CN106843209A - A kind of unmanned ship based on control system of increasing income - Google Patents
A kind of unmanned ship based on control system of increasing income Download PDFInfo
- Publication number
- CN106843209A CN106843209A CN201710016192.9A CN201710016192A CN106843209A CN 106843209 A CN106843209 A CN 106843209A CN 201710016192 A CN201710016192 A CN 201710016192A CN 106843209 A CN106843209 A CN 106843209A
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- China
- Prior art keywords
- control system
- unmanned ship
- unmanned
- increasing income
- module
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a kind of unmanned ship based on control system of increasing income, including unmanned ship hull, the unmanned ship hull includes：Main body, and it is symmetricly set on the lateral body of the main body both sides；Unmanned control system, the unmanned control system is based on the control system APM for increasing income；Information acquisition system, described information acquisition system includes network communication unit, the network communication unit is connected with main control unit, the main control unit is connected with use processing module and information gathering and pretreatment module, described information fusion treatment module is used to process the data message of described information collection and pretreatment module, the present invention is applied on the unmanned ship by the control system APM that will increase income, compared to more domestic like product, it has low cost, the features such as perfect in shape and function stabilization, it is widely used in shallow sea, lake, in the mapping operations of the occasions such as reservoir.
Description
Technical field
The present invention relates to unmanned field, and in particular to a kind of unmanned ship based on control system of increasing income.
Background technology
With the development of social technology, unmanned technology causes the concern of society, should in particular with unmanned air vehicle technique
With with development, unmanned ship platform (abbreviation unmanned boat) also take advantage of a situation appearance and grow up, be successful implementation such as maritime affairs
The special duties such as rescue, sea survey, dangerous material monitoring provide carrying platform, are with great application prospect unmanned boats
One system of complexity, it is integrated with Ship Design, Based Intelligent Control, artificial intelligence, information processing, detection and the professional skill such as conversion
Art, its research contents is related to many aspects：Automatic Pilot, automatic obstacle avoiding, planning and navigation, pattern-recognition etc..
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of unmanned ship based on control system of increasing income, it is
Based on increasing income, control system APM designs a unmanned boat, and compared to more domestic like product, it has low cost, and perfect in shape and function is steady
The features such as determining, is widely used in the mapping operations of the occasions such as shallow sea, lake, reservoir.
It is described the invention provides a kind of unmanned ship based on control system of increasing income, including unmanned ship hull
Unmanned ship hull includes：Main body, and it is symmetricly set on the lateral body of the main body both sides；
Unmanned control system, the unmanned control system is based on the control system APM for increasing income；Information gathering
System, described information acquisition system includes network communication unit, and the network communication unit is connected with main control unit, the master control
Unit is connected with use processing module and information gathering and pretreatment module, and described information fusion treatment module is used to process
Described information gathers the data message with pretreatment module.
Above-mentioned unmanned ship, wherein, the unmanned control system include application layer, application framework layer, storehouse with
System layer.
Above-mentioned unmanned ship, wherein, it is master controller that the unmanned control system uses STM32F427,
STM32F103 is error protection coprocessor, and running attitude to hull by the axle gyro modules of MPU6000 six captures,
The attitude information and magnetometer, GPS, the data message of accelerometer that master chip is captured carry out computing.
Above-mentioned unmanned ship, wherein, the STM32F427 is also associated with sixteen bit gyroscope, ten for master controller
Four positioner acceleration meters and GPS module.
Above-mentioned unmanned ship, wherein, described information collection with pretreatment module include data compass, GPS, radar,
Fathometer, AIS, the data compass, GPS, radar, fathometer, AIS are connected to an information gathering plate.
The present invention has advantages below：It is applied on the unmanned ship by the control system APM that will increase income, compare state
Interior like product, it has a low cost, the features such as perfect in shape and function stabilization, is widely used in the occasions such as shallow sea, lake, reservoir
In mapping operations.
Brief description of the drawings
By the detailed description made to non-limiting example with reference to the following drawings of reading, the present invention and its feature, outward
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is purport of the invention is shown.
Fig. 1 is unmanned control system module in a kind of unmanned ship based on control system of increasing income of the invention
Schematic diagram.
Fig. 2 is middle information gathering and the pretreatment module of a kind of unmanned ship based on control system of increasing income of the invention
Schematic diagram.
Specific embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explaination technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
Shown in reference picture 1- Fig. 2, the invention provides a kind of unmanned ship based on control system of increasing income, including nobody
Ship hull is driven, the unmanned ship hull includes：Main body, and it is symmetricly set on the lateral body of the main body both sides；Nobody
Ride Control System, the unmanned control system is based on the control system APM for increasing income；Information acquisition system, the letter
Breath acquisition system includes network communication unit, and the network communication unit is connected with main control unit, and the main control unit is connected with
Use processing module and information gathering and pretreatment module, described information fusion treatment module are adopted for processing described information
The data message of collection and pretreatment module.Wherein unmanned boat profile is processed based on hydrodynamics development using carbon fibre material
It is made, the control system of unmanned boat is based on the control system APM designs increased income, its major function has：Direction controlling, speed control
System, autonomous cruise system, collision system, apparatus control system composition.
The present invention by unmanned control system it is achieved that unmanned ship to the operational configuration information of itself (such as
Position, course etc.), and surrounding enviroment information (such as position of periphery ship, the speed of a ship or plane, course information) detection, identification, enter
And carry out Situation Assessment.
Preferably and in non-limiting embodiment, unmanned control system includes application layer, application framework to the present invention one
Layer, storehouse and system layer.
Preferably and in non-limiting embodiment, it is master control that unmanned control system uses STM32F427 to the present invention one
Device processed, STM32F103 is error protection coprocessor, and running attitude to hull by the axle gyro modules of MPU6000 six is carried out
Capture, the attitude information and magnetometer, GPS, the data message of accelerometer that master chip is captured carries out computing, specially joins
It is master controller with STM32F427 according to shown in Fig. 1, STM32F103 is error protection coprocessor, by the axle tops of MPU6000 six
Spiral shell instrument module is captured to hull operation attitude, attitude information and magnetometer, GPS, accelerometer that master chip is captured
Computing is carried out etc. the information of sensor feedback, is analyzed, the order of combined with remote-control device and floor control device instruct to control unmanned boat
Each hunchbacked machine and motor.Wherein MPU6000 is 6 axis accelerometers/gyroscope, and L3GD20 is sixteen bit gyroscope, and LSM303D is
14 positioner acceleration meters, UBLOX is GPS module.
Preferably and in non-limiting embodiment, shown in reference picture 2, information gathering includes the present invention one with pretreatment module
Data compass, GPS, radar, fathometer, AIS, the data compass, GPS, radar, fathometer, AIS are connected to an information
Collection plate.
To illustrate that the present invention is not limited to disclosed embodiment, the reality of correlation can also be obtained by way of expanding
Example is applied, the present invention is mainly based upon the unmanned ship for increasing income control system to realize, control system APM is applied by that will increase income
Onto the unmanned ship, compared to more domestic like product, it has a low cost, the features such as perfect in shape and function stabilization, extensively should
For shallow sea, lake, in the mapping operations of occasion such as reservoir.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure that do not describe in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those of ordinary skill in the art, in the case where technical solution of the present invention ambit is not departed from, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Effect embodiment, this has no effect on substance of the invention.Therefore, every content without departing from technical solution of the present invention, foundation
Technical spirit of the invention still falls within the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments
In the range of technical scheme protection.
Claims (5)
1. a kind of unmanned ship based on control system of increasing income, it is characterised in that
Including unmanned ship hull, the unmanned ship hull includes：Main body, and it is symmetricly set on the main body both sides
Lateral body；
Unmanned control system, the unmanned control system is based on the control system APM for increasing income；
Information acquisition system, described information acquisition system includes network communication unit, and the network communication unit is connected with master control
Unit, the main control unit is connected with use processing module and information gathering and pretreatment module, at described information fusion
Reason module is used to process the data message of described information collection and pretreatment module.
2. a kind of unmanned ship based on control system of increasing income as claimed in claim 1, it is characterised in that described nobody drives
Sailing control system includes application layer, application framework layer, storehouse and system layer.
3. a kind of unmanned ship based on control system of increasing income as claimed in claim 1, it is characterised in that described nobody drives
It is master controller to sail control system and use STM32F427, and STM32F103 is error protection coprocessor, by the axles of MPU6000 six
Gyro module is captured to hull operation attitude, attitude information and magnetometer, GPS, acceleration that master chip is captured
The data message of meter carries out computing.
4. a kind of unmanned ship based on control system of increasing income as claimed in claim 3, it is characterised in that described
STM32F427 is also associated with sixteen bit gyroscope, 14 positioner acceleration meters and GPS module for master controller.
5. a kind of unmanned ship based on control system of increasing income as described in claim any one of 1-4, it is characterised in that institute
Stating information gathering and pretreatment module includes data compass, GPS, radar, fathometer, AIS, the data compass, GPS, radar,
Fathometer, AIS are connected to an information gathering plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016192.9A CN106843209A (en) | 2017-01-10 | 2017-01-10 | A kind of unmanned ship based on control system of increasing income |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016192.9A CN106843209A (en) | 2017-01-10 | 2017-01-10 | A kind of unmanned ship based on control system of increasing income |
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| Publication Number | Publication Date |
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| CN106843209A true CN106843209A (en) | 2017-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710016192.9A Pending CN106843209A (en) | 2017-01-10 | 2017-01-10 | A kind of unmanned ship based on control system of increasing income |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020237693A1 (en) * | 2019-05-31 | 2020-12-03 | 华南理工大学 | Multi-source sensing method and system for water surface unmanned equipment |
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| WO2013100229A1 (en) * | 2011-12-28 | 2013-07-04 | 한국과학기술연구원 | System for operating an unmanned boat for water resource management and method for operating same |
| CN103714718A (en) * | 2013-12-31 | 2014-04-09 | 武汉理工大学 | Inland river bridge area ship safe navigation precontrol system |
| CN104298192A (en) * | 2014-09-05 | 2015-01-21 | 武汉理工大学 | Unmanned ship ship-mounted intelligent terminal and control platform system adopting multi-protocol conversion |
| US20170001724A1 (en) * | 2015-07-01 | 2017-01-05 | W.Morrison Consulting Group, Inc. | Unmanned supply delivery aircraft |
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2017
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013100229A1 (en) * | 2011-12-28 | 2013-07-04 | 한국과학기술연구원 | System for operating an unmanned boat for water resource management and method for operating same |
| CN103714718A (en) * | 2013-12-31 | 2014-04-09 | 武汉理工大学 | Inland river bridge area ship safe navigation precontrol system |
| CN104298192A (en) * | 2014-09-05 | 2015-01-21 | 武汉理工大学 | Unmanned ship ship-mounted intelligent terminal and control platform system adopting multi-protocol conversion |
| US20170001724A1 (en) * | 2015-07-01 | 2017-01-05 | W.Morrison Consulting Group, Inc. | Unmanned supply delivery aircraft |
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| WO2020237693A1 (en) * | 2019-05-31 | 2020-12-03 | 华南理工大学 | Multi-source sensing method and system for water surface unmanned equipment |
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Application publication date: 20170613 |