CN106672163A - Cluster cooperative combination type unmanned boat system and control method thereof - Google Patents
Cluster cooperative combination type unmanned boat system and control method thereof Download PDFInfo
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- CN106672163A CN106672163A CN201710113011.4A CN201710113011A CN106672163A CN 106672163 A CN106672163 A CN 106672163A CN 201710113011 A CN201710113011 A CN 201710113011A CN 106672163 A CN106672163 A CN 106672163A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 27
- 239000000696 magnetic material Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 239000000178 monomer Substances 0.000 claims description 19
- 238000001179 sorption measurement Methods 0.000 claims description 19
- 239000000203 mixture Substances 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000011885 synergistic combination Substances 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/02—Hulls assembled from prefabricated sub-units
- B63B3/08—Hulls assembled from prefabricated sub-units with detachably-connected sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/02—Hulls assembled from prefabricated sub-units
- B63B3/08—Hulls assembled from prefabricated sub-units with detachably-connected sub-units
- B63B2003/085—Multiple hull vessels, e.g. catamarans, assembled from detachably-connected sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H2005/005—Front propulsors, i.e. propellers, paddle wheels, or the like substantially arranged ahead of the vessels' midship section
Landscapes
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Disclosed are a cluster cooperative combination type unmanned boat system and a control method thereof. The unmanned boat system comprises a plurality of monohull ships, wherein one side faces of the monohull ships are provided with electromagnet suction devices, and the other side faces of the monohull ships are provided with hull sucking surfaces, and the plurality of monohull ships are sucked together by virtue of the electromagnet suction devices and the hull sucking surfaces to form a combination . Each monohull ship is provided with a GPS location device, marine obstacle avoidance radar, a communication antenna, a master controller and an underwater 360-degree whole cyclotron propeller. Each monohull ship is in the structure of prism or hexagon and the hull sucking surfaces of all the monohull ships are made of magnetic materials. According to the invention, stability is increased by using the mode of cluster cooperative combination, the needs of different tasks are satisfied, and the working efficiency is greatly improved. Moreover, the unmanned boat system has the advantages of simple and efficient structure and flexible operation.
Description
Technical field
The present invention relates to unmanned boat technical field, more particularly to a kind of box-like unmanned boat system of cluster coordinated groups and its manipulation
Method.
Background technology
Existing unmanned boat is monomer unmanned boat, cannot ensure under the larger sea conditions of stormy waves its navigation stability and
Different task demand, in the case where complicated sea situation and task are various, single ship at sea performs the efficiency just big discounting of task
Button, sends many ships to perform tasks if desired in tradition, that is accomplished by a big platform tower and carries, just seem very without
Ji.With increasing for water surface task, traditional unmanned boat can not meet demand, be badly in need of a kind of new multi-functional unmanned boat
Substituted.
Utility model content
In view of this, the invention provides a kind of box-like unmanned boat system of cluster coordinated groups and its control method.
The technological means that the present invention is used is as follows：
A kind of box-like unmanned boat system of cluster coordinated groups and its control method, described unmanned boat system include some lists
Body ship, the same side of many monohulls is provided with electromagnet actuation device, and another side sets hull adsorption plane, many
The monohull mutually adsorbs composition assembly by the electromagnet actuation device and hull adsorption plane.
Preferably, each monohull is additionally provided with GPS positioning device, avoidance radar peculiar to vessel, communication antenna, master control
Device processed and under water 360 degree of full convolution propellers.
Preferably, the GPS positioning device, avoidance radar peculiar to vessel, communication antenna are separately mounted to the monohull hull
Deck on, the master controller is arranged on the inside of the monohull hull, 360 degree full convolution propellers installations under water
In the bottom of the monohull hull；
If master controller and GPS positioning device, avoidance radar peculiar to vessel, communication antenna, under water 360 degree circle round full propellers and
A dry electromagnet actuation device electrically connect, and the master controller receives GPS positioning device, avoidance radar peculiar to vessel, communication antenna
Data and information, master controller control 360 degree circle round full propeller and electromagnet actuation devices under water.
Preferably, the step of control method of the unmanned boat system is as follows：
Step one, when master controller receives combined command, each monohull is kept in communication and is selected by communication antenna
Wherein one monohull is selected for control vessel, each monohull is uniformly coordinated and controls；
Step 2, the master controller of control vessel first passes through GPS positioning device and judges each particular location of monohull, and right
Each monohull is numbered；
Step 3, control vessel sends to other monomers ship and instructs, and instruction other monomers ship thereto draw close by a monohull；
Step 4, control vessel is arranged the numbering of each monohull according to task, generates the sample of unmanned boat combined system
Formula, and combination is proceeded by the transmission instruction of other monomers ship according to pattern；
Step 5, master controller control electromagnet actuation device is powered after each monohull is in place, each monohull phase
Mutual adhesive completes combination；
Step 6, when master controller receives dismission instruction, control vessel sends to other monomers ship and instructs, and controls electricity
Magnet attraction device is powered off, and unmanned boat combined system is dismissed.
Preferably, the structure of the monohull is prismatic or hexagon.
Preferably, the hull adsorption plane is magnetic material adsorption plane.
Preferably, the sail mode of the unmanned boat system includes navigation manually and automatic navigation.
Using a kind of box-like unmanned boat system of cluster coordinated groups provided by the present invention and its control method, can overcome existing
Have unmanned boat sea situation is not good and the complicated grade of task in the case of cannot ensure its navigation stability and different task demand, have
There are stronger wind and wave resistance advantage, and simple structure, it is easy to accomplish, when different task is performed, can be combined and perform, can also be by
Combined unmanned ship is separated into monomer unmanned boat, increases execution task equipment quantity so that task completes in hgher efficiency.
Brief description of the drawings
Fig. 1 is monohull structural representation of the present invention；
Fig. 2 is monohull adsorption plane structural representation of the present invention；
Fig. 3 is assembly schematic diagram of the present invention；
In figure：
Hull 1；360 degree of full convolution propellers 2 under water；Electromagnet actuation device 3；Avoidance radar 4 peculiar to vessel；GPS location is filled
Put 5；Communication antenna 6；Hull adsorption plane 7；Master controller 8
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
As Figure 1-3, the present invention proposes a kind of box-like unmanned boat system of cluster coordinated groups and its control method, unmanned boat
System includes some monohulls, and the same side of many monohulls is provided with electromagnet actuation device 3, and another side is provided with
Hull adsorption plane 7, many monohulls are by electromagnet actuation device 3 and hull adsorption plane 7 mutually absorption composition cluster coordinated groups
Box-like unmanned boat system.Monohull is the least unit that unmanned boat system is navigated by water, the quantity of monohull by task property
Determined with task amount, because monohull includes the armamentarium that can carry out independent navigation, each system of monohull
Unified linkage carries out after collaboration navigation is combined into assembly unmanned boat system being made to resist the stormy waves for increasing, while can also obtain
Bigger headway is obtained, it is quick to reach task place, while unmanned boat system can be in task after being separated into many monohulls
Ground increases the ship quantity of completion task, can more quickly finish task, uses the mode rmc monomer of electromagnetic actuation
Ship can be that assembly is more consolidated, while being also easy to control the combination and dispersion of unmanned boat system.
As shown in Figure 1 and Figure 2, each monohull of the invention is both provided with 360 degree of full convolution propellers 2, electromagnetism under water
Iron attracting device 3, avoidance radar 4 peculiar to vessel, GPS positioning device 5, communication antenna 6, hull adsorption plane 7 and master controller 8.
Avoidance radar 4 wherein peculiar to vessel, GPS positioning device 5, communication antenna 6 are separately mounted on the deck of hull 1, master control
Device processed 8 is arranged on the inside of hull 1, and avoidance radar 4 peculiar to vessel, GPS positioning device 5, communication antenna 6 are electric with master controller 8 respectively
Connection, mainly realizes communication connection；The bottom of hull 1 is provided with 360 degree of full convolution propellers 2 under water；The larboard of hull 1 or
Person's starboard is provided with several electromagnet actuation devices 3, uniform successively fore and aft to install, and installs electromagnet actuation device
3 number is determined by the size of hull 1, corresponding, and hull is installed in the another side for being provided with the ship side of electromagnet actuation device 3
Adsorption plane 7, hull adsorption plane 7 is magnetic material, can be ferromagnetic material；360 degree of full convolution propeller 2 and electricity under water
Magnet attraction device 3 is electrically connected with master controller 8 respectively, and master controller 8 controls 360 degree of operatings of full convolution propeller 2 under water
And direction of propulsion, the power on/off of the control electromagnet actuation device 3 of master controller 8.
Wherein, the step of control method of unmanned boat system is as follows：
Step one, when master controller 8 receives combined command, each monohull is kept in communication simultaneously by communication antenna 6
Wherein one monohull of selection is control vessel, is uniformly coordinated and controls each monohull；
Step 2, the master controller 8 of control vessel first passes through GPS positioning device 5 and judges each particular location of monohull, and
Each monohull is numbered；
Step 3, control vessel sends to other monomers ship and instructs, and instruction other monomers ship thereto draw close by a monohull；
Step 4, control vessel is arranged the numbering of each monohull according to task, generates the sample of unmanned boat combined system
Formula, and combination is proceeded by the transmission instruction of other monomers ship according to pattern；
Step 5, the control of master controller 8 electromagnet actuation device 3 is powered after each monohull is in place, each monohull
Mutual adhesive completes combination；
Step 6, when master controller 8 receives dismission instruction, control vessel sends to other monomers ship and instructs, and controls
Electromagnet actuation device 3 is powered off, and unmanned boat combined system is dismissed.
The structure of hull 1 is prismatic or hexagon, and decision design is hexagon, and the advantage of the structure is that by nobody
Three arms of angle of the independent assortment of boat system, additionally it is possible to make the maximized reduction water resistance of hull, forward section and stern section should
Work as correspondent equal, to enable ship in combination in the docking of two both sides.
Unmanned boat system in combination body as shown in Figure 3, the monohull quantity of assembly does not limit six as depicted,
Can be two monohulls and more than.In combined system, another ship of monohull is sticked on one side of a fore for monohull
The corresponding another side of tail；Or, another the right of monohull is sticked on the left side of a monohull, and so, many monohulls are same
Sample combination just constitutes unmanned boat system as shown in Figure 3.
In addition, the sail mode of unmanned boat system includes navigation manually and automatic navigation.
Specifically, GPS positioning device 5 is used to position each position of monohull, and all monohulls gone out on missions
The position of the unmanned boat system of assembly after composition assembly, monitor in real time unmanned boat, to ensure that task can be efficiently accomplished；Ship
It is used to monitor the underway water surface of unmanned boat and the following situation of the water surface with avoidance radar 4, the obstacle on navigation route is found in time
Evade behavior so that ship can be made to make in time, if it find that during the obstacle of influence boat trip, operating personnel refer to according to radar
Show or system program setting triggering command manipulates ship and avoids obstacle automatically, it is ensured that the safety traffic of unmanned boat；Communication antenna 6
It is equipment that operating personnel keep in communication with unmanned boat, is needing unmanned boat to make combination or scattered action and manipulating nothing
When people's ship does other necessary operations, operating personnel are then sent to unmanned boat by communication antenna 6 and instructed, and order unmanned boat is made
Necessary operation, simultaneous communications antenna 6 is also the equipment that unmanned boat sends ship position and state parameter to operator in real time,
So that operator can be allowed to understand the various situations of unmanned boat, to make a response；Each monohull is all equipped with 360 degree under water
Full convolution propeller 2, the propeller can make the monohull carry out omnidirectional navigation because unmanned boat system need combination,
When dismissing water surface task complicated with monohull execution, it is required for monohull to have flexible navigation technical ability.
Other, the same side that each monohull in the box-like unmanned boat system of cluster coordinated groups is all unified in ship is installed
There are several electromagnet actuation devices 3, and the hull adsorption plane 7 of corresponding opposite side uses magnetic material adsorption plane 7, so
The opposite side of hull avoids the need for installing corresponding electromagnet actuation device 3, when unmanned boat system needs combination, monohull
The electromagnet actuation device 3 of side just according to the instruction upper obverse adsorption plane 7 of another monohull of absorption, completes adsorption combined
Action.
In addition, above equipment and device are all controlled by master controller 8, the taken-over vessel of master controller 8 avoidance radar 4,
After GPS positioning device 5, the data and information of communication antenna 6, comparative analysis and treatment, each of ship is fed back by communication antenna 6
The information of kind, waits next step instruction；Or directly by default to 360 degree under water full convolution propellers 2 and electromagnet suction
Attach together put 3 transmissions instruction, control ship navigation and make necessary operation, with ensure navigation safety and task it is effective complete
Into.
Other, the preferred hexagonal structure of monohull of the invention, the advantage of the structure is that by unmanned boat system
Independent assortment, additionally it is possible to make the maximized reduction water resistance of hull.
In the present embodiment, there can be operator manually to manipulate unmanned boat system.
When execution task is needed, can be determined to set out how many monohulls according to the property of task, from departure place
When, in order to can quickly arrive at and unmanned boat system is resisted larger stormy waves, can be by many monomers
Ship is combined into assembly collaboration navigation, and execution task is dispersibled after reaching mission area.Because each monohull is all equipped with water
Lower 360 degree of full convolution propellers 2, thus after arrival mission area, can be according to the property of each task and the difference in region, can
Task is performed to be divided into single monohull, it is also possible to reformulate new assembly and perform task.When needs are reassembled into newly
Assembly perform task when, due to each monohull be prismatic or hexagonal structure, electromagnet actuation device 3 unification peace
Mounted in the side of monohull hull, and opposite side is adsorption plane 7, and every monohull can be connected with other monomers ship, is combined
Into arbitrary shape, any amount assembly, different task demand is met.After reformulating assembly, new assembly is in collaboration
Unmanned boat assembly overall coordination is manipulated in navigation, because every monohull is respectively provided with independent propulsion plant, in monohull group
After conjunction, the propulsion plant unification to monohull carries out collaboration manipulation.Collaboration is manipulated and commands the He of GPS positioning device 5 by master controller 8
Communication antenna 6 is completed jointly, is sent by operating personnel after composition assembly and instructed, and each monohull is according to unified instruction
The action of regulation is completed, until the completion of task.
Scattered monohull can again be combined after completion task, the propulsion plant unification to monohull is assisted
With manipulating, returned to one's starting point by task.
Other, the present invention can also carry out nobody automatically control by master controller 8.
Specifically, master controller 8 has been previously set program, when situation occurred or arrival execution condition, program starts,
And instruction and information are sent to other equipment and device by master controller 8, reach the purpose of control ship.When avoidance thunder peculiar to vessel
When monitoring to occur on boat trip direction barrier or slype up to 4, be sent to for monitoring information by avoidance radar 4 peculiar to vessel
Master controller 8, is contrasted the information and systemic presupposition by master controller 8, is determined afterwards, draws result of determination and generation is held
Row instruction, is then sent to 360 degree of full convolution propeller 2 and electromagnet actuation devices 3 under water by execute instruction, instructs this two
Device makes corresponding action, with avoiding obstacles or by slype.
It is other, under this automatic control mode, every monohull can automatic detection ship and ship position pair
Quasi- combination is organized or separated automatically according to mission requirements.When needing monohull to be combined into assembly, or assembly will
When separating, every monohull detects position and the attitude of ship by GPS positioning device 5 each other, is sent to master controller
8, processed by master controller 8 and generate execute instruction, execute instruction is equally sent to 360 degree of full convolution Hes of propeller 2 under water
Electromagnet actuation device 3, instructs two devices to make corresponding action, completes monohull composition assembly or assembly point
From.
In sum, using a kind of box-like unmanned boat system of cluster coordinated groups provided by the present invention and its control method solution
Having determined under the sea situation high of sea, monomer unmanned boat capacity of anti-storm is weaker, and ride hard is fixed, the problem of job order one, using cluster
The mode of synergistic combination increases stability, meets different task demand, and can be combined at any time again when needed
The separation of hull, splits into multiple monohulls and individually performs task, substantially increases operating efficiency, and simple structure is efficiently, behaviour
Make flexible.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.
Claims (7)
1. the box-like unmanned boat system of a kind of cluster coordinated groups, it is characterised in that described unmanned boat system includes some monomers
Ship, the same side of the monohull is provided with electromagnet actuation device, and another side is provided with hull adsorption plane, described in many
Monohull mutually adsorbs composition assembly by the electromagnet actuation device and hull adsorption plane.
2. a kind of box-like unmanned boat system of cluster coordinated groups according to claim 1, it is characterised in that each list
Body ship is additionally provided with GPS positioning device, avoidance radar peculiar to vessel, communication antenna, master controller and 360 degree of full convolution propulsions under water
Device.
3. a kind of box-like unmanned boat system of cluster coordinated groups according to claim 2, it is characterised in that the GPS location
Device, avoidance radar peculiar to vessel, communication antenna are separately mounted on the deck of the monohull hull, and the master controller is arranged on
The inside of the monohull hull, 360 degree of full convolution propellers under water are installed in the bottom of the monohull hull；
If the master controller and GPS positioning device, avoidance radar peculiar to vessel, communication antenna, under water 360 degree circle round full propellers and
A dry electromagnet actuation device electrically connect, and the master controller receives GPS positioning device, avoidance radar peculiar to vessel, communication antenna
Data and information, master controller control 360 degree circle round full propeller and electromagnet actuation devices under water.
4. a kind of control method of the box-like unmanned boat system of cluster coordinated groups according to claim 1, it is characterised in that institute
The step of stating the control method of unmanned boat system is as follows：
Step one, when master controller receives combined command, each monohull is kept in communication by communication antenna and selects it
In monohull be control vessel, be uniformly coordinated and control each monohull；
Step 2, the master controller of control vessel first passes through GPS positioning device and judges each particular location of monohull, and to each
Monohull is numbered；
Step 3, control vessel sends to other monomers ship and instructs, and instruction other monomers ship thereto draw close by a monohull；
Step 4, control vessel is arranged the numbering of each monohull according to task, generates the pattern of unmanned boat combined system, and
Instruction is sent to other monomers ship according to pattern and proceeds by combination；
Step 5, master controller control electromagnet actuation device is powered after each monohull is in place, and each monohull is mutually inhaled
Close and complete combination；
Step 6, when master controller receives dismission instruction, control vessel sends to other monomers ship and instructs, and controls electromagnet
Attracting device is powered off, and unmanned boat combined system is dismissed.
5. the box-like unmanned boat system of a kind of cluster coordinated groups according to claim 1, it is characterised in that the monohull
Structure is prismatic and hexagon.
6. a kind of box-like unmanned boat system of cluster coordinated groups according to claim 1, it is characterised in that the hull absorption
Face is magnetic material adsorption plane.
7. a kind of box-like unmanned boat system of cluster coordinated groups according to claim 1, it is characterised in that the unmanned boat system
The sail mode of system includes navigation manually and automatic navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710113011.4A CN106672163A (en) | 2017-02-28 | 2017-02-28 | Cluster cooperative combination type unmanned boat system and control method thereof |
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| CN201710113011.4A CN106672163A (en) | 2017-02-28 | 2017-02-28 | Cluster cooperative combination type unmanned boat system and control method thereof |
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| CN106672163A true CN106672163A (en) | 2017-05-17 |
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| CN201710113011.4A Pending CN106672163A (en) | 2017-02-28 | 2017-02-28 | Cluster cooperative combination type unmanned boat system and control method thereof |
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| CN108312145A (en) * | 2018-01-23 | 2018-07-24 | 广州东烁科技有限公司 | Water body monitors and repairs multi-function robot, its course line and positional deviation correction method |
| CN109533210A (en) * | 2018-12-30 | 2019-03-29 | 天津大学 | A kind of unmanned observation vessel of joint |
| CN111086607A (en) * | 2019-12-31 | 2020-05-01 | 武汉理工大学 | Intelligent transportation control system and method for barge set |
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