finding module and the communication module are all connected with the controller, the fish finding module sends a fish finding result to the controller, the controller uploads the fish finding result to the water control terminal through the communication module, the controller uploads the fish finding result of the fish finding module to the water control terminal through the communication module and receives a control command sent by the water control terminal, work among all the modules is adjusted according to the control command, and the driving module is used for driving the sailing direction of the underwater unmanned aerial vehicle. A diving fishing or fish catching function can be achieved, the fish finding module is arranged on the unmanned ship, underwater objects are detected, certain depth diving can be achieved, the fish finding module is used for underwater image collection, remote communication with a bank side can be achieved, and underwater image information is fed back in real time.
Description
Technical field
The invention belongs to underwater robot field, specifically, is related to a kind of unmanned boat control system under water.
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 these equipment are limited also extensively into civil area by factors such as technologies.It is by taking unmanned boat as an example, existing
Unmanned boat is mostly military, such as completes investigation tasks, long-range attack task dispatching.Also there are some for scientific research field, such as ocean number
According to monitoring, experiment sample collection etc..Industrially it is used for the aspects such as the remote maintenance of equipment in some water, commercial mining.It is civilian
Aspect application it is also very limited, at present in addition to the unmanned boat as recreational use, for fishing unmanned boat in civilian city
The demand of field is increasing, therefore for fishing unmanned boat proposes higher and higher requirement.
Some fishing in the market are not high with unmanned boat technical indicator, single function, it is impossible to provide comprehensive specialty
Fishing experience.And compared with tradition fishing, difference is little, no revolutionary change.
The defect of existing fishing unmanned boat is cannot to obtain underwater picture information accurate in detail and cannot realize effective depth
The dive of degree.Why unmanned boat is difficult to dive, is that the decay transmitted in water due to radio wave is very serious, therefore
Communication issue is difficult to solve to become the barrier for limiting unmanned boat dive.
Although there is some all to there are problems that, be not suitable for the people with the unmanned machine under water of dive in prior art
With field and field of fishing.This is because at present, existing underwater robot using autonomy or has cable control model mostly.It is autonomous
Pattern, more in untethered robot, robot according to the host computer being previously set or received according to not timing instruct into
Row underwater operation, thus can not obtain underwater information and control robot in real time；And have cable pattern, it is exactly that robot passes through
The umbilical cables being connected with surface mother ship obtain power, and carry 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, is easily made under particularly complicated underwater environment
Into winding accident, flexibility is inadequate.
Due to above-mentioned defect, it is badly in need of a kind of will to realize certain depth again simultaneously comprising existing fishing unmanned boat function
Dive, and the telecommunication with bank can be realized, the one kind that can return underwater picture information in real time is used for field of going fishing
Unmanned boat.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided one kind can control unmanned boat
Replace fishing rod to complete fish gathering, seek fish, fishing, or control unmanned boat to observe the shoal of fish under water and underwater environment.
To solve above-mentioned technical problem, the present invention using the basic conception of technical scheme is：
A first aspect of the present invention proposes a kind of unmanned boat control system under water, including, seal neutral buoyancy under water without
People's ship and control end waterborne, are provided with controller, drive module, fish finding module and communication module, the drive under water in unmanned boat
Dynamic model block, fish finding module and communication module are connected with controller, and the fish finding module sends fish finding result to controller, control
Device processed is uploaded to control end waterborne using communication module, and the controller is by the fish finding result of fish finding module by communication module
Control end waterborne is reached, and receives the control command that control end waterborne is sent, the work between each module is adjusted according to control command
Make and drive using drive module the navigation direction of unmanned boat under water.
Preferably, fishing/angling device is provided with the unmanned boat under water；
Preferably, the angling device top is provided with the hitch gear that can hang fish hook, and the hitch gear is provided with
Notch, is connected with fishing line on fish hook, fix part fishing line by notch, and when fish bites fish hook, fish hook is subject to the effect energy of external force
Enough depart from hitch gear, and then fish is withdrawn using fishing line.
Preferably, the fish finding module is sonar module and/or image capture module, and the sonar module is used to detect water
Lower environment, shoal of fish position and depth, described image acquisition module are used to recording and shooting underwater picture, and the fish hook is set
Put in front of image capture module；
Preferably, illuminating lamp is set around described image acquisition module, and the illuminating lamp can be according to the light of water proximate
It is adjusted according to intensity.
More preferably, the unmanned boat under water is provided with the fishing lamp that can attract fish, the fishing lamp and the control
Device processed is connected；
Again preferably, the unmanned boat under water is provided with the power carrier cable being connected with communication module, power carrier line
The joint of cable and communication module is arranged at the mass axis at the top of unmanned boat under water, communication module by power carrier cable with
Control end waterborne carries out wired data transfer；
It is highly preferred that also include a buoy, be provided with the buoy communication module at least antenna part, and/or
GPS module, and/or DDL figure number one transport modules, carry out Wireless Data Transmission by buoy and control end waterborne, described floating
Mark and between unmanned boat, pass through a retractable cable connection under water；
It is further preferred that the drive module includes two horizontal propellers and a vertical pusher, it is described two
Horizontal propeller arranges unmanned boat two sides of tail under water, before the vertical pusher arranges unmanned boat center of gravity under water；
Preferably, the voltage x current monitoring modular being connected with controller, the voltage x current monitoring unit monitoring are also included
When occurring abnormal to voltage and/or electric current, warning message is sent to control end waterborne, and control unmanned boat and maked a return voyage or cut off the electricity supply
Static hovering.
Preferably, also include the depth-keeping navigation module being connected with controller, after controller receives depth-keeping navigation order, lead to
The current depth that depth-keeping navigation module detects unmanned boat under water is crossed, and drive module is controlled according to depth-keeping navigation order and controlled under water
Unmanned boat carries out depth-keeping navigation, wherein, the depth-keeping navigation order includes, keeps current depth navigation or keeps set depth boat
OK.
A second aspect of the present invention proposes a kind of unmanned boat control system under water, including unmanned boat under water and control waterborne
End, the control end waterborne includes, base station and user control terminal, and user control terminal is connected with base station radio, using base station
Enter row data communication with unmanned boat under water, the biological information of the detection of unmanned boat under water that base station is forwarded by the user control terminal
Or environmental information is shown after treatment, wherein, the user control terminal is by the letter of biological information and database purchase
Breath is compared, and draws and display comparison result, and sends control to base station using the user control terminal according to comparing result
Control instruction is forwarded to unmanned boat under water by system instruction, the base station, and the unmanned boat under water is controlled under water according to control instruction
Unmanned boat performs corresponding actions.
Preferably, the user control terminal includes, mobile terminal and/or remote control.
Preferably, the mobile terminal includes CPU, display module, input module, memory module and image processing module,
Wherein：
CPU is connected with display module, input module memory module and image processing module, and these modules are controlled
System；
Display module：For showing view data, sonar data, gps data, aeronautical data and the biography of the unmanned boat for receiving
Sensor information；
Input module：For external command is inputed to CPU, the input module can be control stick, keyboard, touch
The combination of one or more in screen, phonetic entry and gesture input；
Memory module：For storing view data, sonar data, gps data, aeronautical data and the biography of the unmanned boat for receiving
Sensor information or the input information or the unmanned boat sail mode for prestoring in advance and automatic sail information of user；And/or storage is used
The information of the database purchase compared in the biological information with the view data/sonar data for receiving, it is preferable that the number
It is shoal of fish database according to the information of library storage；
Image processing module：Sonar data for unmanned boat is transmitted carry out process and draw corresponding analogue data, and
The two dimensional image or 3-D view of the underwater environment of sonar module detection are drawn out according to analogue data；
Preferably, the remote control includes at least one following, navigation rocking bar, depth-keeping navigation button, a key dive, a key
Floating, a key return, alarm module, take pictures/camera button, seek fish button, fish gathering button.
A third aspect of the present invention proposes a kind of unmanned boat control system under water, including, seal neutral buoyancy under water without
People's ship, base station and user control terminal, under water unmanned boat be connected with user control terminal by base station, under water unmanned boat include control
Device processed, drive module, seek fish device, camera and fishing/angling device, controller respectively with drive module, seek fish device, camera phase
Even, fishing/angling device setting at the top of unmanned boat and/or sidepiece and/or bottom under water, it is described to seek fish device and camera is removable
Arrange with unloading on unmanned boat under water, it is preferable that fishing/angling device includes, fish-catching apparatus, angling device；
The angling device top is provided with the hitch gear that can hang fish hook, and the fish hook is arranged on detachable camera
Front, the hitch gear are provided with notch, and fishing line is connected with fish hook, fix part fishing line by notch, and fish bites fish hook
When, fish hook is subject to the effect of external force depart from hitch gear, and then withdraws fish using fishing line.
After above-mentioned technical proposal, the present invention is had the advantages that compared with prior art.
The function of dive fishing can be realized using technical scheme, and thing under water be detected using sonar module
Body, while and certain depth dive can be realized, by image capture module is arranged on unmanned boat, realize that underwater picture is adopted
Collection, and the telecommunication with bank can be realized, underwater picture information is returned in real time.The unmanned boat wheeled of the present invention exists
On the water surface, when sonar module detects shoal of fish information under water, dive observation can be carried out, and by one swim on the water surface with nothing
The buoy of built-in communication antenna of people's ship by cable connection, will be outer in the feedwater of image capture module real-time Transmission underwater picture
Portion's terminal, shows the unmanned boat information that detects and the image information that shoot to user by exterior terminal display module.Can be with
The shoal of fish is determined whether, and is what kind of fish, and other detailed immersed body information.
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
Description of the drawings
A part of the accompanying drawing as the present invention, for providing further understanding of the invention, the present invention's is schematic
Embodiment and its illustrate for explaining the present invention, but do not constitute inappropriate limitation of the present invention.Obviously, drawings in the following description
It is only some embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings：
Fig. 1 is the control system schematic diagram of unmanned boat under water of embodiments of the invention one；
Fig. 2 is the unmanned boat control system architecture schematic diagram under water of embodiments of the invention two；
Fig. 3 is the unmanned boat control system architecture schematic diagram under water of embodiments of the invention four；
Fig. 4 is the unmanned boat control system architecture schematic diagram under water of embodiments of the invention five；
Fig. 5 is the user control terminal structured flowchart of embodiments of the invention；
Fig. 6 is the mobile terminal structure block diagram of embodiments of the invention；
Fig. 7 is the unmanned boat control system architecture schematic diagram under water of embodiments of the invention six.
In figure：1 unmanned boat under water；11 drive modules；12 controllers；13 communication modules；14 fishings/angling device；15 visit
Fish module；16 fishing lamps；17 seek fish device；18 cameras；
2 control ends waterborne；21 base stations；22 user control terminals；221 mobile terminals；2211 display modules；2212 input moulds
Block；2213 memory modules；2214 image processing modules；2215CPU；222 remote controls.
It should be noted that these accompanying drawings and word description are not intended as the design model for limiting the present invention by any way
Enclose, but be that those skilled in the art illustrate idea of the invention by reference to specific embodiment.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following examples be used for illustrate the present invention, but
It is not limited to the scope of the present invention.
In describing the invention, it should be noted that term " on ", it is D score, "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " interior ", " outward " is based on orientation shown in the drawings or position relationship, merely to just
In description the present invention and simplify description, rather than indicate or imply indication device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For this
For the those of ordinary skill in field, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
Embodiment one
As shown in figure 1, embodiments of the invention propose a kind of 1 control system of unmanned boat under water, including sealing neutral buoyancy
Unmanned boat under water 1 and control end waterborne 2, is provided with controller 12, drive module 11, fish finding module 15 in unmanned boat 1 under water
With communication module 13, the drive module 11, fish finding module 15 and communication module 13 be connected with controller 12, the fish finding mould
Block 15 sends fish finding result to controller 12, and controller 12 is uploaded to control end waterborne 2, the controller using communication module
The fish finding result of fish finding module 15 is uploaded to control end waterborne 2 by communication module 13 by 12, and is received control end waterborne 2 and sent
Control command, work between each module is adjusted according to control command and unmanned boat 1 under water is driven using drive module 11
Navigation direction.
The similar density that unmanned boat 1 under water is designed to averag density and water proximate seemingly, is set in unmanned boat 1 under water
There is annular seal space, the annular seal space has waterproof effect, each electricity consumption module in annular seal space can be protected not soak, and then ensure
The normal work of unmanned boat 1 under water, and by the annular seal space and matching somebody with somebody between 1 shell body of unmanned boat and all parts under water
Close, unmanned boat 1 under water is reached with water proximate similar density seemingly, and then the effect of neutral buoyancy is realized in waters, pass through
The unmanned boat under water 1 of neutral buoyancy can preferably adjust navigation direction and navigation attitude, in addition, in no power-actuated situation
Under under water unmanned boat 1 static can hover in water.Drive unmanned boat 1 under water to be navigated by water using drive module 11, realize
The bottom is moved under water, and the data separate communication module 13 that controller 12 is obtained is transferred to control end waterborne 2, in addition control end waterborne
2 can send corresponding control command to communication module 13, and control command is transmitted to controller 12 by communication module 13.
The shoal of fish information for detecting, water proximate environmental information, image information, range information etc. are transmitted by fish finding module 15
To controller 12, fish finding result is uploaded to control end waterborne 2 by communication module 13 by controller 12, and then is presented to user,
User can according to the fish finding result for representing using control end waterborne 2 to unmanned boat 1 under water send control command, so under water without
People's ship 1 will control modules according to control command, realize the purpose of user using the cooperation of modules.
Embodiment two
As shown in Fig. 2 on the basis of above-described embodiment, being provided with fishing/angling device on the unmanned boat under water 1
14, wherein, the angling device top is provided with fish hook, and the angling device top is provided with the hitch gear that can hang fish hook,
The hitch gear is provided with notch, and fishing line is connected with fish hook, fixes part fishing line by notch, when fish bites fish hook, fish
Hook is subject to the effect of external force depart from hitch gear, and then withdraws fish using fishing line.
Wherein, fish-catching apparatus can be fish rifle, can shoot fish to death using fish rifle, fish-catching apparatus after lock onto target fish
Can also be fishing net, after lock onto target fish, fishing net can be launched target fish is fished for.
Angling device is mainly made up of suspension arm, buoyant mass, hitch gear, and unmanned boat 1 under water is fixed in suspension arm one end
On, buoyant mass is housed on suspension arm, buoyant mass is material of the density less than water, selects suitable material, the buoyancy of size and number
Block causes whole angling device in neutral buoyancy state, so as to reduce the impact at center and centre of buoyancy to unmanned boat 1 under water, hook
Mechanism is the elastomeric material for being provided with notch, is not limited to spherical, and notch shape is not limited, and part fishing line is clamped by hitch gear notch,
The chucking power needs to ensure that fishing line is unlikely to come off in unmanned boat motion process, but runs into when fish bite is shaken off easily from ball
Come off.
Embodiment three
On the basis of above-described embodiment, the fish finding module is sonar module and/or image capture module, the sonar
Module is used to detect underwater environment, shoal of fish position and depth, and described image acquisition module is used to record and shoot to scheme under water
Picture, the fish hook is arranged in front of image capture module；
Preferably, illuminating lamp is set around described image acquisition module, and the illuminating lamp can be according to the light of water proximate
It is adjusted according to intensity, the illuminating lamp is light sensation illuminating lamp, can be mended automatically according to the intensity of illumination around unmanned boat
Light.
The unmanned boat under water of the present invention has sonar module and image capture module simultaneously, and existing fishing is general with unmanned boat
There is no camera, even if there is camera also gather the image near the water surface, can only for the detection of certain depth under water
The approximate location and substantially quantity of object are detected according to Sonar Signal, user needs detected according to the micro-judgment of oneself
The species and particular location of thing and particular number, and cannot definitely learn species, size and the geographical position of detected thing.Example
Such as：When the shoal of fish is detected, user need rule of thumb to judge this be what fish, substantially where, and can not be definite
Ground know be what fish, the size of fish and the shoal of fish be located concrete longitude, latitude information.The unmanned boat of the present invention can be with dive
And accurate image information is got by image capture module, can accurately see that what the object of detection is, if for fish
Group, fish why species etc..Substantially increase fish success rate and Consumer's Experience.
Example IV
As shown in figure 3, on the basis of above-described embodiment, the unmanned boat under water 1 is provided with the collection that can attract fish
Fish lamp 16, the fishing lamp are connected with the controller 12.
As fish have phototaxis, in order to preferably attract fish, fishing lamp is set on unmanned boat 1 under water
16, the fishing lamp 16 can arrange the position of the bottom near camera of unmanned boat 1 under water, it is also possible to be arranged on top, side
The positions such as portion, afterbody, the fishing lamp 16 can be according to the different color of the hobby colour switching of different types of fish in addition.
The unmanned boat under water 1 is provided with the power carrier cable being connected with communication module 13, power carrier cable with it is logical
The joint of letter module 13 is arranged at mass axis under water at the top of unmanned boat 1, communication module 13 by power carrier cable with
Control end waterborne 2 carries out wired data transfer.
Due to wireless signal, attenuation ratio is very fast under water, and the present invention is transmitted using power carrier cable, will transmit number
According to being loaded in power transmission, unmanned boat 1 can also be powered by the power carrier cable under water in addition, the power carrier
Cable is the twisted-pair feeder with neutral buoyancy, and the effect that can so reduce the cable due to gravity or buoyancy is to unmanned boat 1 under water
The burden for pulling is caused, further, since cable is arranged into 1 afterbody of unmanned boat under water, as the effect of drag force can be cable
Easily go wrong with the junction of unmanned boat, therefore the cable arrange the top of unmanned boat 1 under water and is located at mass axis,
And the cable can be rotated freely.
Also include a buoy, at least antenna part of the communication module 13 is arranged in a floatable buoy, passes through
Buoy and control end waterborne 2 carry out Wireless Data Transmission, the buoy and pass through a retractable cable under water between unmanned boat 1
Connection.
Due to underwater electromagnetic wave attenuation it is serious, and at the interface of the water surface and air electromagnetic wave to attenuate one again big
Part.And when going fishing unmanned boat would generally navigate by water to deepwater regions apart from bank user farther out, now unmanned boat and user
Between line be not but the almost horizontal perpendicular to the water surface, signal have a suitable segment distance be in water transmission, so
Even if now the depth of dive very little can all cause signal interruption.
Therefore unmanned boat of the present invention being set and one being also connected with also including a buoy, the communication module 13 is provided with the buoy
At least antenna part, and/or GPS module, and/or DDL figure number one transport modules, carried out with control end waterborne by buoy
Wireless Data Transmission, the buoy and under water between unmanned boat pass through a retractable cable connection；
Buoy passes through cable connection with unmanned boat.Buoy is swum on the water surface, equivalent to relay station, serves connection waterborne
With the function of subsurface communication, it is marine communication between buoy and control end waterborne 2, is carried out by cable between buoy and unmanned boat
Wire communication, signal decay in air and cable very little, therefore ensure that stablizing for communication, reduce energy consumption.
Also include twisted and released of the cable module, the depth information and controller 12 of the unmanned boat that the twisted and released of the cable module is obtained
The cable of the dive for sending or instruction of floating, release or withdrawal correspondence length so that cable length and depth phase residing for unmanned boat
Adapt to.
Existing unmanned boat thoroughly realizes market waterborne and the switching of market under water very much, otherwise can only water sailing, or only
Carry out underwater navigation.With certain defect, for example, 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, easily to be wound by pasture and water, especially when wide water domain is fished, navigation
Distant, user cannot visually arrive the underway position of unmanned boat, bring very big inconvenience to fishing.
The switching of waterborne and underwater navigation, except the puzzlement of communication issue, it is also a technology that the buoyancy of unmanned boat changes
A difficult problem, is such as arranged distant from buoyancy compartment and draining cabin using submarine, and cost is greatly increased, and complex structure is not suitable for civil area.If
Line fishing boat is set to into neutral buoyancy (density is approximate with water), although may insure normal dive, but be difficult to water surface market,
And need the propeller of vertical direction to work always offer buoyancy during surface navigation, undoubtedly greatly increase energy consumption.And water
The resistance of lower market will be far longer than surface navigation, and this can greatly increase the energy loss in fishing point process is found.
The benefit for so arranging is available with buoy and realizes the unmanned boat switching with underwater navigation waterborne, when needs are carried out
During surface navigation, by cable is withdrawn so that unmanned boat and buoy contact laminating, unmanned boat can be with one using the buoyancy of buoy
The straight scope in adjoined water surface is travelled, it is not necessary to the Motor drive of vertical direction, it is not required that arrange buoyant cabin in unmanned boat
Realize floating Deng labyrinth.Structure is simplified, energy consumption is saved, cruising time is increased.
In actual use, unmanned boat keep first cable reclaim beginning in water surface market by bank as deepwater regions row
Sail, and underwater environment is detected using sonar contact module in suitable waters, when the object for being detected with the doubtful shoal of fish
During appearance, can by control end waterborne 2 send dive instruction (control end waterborne 2 is also provided with a key dive function key,
Keep the data such as submerged depth speed in terminal storage module in advance), dive instruction is sent, now twisted and released of the cable module release electricity
The length of cable, unmanned boat may be configured as similar with the density of water or bigger, and now unmanned boat realizes dive, and dive process can be led to
Cross the motor of vertical direction to accelerate, while twisted and released of the cable module receives the depth data of unmanned boat depth transducer, really
Surely the length of cable is discharged, to guarantee that cable length is adapted with depth residing for unmanned boat.
The twisted and released of the cable module includes a hoist-engine controller 12 and a hoist engine, the hoist engine arrange under water without
On people's ship 1, it is described can folding and unfolding cable hank around being arranged on hoist engine and realize folding and unfolding by hoist engine；Or the twisted and released of the cable mould
Block is controlled by controller 12.
Hoist engine may be provided at the outside of unmanned boat, and which passes through to seal waterproof with the hoist-engine controller 12 inside unmanned boat
Mode electrically connect.The twisted and released of the cable module can also be directly controlled by central controller 12, specially central controller 12
Opening and closing and the adjustment direction of rotation of hoist engine can directly be controlled.
In addition, hoist engine is can also be provided inside unmanned boat, an elevator cabin is set inside unmanned boat particularly, electricity
Cable stretches out unmanned outboard by a dynamic sealing mouth at the top of nacelle, and is connected with buoy.
Can be so that a groove structure be arranged outside unmanned boat hull, the groove structure is used for and the lower surface of buoy is matched somebody with somebody
Close, so can be after retracting cable so that in the embedded groove of buoy, buoy becomes an entirety with unmanned boat, is conducive to the water surface
Stability during navigation.
The drive module 11 includes two horizontal propellers and a vertical pusher, and described two horizontal propellers set
1 two sides of tail of unmanned boat under water is put, before the vertical pusher arranges 1 center of gravity of unmanned boat under water.
Described two horizontal propellers are arranged on the unmanned quarter left and right sides, and the vertical pusher is arranged on unmanned boat
In front of center of gravity, controller 12 carries out rotating speed and direction controlling by the motor of two horizontal propellers and a vertical pusher.
Drive module 11 in unmanned boat provides power for unmanned boat, and unmanned boat carries out mass motion control, such as：Unmanned boat is driven in water
In carry out the motion in each orientation (for example：Move upwards, move downward, or advance, retreat, turn left, turn right), and can lead to
Cross motor driver and enter row information with controller 12 and exchange.This kind of control instruction can also be sent by control end waterborne 2, Jing communications
Module 13 is received and is then transferred to controller 12, and controller 12 controls drive module 11 according to command adapted thereto, and drive module 11 is also
Its power status information is sent to into controller 12 and Jing communication modules 13 are sent to control end waterborne 2, the level propulsion of setting
The motor of device must guarantee that unmanned boat has certain speed of a ship or plane and capacity of anti-storm, and design unmanned boat can resist 1.5-2.0 meter per seconds
Ocean current, the horizontal speed of a ship or plane can reach 3-4 sections, and motor is driven using brshless DC motor, and built-in motor FOC is controlled and speed, electric current
Feedback closed loop.
The embodiment of the present invention adopts the communication module 13 and one transport module is passed for DDL figures number, and the DDL figures number passes one
Body transport module will be schemed to pass signal and bidirectional data transfers signal integration and will be transmitted for single link that (signal includes unmanned shipping agency
Sail data, sonar data, view data), using an antenna.Avoid and be respectively provided with figure biography antenna sum biography antenna two-way letter
Number transmission when occur interference situation, while reducing energy consumption.The 21 corresponding communication module 1313 of base station of control end waterborne 2 also sets
It is set to corresponding DDL figures number and passes one transport module, picture signal and data-signal is integrated into same by the figure digital transmission module
Link signal is transmitted, and the same link signal for receiving is decoded as picture signal and data-signal, realizes unmanned boat
With the bidirectional data transfers of control end waterborne 2, signal can be using WIFI, bluetooth, radio frequency, Long Term Evolution (Long Term
Evolution, LTE) pattern, the mode such as remote measurement Frequency Modulated radio (Telemetry FM Radio) mode, satellite mode transmit and
The communication patterns such as optic communication.
Preferably, the voltage x current monitoring modular being connected with controller 12, the voltage x current monitoring unit prison are also included
When measuring voltage and/or abnormal electric current appearance, warning message is sent to control end waterborne 2, and control unmanned boat and maked a return voyage or cut off
The static hovering of power supply.
When curtage is detected or realtime power exceeds normal range (NR), for example, curtage or realtime power
Beyond its corresponding first threshold scope when prove that the failure of unmanned boat 1 under water is not also especially severe, is now accomplished by water
Upper control end 2 send alarm signal, and control under water unmanned boat 1 maked a return voyage, and for example, curtage or realtime power exceed
Prove during its corresponding Second Threshold scope unmanned boat failure ratio now it is more serious in order to ensure unmanned boat each circuit not by
Damage, need alarm signal (alarm signal includes positional information and failure cause) to be sent to control end waterborne 2, be sent completely
After cut off all power supplys, wait for rescue in hovering over water.
Also include the attitude acquisition module being connected with controller 12, according to attitude acquisition module obtain attitude data and/
Or sailing instructions, adjust the navigation attitude of unmanned boat 1 under water.
Also include the depth-keeping navigation module being connected with controller 12, after controller 12 receives depth-keeping navigation order, pass through
Depth-keeping navigation module detects the current depth of unmanned boat 1 under water, and controls the control water of drive module 11 according to depth-keeping navigation order
Lower unmanned boat 1 carries out depth-keeping navigation, wherein, the depth-keeping navigation order includes, keeps current depth navigation or keeps setting deep
Degree navigation.
Also module, the intelligence is followed to follow module to be connected with the controller 12 including intelligence, the controller 12 connects
The following after order to mobile target of the transmission of communication module 13 is received, the positional information of mobile target is obtained, and using intelligence
Module is followed to follow mobile target.
In above-mentioned technical proposal, when user is sent to unmanned boat by remote control 222 or mobile phone or other control ends
To following after order for certain movement target (being fish, people, underwater submarine or other objects that can move), obtain first
The positional information of mobile target, locks to mobile target, then starts intelligence and follows module 6, controls unmanned boat 1 pair under water
Mobile target is followed, wherein, mobile target can also be the shoal of fish.So, when user wants to observe certain fish or the shoal of fish
During animation, or when wanting to track some other underwater moving targets, it is possible to follow 6 pairs of movements of module using the intelligence
Target carries out following, and then convenient for users to use.
The controller 12 obtains the current distance of mobile target and unmanned boat 1 under water, and follows module to protect using intelligence
Hold current distance to be tracked mobile target；The intelligence follows module to be connected with communication module 13, and the intelligence follows mould
Block receive communication module 13 transmission a key follow order after, the nearest mobile biology of unmanned boat 1 under water of adjusting the distance carry out with
With.
When user is in order to entertain, only wishes to certain mobile object to surrounding and follow, user oneself again no target,
A key can just be started and follow order, so intelligence follows the module 6 will the detection range nearest mobile life of unmanned boat 1 under water
Thing, and followed the movement biological as mobile target.
Preferably, also including the global positioning module being arranged in buoy, global positioning module is connected with controller 12, energy
Positional information is sent to control end waterborne 2 by enough positional informations for obtaining unmanned boat 1 under water in real time.
The global positioning module is GPS module or Big Dipper locating module, preferably GPS module, and the GPS module is used to connect
The position that gps satellite signal determines unmanned boat is received, and the GPS position information of unmanned boat is sent to into control end waterborne 2.Described
The process for penetrating the upper control end 2 of feedwater can be sent to control end waterborne 2 by DDL figure biography number biography one transport modules, needed
Bright, in order to ensure to detect signal, gps antenna should be remained and is exposed on the water surface, it is therefore desirable to arrange GPS module
In buoy.Gps antenna can be omnidirectional antenna (Multi-angel antenna), smart antenna (Smart antenna) or
Plate aerial.Arrange GPS module advantage be can to obtain the position of unmanned boat in real time, and can further by
Store coordinate points to realize navigation automatically and pinpoint fishing on GSP maps.
Embodiment five
As shown in figure 4, embodiments of the invention propose a kind of 1 control system of unmanned boat under water, including unmanned boat 1 under water
With control end waterborne 2, the control end waterborne 2 includes, base station 21 and user control terminal 22, user control terminal 22 and base station
21 wireless connections, enter row data communication with unmanned boat under water using base station 21, and base station 21 is forwarded by the user control terminal 22
Unmanned boat under water 1 detection biological information or environmental information shown after treatment, wherein, the user control terminal
22 information by biological information with database purchase are compared, and draw and display comparison result, and are utilized according to comparing result
The user control terminal 22 sends control instruction to base station 21, and control instruction is forwarded to unmanned boat 1 under water by the base station 21,
The unmanned boat under water 1 controls unmanned boat 1 under water according to control instruction and performs corresponding actions.
So, unmanned boat 1 just can be by the biological information for detecting under water or environmental information image data, biological letter under water
Breath, water proximate environmental information and under water the current headway of unmanned boat 1, navigation attitude, position data etc. by wired
Send to base station 21, after base station 21 receives corresponding data, by the data forwarding to user control terminal 22, such user is with regard to energy
Enough working conditions that 1 various aspects of unmanned boat under water are directly intuitively seen by user terminal, such user just can be according to this
A little Data Controls unmanned boat 1 under water, triggers the control button of user terminal and then sends control instruction to unmanned boat 1 under water, this
Unmanned boat 1 will complete corresponding action to sample according to control instruction under water, for example, complete the action fished or go fishing, and
Tracking or IMAQ to target fish.
The biological information that the unmanned boat under water for receiving is sent is compared by user control terminal with the information of database purchase
It is right, image, size, hobby, the susceptibility to sound/light and every kind of fish pair of every kind of biology that is stored with data repository
Hobby of bait etc., is just capable of determining that the corresponding biological species of biological information of unmanned boat detection under water after so contrasting,
And the various hobbies of the biology, the time that user finds and search can be so saved, it is user-friendly.
As shown in figure 5, the user control terminal 22 includes, mobile terminal 221 and/or remote control 222.As shown in fig. 6,
Mobile terminal 221 includes CPU2215, display module 2211, input module 2212, memory module 2213 and image processing module
2214, wherein：
CPU2215 is connected with display module 2211, input module 2212 and memory module 2213, and these modules are carried out
Control, sends control instruction to unmanned boat by transmitting and receiving module；Display module 2211：For showing the unmanned boat for receiving
View data, sonar data, gps data, aeronautical data and sensor information；Input module 2212：For external command is defeated
Enter to CPU2215, the input module 2212 can be in control stick, keyboard, touch-screen, phonetic entry and gesture input
Plant or several combinations；Memory module 2213：For store the view data of unmanned boat for receiving, sonar data, gps data,
Aeronautical data and the input information or the unmanned boat sail mode for prestoring in advance and automatic sail information of sensor information or user；
And/or the information of database purchase for comparing with the biological information of the view data/sonar data for receiving is stored, it is excellent
Selection of land, the information of the database purchase is shoal of fish database；Image processing module 2214：For the sonar for transmitting unmanned boat
Data carry out process and draw corresponding analogue data, and the two of the underwater environment that sonar module is detected are drawn out according to analogue data
Dimension image or 3-D view.
Mobile terminal 221 is provided with analog joystick, and the boat of unmanned boat 1 under water can be controlled by the analog joystick
OK, the image for shooting the camera that shows unmanned boat 1 under water furthermore with the display screen of mobile terminal 221, in addition sonar mould
The sonar data that block is obtained are sent on mobile terminal 221, using the image processing module 2214 in mobile terminal 221 to sonar
Data are processed, by sonar data conversion into figure (two dimensional image or the graphics that can be intuitively shown to user's observation
Picture), and will be graphically displayed on the display screen of mobile terminal 221, mobile terminal 221 can also pass through gesture operation or language in addition
Sound operates to control unmanned boat 1 under water, so can be more user-friendly.And user can utilize mobile terminal 221
With 222 co- controlling of remote control unmanned boat 1 under water, unmanned boat 1 under water is controlled using remote control 222, entered using mobile terminal 221
Row image shows.
Preferably, the remote control 222 include it is at least one following, navigation rocking bar, depth-keeping navigation button, a key dive,
One key floating, a key return, alarm module, take pictures/camera button, seek fish button, fish gathering button.
Various buttons are provided with remote control 222, user friendly can be operated, navigate by water the navigation that rocking bar controls unmanned boat
Attitude；Unmanned boat 1 under water can be carried out depth-keeping navigation by depth-keeping navigation key, and the depth-keeping navigation can be according to current depth depthkeeping
Navigation, or user oneself arrange depth, carry out depth-keeping navigation according to the depth for arranging, the operation of user for convenience,
It is additionally provided with a key dive, a key to float and key return, in addition when unmanned boat 1 breaks down under water, unmanned boat 1 can be given under water
Remote control 222 sends alarm signal, and the alarm module of remote control 222 will be reported to the police, and type of alarm is audible alarm, flashing light alarm
Vibrations are reported to the police etc., be additionally provided with the remote control 222 in addition take pictures/camera button, seek fish button, fish gathering button, water can be controlled
Lower unmanned boat 1 carries out taking pictures, images, seeks the opening and closing of fish device, the opening and closing of fishing lamp.
Embodiment six
As shown in fig. 7, embodiments of the invention propose a kind of 1 control system of unmanned boat under water, including sealing neutral buoyancy
Unmanned boat under water 1, base station 21 and user control terminal 22, under water unmanned boat 1 connected with user control terminal 22 by base station 21
Connect, unmanned boat 1 includes controller 12, drive module 11, seeks fish device 17, camera 18 and fishing/angling device 14, controller under water
12 respectively with drive module 11, seek fish device 17, camera 18 and be connected, fishing/angling device 14 is arranged at the top of unmanned boat 1 under water
And/or sidepiece and/or bottom, it is described to seek fish device 17 and camera 18 is removably disposed on unmanned boat 1 under water；
Preferably, fishing/angling device 14 includes, fish-catching apparatus, angling device；
The angling device top is provided with the hitch gear that can hang fish hook, and the fish hook is arranged on detachable camera 18
Front, the hitch gear is provided with notch, fishing line is connected with fish hook, fixed part fishing line by notch, and fish bites fish
During hook, fish hook is subject to the effect of external force depart from hitch gear, and then withdraws fish using fishing line.
Unmanned boat 1 is connected with base station 21 by power carrier cable under water, and the signal for gathering under water is passed through power carrier
Line is sent to base station 21, and base station 21 is provided with radio transmitting device and the signal of reception is wirelessly sent to user control terminal 22.
So that user controls unmanned boat 1 under water according to the signal for receiving.
17 dismountable bottom that unmanned boat 1 under water is set of fish device is sought, and communication is carried out with controller 12 and be connected, seek fish
Device 17 carries out seeking fish and fish finding by sonar for sonar module, find the shoal of fish at most or Fish of interest that user needs after, profit
With drive module 11 drive unmanned boat 1 under water to the shoal of fish is most or Fish of interest residing for waters advance, then reach corresponding water
Camera 18 is opened behind domain and then allows driving means to quit work, and then enable that unmanned boat 1 is static under water hovers, start fishing,
Can so utilize camera 18 to observe the process of whole fishing, strengthen Consumer's Experience sense.And photograph is additionally provided with around camera 18
Bright lamp, as illumination condition is weaker under water, in order to ensure that camera 18 normally can be worked under water, and the illumination
The intensity of illumination of lamp can be adjusted, and can be that user is adjusted manually, it is also possible to which illuminating lamp is arranged to light sensation illuminating lamp according to week
The intensity of illumination for enclosing waters automatically adjusts illumination.
Wherein, hitch gear is the elastomeric material for being provided with notch, is not limited to spherical, and notch shape is not limited, part fishing line quilt
Hitch gear notch is clamped, and the chucking power needs to ensure that fishing line is unlikely to come off in unmanned boat motion process, but is run into fish and stung
Easily come off from ball when hook is shaken off.
The above is only presently preferred embodiments of the present invention, not makees any pro forma restriction to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people for being familiar with this patent
Member in the range of without departing from technical solution of the present invention, when using the technology contents of above-mentioned prompting make it is a little change or be modified to
The Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification, equivalent variations and modification that above example is made, still fall within the range of the present invention program.
Claims (10)
1. one kind unmanned boat control system under water, it is characterised in that include, seal the unmanned boat under water of neutral buoyancy and control waterborne
End, is provided with controller, drive module, fish finding module and communication module, the drive module, fish finding module under water in unmanned boat
It is connected with controller with communication module, the fish finding module sends fish finding result to controller, and controller is using communication mould
Block is uploaded to control end waterborne, and the fish finding result of fish finding module is uploaded to control waterborne by communication module by the controller
End, and the control command that control end waterborne is sent is received, the work between each module is adjusted according to control command and driving is utilized
The navigation direction of module drive unmanned boat under water.
2. unmanned boat control system under water according to claim 1, it is characterised in that be provided with the unmanned boat under water
Fishing/angling device.
3. unmanned boat control system under water according to claim 2, it is characterised in that the fish finding module is sonar module
And/or image capture module, the sonar module for detecting underwater environment, shoal of fish position and depth, adopt by described image
Collection module is used to recording and shooting underwater picture, and the fish hook is arranged on described image acquisition module in front of image capture module
Surrounding arranges illuminating lamp, and the illuminating lamp can be adjusted according to the intensity of illumination of water proximate.
4. unmanned boat control system under water according to claim 1 and 2, it is characterised in that set on the unmanned boat under water
There is the fishing lamp that can attract fish, the fishing lamp is connected with the controller.
5. unmanned boat control system under water according to claim 1 and 2, it is characterised in that also including a buoy, it is described floating
At least antenna part, and/or GPS module, and/or DDL figure number one transport modules of the communication module are provided with mark, are passed through
Buoy and control end waterborne carry out Wireless Data Transmission, the buoy and are connected by a retractable cable between unmanned boat under water
Connect.
6. unmanned boat control system under water according to claim 1 and 2, it is characterised in that also include being connected with controller
Voltage x current monitoring modular, when the voltage x current monitoring unit monitors that voltage and/or electric current occur abnormal, to control waterborne
End processed sends warning message, and controls unmanned boat and make a return voyage or cut off the electricity supply static hovering.
7. unmanned boat control system under water according to claim 1 and 2, it is characterised in that also include being connected with controller
Depth-keeping navigation module, after controller receives depth-keeping navigation order, by depth-keeping navigation module detect under water unmanned boat work as
Front depth, and unmanned boat carries out depth-keeping navigation under water to control drive module control according to depth-keeping navigation order, wherein, the depthkeeping
Sailing instructions include, keep current depth navigation or keep set depth navigation.
8. one kind unmanned boat control system under water, including unmanned boat under water and control end waterborne, it is characterised in that the control waterborne
End processed includes, base station and user control terminal, and user control terminal is connected with base station radio, is entered with unmanned boat under water using base station
Row data communication, the biological information or environmental information of the detection of unmanned boat under water that base station is forwarded by the user control terminal are passed through
Shown after process, wherein, information of the user control terminal by biological information with database purchase is compared, and draws
And display comparison result, and control instruction, the base station are sent to base station using the user control terminal according to comparing result
Control instruction is forwarded to into unmanned boat under water, the unmanned boat under water controls unmanned boat under water according to control instruction and performs corresponding moving
Make.
9. unmanned boat control system under water according to claim 8, it is characterised in that the user control terminal includes,
Mobile terminal and/or remote control, the mobile terminal include CPU, display module, input module, memory module and image procossing
Module, wherein：
CPU is connected with display module, input module memory module and image processing module, and these modules are controlled；
Display module：For showing view data, sonar data, gps data, aeronautical data and the sensor of the unmanned boat for receiving
Information；
Input module：For external command is inputed to CPU, the input module can be control stick, keyboard, touch-screen, language
Sound is input into and the combination of one or more in gesture input；
Memory module：For storing view data, sonar data, gps data, aeronautical data and the sensor of the unmanned boat for receiving
Information or the input information or the unmanned boat sail mode for prestoring in advance and automatic sail information of user；And/or store for
The information of the database purchase that the biological information of the view data of reception/sonar data is compared, it is preferable that the database
The information of storage is shoal of fish database；
Image processing module：Sonar data for unmanned boat is transmitted carry out process and draw corresponding analogue data, and according to
Analogue data draws out the two dimensional image or 3-D view of the underwater environment of sonar module detection；
Preferably, the remote control include it is at least one following, navigation rocking bar, depth-keeping navigation button, a key dive, on a key
A floating, key return, alarm module, take pictures/camera button, seek fish button, fish gathering button.
10. one kind unmanned boat control system under water, it is characterised in that include, seal unmanned boat under water, base station and the use of neutral buoyancy
Family control terminal, under water unmanned boat be connected with user control terminal by base station, under water unmanned boat include controller, drive mould
Block, seek fish device, camera and fishing/angling device, controller respectively with drive module, seek fish device, camera and be connected, fishing/fishing
Device arranges at the top of unmanned boat and/or sidepiece and/or bottom under water, described to seek fish device and camera is removably disposed in water
On lower unmanned boat, fishing/angling device includes, fish-catching apparatus, angling device.
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| CN201611110972.1A CN106530660A (en) | 2016-12-06 | 2016-12-06 | Underwater unmanned ship control system |
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