CN106873578A - Unmanned operation intelligence boat equipment and control system - Google Patents
Unmanned operation intelligence boat equipment and control system Download PDFInfo
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- CN106873578A CN106873578A CN201710288964.4A CN201710288964A CN106873578A CN 106873578 A CN106873578 A CN 106873578A CN 201710288964 A CN201710288964 A CN 201710288964A CN 106873578 A CN106873578 A CN 106873578A
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 7
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25242—Relay
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- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of unmanned operation intelligence boat equipment, including intelligent ship body, intelligent ship body is provided with main control module, main control module is connected with navigation system, water quality detection system and data transmission module, the water quality detection system includes being arranged at the sensor assembly of intelligent ship body lower part, navigation system includes the Big Dipper and GPS dual-mode locating module, and compass module, the main control module is also associated with executing agency, range finder module, and power testing system, the data transfer communicates with Intelligent terminal data, the control system APP for controlling intelligent ship is provided with the intelligent terminal.It is capable of achieving autonomous cruise, automatic obstacle-avoiding, automatically recharge, can be communicated with intelligent terminal, the intelligent ship of unmanned operation can be controlled according to the data of collection in worksite, while for convenience of to intelligent ship and waters monitoring management, there is provided can at any time check intelligent foot track, hull state of charge, culture zone water quality parameter, control intelligent boatman make.
Description
Technical field
The present invention relates to a kind of automation equipment of unmanned operation, more particularly to a kind of unmanned operation based on Internet of Things
Intelligent ship unmanned operation intelligence boat equipment and control system.
Background technology
Unmanned boat is supervised as a kind of intelligent, automation, unmanned, networking surface vehicles in ecology of water
The aspects such as control, operation at sea have played extremely important effect.With the development and the enhancing of unmanned boat purpose of industrialization, bag
Include avoidance, according to gathered data intelligent operation and to possess the practical problems such as certain self-test capability urgently to be resolved hurrily.In addition, along with
The development of Internet technology, using computer technology, network technology etc. carries out upgrading and changes to original producer and way to manage
Making also turns into a big Innovation Demand.
Chinese patent literature CN 205785296 discloses a kind of Intelligent unattended water area monitoring platform, including hull, hull
On APM self-drivings navigation system, GPS positioning system, camera system, image delivering system, OSD video overlapping systems, 3DR data
Transmission system, power supply etc., control system and setting propulsion plant above deck.The platform can realize that course line is driven automatically
Sail, GPS positioning system satellite fix and make a return voyage automatically, number is monitored and navigated by water by 3DR wireless system for transmitting data real-time Transmission
Video monitoring end can be back to according to, video that imageing sensor is photographed and picture by Wireless Image Transmission Systems, and by ground
Reason information position, supply voltage current information and other collection information in the lump superposed transmission on display screen.The Intelligent unattended
Water area monitoring platform is only used for Monitoring Data, and intelligence degree is not high, can only be according to the route running of setting, controlling party
Formula is single.
The content of the invention
In order to overcome above-mentioned technical problem, the invention provides a kind of unmanned operation intelligence ship unmanned operation intelligence boat equipment
And control system, autonomous cruise is capable of achieving, automatic obstacle-avoiding is recharged, can communicated with intelligent terminal automatically, can be according to collection in worksite
Data control the intelligent ship of unmanned operation, while for convenience of to intelligent ship and waters monitoring management, there is provided can at any time check intelligence
Can foot track, hull state of charge, culture zone water quality parameter, the intelligent boatman's work of control.
The technical scheme is that：A kind of unmanned operation intelligence boat equipment, including intelligent ship body, the intelligent ship sheet
Body is provided with main control module, and the main control module is connected with navigation system, water quality detection system and data transmission module, institute
Stating water quality detection system includes being arranged at the sensor assembly of intelligent ship body lower part, and the navigation system includes the Big Dipper and GPS
Bimodulus locating module and compass module, the main control module are also associated with executing agency, range finder module and electric power detection
System.
Preferably, the executing agency at least includes device for feeding, oxygen increasing equipment.
Preferably, the device for feeding is arranged on intelligent ship body by base support, including upper cavity and lower chamber,
The upper cavity top side is provided with a discharging opening, and the upper cavity sets limited location thumb wheel, the cavity of resorption near discharging opening
Body is provided with motor, and the motor connects rotate gear group by rotating shaft, and the rotate gear group drives upper cavity to rotate, described
Upper cavity bottom is provided with spacing preiection, and the limit switch coordinated with spacing preiection is provided with the lower chamber inwall, described
Spacing preiection is oppositely arranged with limit switch.
Preferably, the intelligent ship body is provided with the first wireless transport module, first wireless transport module with set
The second wireless transport module put in executing agency is communicated, the work of control executing agency.
Preferably, the main control module is also connected with recharging docking system, and the top of the intelligent ship body is provided with to be filled
Electricity waterproof port, both sides are provided with infrared receiving device, and the infrared receiving device is used for reception and is arranged on charge node
The infrared signal of infrared launcher transmitting, the docking system that recharges is for positioning the position of charging contacts and carrying out charging control
System.
Preferably, it is described recharge docking system localization method be：
With in a certain infrared receiving device on intelligent ship body for origin sets up rectangular coordinate system, two infrared receiving
Instrument coordinate distinguishes P1 (x1, y1, z1) and P2 (x2, y2, z2), and coordinate where infrared transmission instrument is Q (xq, yq, zq)；Calculate in real time
Two infrared drift angles for receiving instrument and infrared transmission instrument, determine the infrared transmission instrument i.e. particular location of charging plug.
Preferably, main control module control navigation system carries out automatic cruising, specifically includes following steps：
S01：Know the latitude and longitude information residing for current intelligence ship body by protocol analysis；
S02：The longitude and latitude is compared in real time with impact point longitude and latitude, the target folder with direct north needed for calculating ship
Angle, then by I2C communication protocols and compass module communicate and obtain ship and the actual angle of direct north, by actual angle
Subtract each other with target angle and obtain error amount；
S03：The integration of current error value, the differential of error amount and error amount is multiplied by corresponding coefficient respectively and obtains required electricity
Machine rotating speed deviation, fore direction is adjusted by changing motor speed, makes actual angle identical with target angle, current intelligence ship
When latitude and longitude information residing for body is identical with impact point longitude and latitude, terminate automatic cruising.
The invention also discloses a kind of control system of unmanned operation intelligence boat equipment, being used for by data transmission module will
To remote server, the remote server communicates real-time data transmission with Intelligent terminal data, is set in the intelligent terminal
Have for controlling the control system APP, the control system APP of intelligent ship for showing the driving trace and water of unmanned operation ship
Matter parameter；Transmission control command, including the course line of unmanned boat automatic running is set, unmanned ship's head is controlled, set charge point
The data threshold and time of geographical latitude coordinates and setting automatic job.
Compared with prior art, it is an advantage of the invention that：
1st, intelligent ship of the invention has barrier avoiding function, can autonomous cruise, and can according to the water quality parameter of collection in worksite carry out from
It is dynamic to be turned into industry.Can recharge with automatic detection battery status and automatically to economize on electricity charging of charging.
2nd, by GPRS transmission to remote server, user can be looked into by the control system APP installed in intelligent terminal
See that the driving trace of intelligent ship, intelligent ship are presently in position, water quality parameter, and unmanned operation ship can remotely be controlled by APP
System, including the course line of intelligent ship automatic running is set, control unmanned ship's head, setting charge point geography latitude coordinates and setting
The data threshold of unmanned boat automatic job and time etc..
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is a kind of structured flowchart of the control system of unmanned operation intelligence boat equipment of the invention；
Fig. 2 is a kind of circuit theory diagrams of unmanned operation intelligence boat equipment of the invention；
Fig. 3 is a kind of pid stream journey figure of unmanned operation intelligence boat equipment of the invention；
Fig. 4 is avoidance flow chart of the present invention；
Fig. 5 is the control principle block diagram of aerator of the present invention and device for feeding；
Fig. 6 is device for feeding structural representation of the present invention；
Fig. 7 is device for feeding workflow diagram of the present invention；
Fig. 8 is the control principle block diagram that the present invention recharges system；
Fig. 9 is schematic diagram calculation when the present invention recharges positioning；
Figure 10 is the functional block diagram of control system APP of the present invention；
Figure 11 is data communication flow figure of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to specific embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.Additionally, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Embodiment：
This patent is described further with reference to the drawings and specific embodiments：
As shown in figure 1, a kind of unmanned operation intelligence ship control system, is mainly made up of four parts：Unmanned operation intelligence ship, performs
Mechanism, charge economize on electricity, intelligent terminal.
As shown in Fig. 2 unmanned operation intelligence ship includes main control module, navigation system, GPRS data transport module, motor
Drive module, water quality detection system, ultrasonic distance measuring module, device for feeding, Si4432 wireless transport modules, electricity self-checking circuit
Module and infrared receiver instrument.
Main control module is STM32 single-chip microcomputers, for the treatment and control of data.
Main control module control navigation system carries out automatic cruising, and automatic cruising algorithm is based on PID control principle design, control
System is simple, precision is high, and pid algorithm flow chart is as shown in Figure 3.Navigation system includes the Big Dipper and d GPS locating module, guide needle mould
Block, single-chip microcomputer is instructed by AT and communicated with guidance system data, and would know that the warp residing for current hull by protocol analysis
Latitude information, the angle with direct north needed for contrast can calculate ship is carried out by the longitude and latitude and impact point longitude and latitude,
By I2C communication protocols and GY-273 compass modules communicate again and obtain ship and the actual angle of direct north, will be actual
Angle subtract each other with theoretical angle obtain error amount the integration of current error value, the differential of error amount and error amount is multiplied by respectively it is right
The coefficient answered obtains two required motor speed deviations, and fore direction is adjusted by changing two motor speeds, makes actual angle
It is identical with theoretical angle, finally realize automatic cruising.
As shown in figure 4, ultrasonic distance measuring module uses HC-SR04 sensors, the sensor is per 200ms to the module
Trig signal pins maintain a high level signal no less than 10us, module automatic cycle to send 8 pulses of 40KHz, then
The high level output time of echoing of module Echo pins is proportional to detecting distance.High level by account for reverberation pin is defeated
Go out the time, you can calculate the distance between hull and barrier.If the distance for calculating is less than the safe distance value of setting,
The automatic obstacle-avoiding program of pilot ship can be started, the opposite direction arrived to barrier is turned round.
GPRS module is SIM808 modules, and single-chip microcomputer communicates soon by serial ports with the mould, by protocol analysis, realization with it is remote
The data interaction of journey server, can send water quality parameter data, longitude and latitude degrees of data, battery electricity by the module to remote server
Amount information, can also receive the data command from APP clients, and then order data is input into single-chip microcomputer for single-chip microcomputer parsing
Perform.
Water quality detection system includes water quality parameter sensor, and water quality parameter sensor can include dissolved oxygen sensor, water
Temperature sensor, pH sensors etc..
Dissolved oxygen sensor is DOB-300 sensors in the present embodiment, and single-chip microcomputer is by 485 communication interfaces and the sensor
Communication would know that the content of current oxygen in water.
Cooling-water temperature sensor is DS18B20 sensors, and single-chip microcomputer sends reading data command and can obtain by I/O port to the sensor
Know current water temperature.
PH sensors are industry pH/ ORP testers, and single-chip microcomputer is communicated with the sensor by 485 communication interfaces and would know that
The content of PH in current water.
Sensor in ultrasonic distance measuring module is generation news water proof type compatibility HC-SR04 ultrasonic sensors, and single-chip microcomputer leads to
Cross and be input into trigger signal to the sensor and detect that the level time that echoes can calculate the distance with preceding object thing, the distance is made
The regulation of automatic obstacle-avoiding is participated in for necessary avoidance obstacle parameter.
Main control module is communicated by Si4432 wireless transport modules with executing agency, and single-chip microcomputer passes through SPI data communication
Agreement can be sent out with the module transceiving data bag, the module as the data to the Si4432 receiver modules in executing agency
The side of sending, the job control to executing agency can be realized by the data communication of the module and recipient.Executing agency can be throwing
Food apparatus module or oxygen increasing equipment etc..
As shown in figure 5, oxygen-increasing device, device for feeding are mainly made up of three parts：51 main control singlechips, Si4432 data connect
Receive module, oxygenation and feeding equipment；Si443 data reception modules are received from intelligent ship under the control of 51 single-chip microcomputers
Data, are when being turned on and off oxygenation or the order of feeding equipment, by control relay when single-chip microcomputer parses the data
Realize to oxygenation and the control of feeding equipment.
Motor drive module can receive the PWM outputs from main control module, and drive intelligent ship with corresponding frequencies two
The rotating speed of individual direct current generator.
Device for feeding can be mounted on intelligent ship, and device for feeding is connected by relay with single-chip microcomputer, by single-chip microcomputer
The open and close of control relay and then control device for feeding, single-chip microcomputer can be automated according to the water quality parameter surveyed
Based Intelligent Control, when a certain parameter in water quality parameter is less than given threshold, action is entered by a certain mechanism in control device for feeding
Make, by respective substance input water, when the parameter is higher than given threshold, stopping is acted.
The structure construction of device for feeding is installed by base support 6 as shown in fig. 6, device for feeding uses cylindrical structure
On intelligent ship body, device for feeding includes upper cavity 1 and lower chamber 2, and the top side of upper cavity 1 is provided with a discharging opening 3, on
Cavity 1 sets limited location thumb wheel 9 near discharging opening 3, and lower chamber 2 is provided with motor 8, and motor 8 connects rotate gear by rotating shaft
Group 4, rotate gear group 4 drives upper cavity 1 to rotate, and the bottom of upper cavity 1 is provided with spacing preiection 7, is provided with the inwall of lower chamber 2
The limit switch 5 coordinated with spacing preiection 7, spacing preiection 7 is oppositely arranged with limit switch 5.Motor drives cylindrical feeding dress
Rotation is put so that discharging opening carries out rotating unrestrained medicine from bottom to top, when the discharging opening of cylindrical device for feeding is gone to towards upper
When putting, spacing preiection will trigger limit switch makes device for feeding stop operating, and stops dispensing process.The calculation of device for feeding operating
Method flow chart is as shown in Figure 7.
Power testing system includes electricity self-checking circuit module, and electricity self-checking circuit module is using inspection leakage resistance and amplifier
Hull cell voltage and electric current are obtained, computing is integrated to obtained current parameters with certain sampling period, with monitor in real time ship
Body battery electric quantity is simultaneously checked information about power by GPRS transmission to remote server for APP clients.
Main control module connects back to charging system, when power testing system detects electricity less than given threshold, controls back
Charging system works, and recharges system for positioning the position of charging contacts and carrying out charge control.
The both sides of intelligent ship body are provided with infrared receiver instrument, infrared receiver instrument is used as essence when intelligent ship is recharged automatically
True location navigation, the geographical latitude and longitude coordinates of the charge node that intelligent bow first sets according to user are driven near charge point,
The infrared signal that the infrared transmission instrument that then infrared receiver instrument detection is placed in charge node sends, by calculating infrared hair
Charge point is reached automatically by the particular location for sending instrument.
As shown in figure 8, economize on electricity of charging includes charging socket and infrared transmission instrument, the top of intelligent hull is provided with charging
With waterproof port, both sides two infrared receiver instrument are installed receive by the infrared transmission instrument on charging socket send it is red
External signal carries out recharging positioning, when intelligent ship is connected on charging socket, recharges system control and charges.It specifically recharges positioning
When pinpoint schematic diagram calculation as shown in figure 9, infrared to receive one in instrument be origin with two on hull
Rectangular coordinate system is set up, with P1 as origin in figure, then coordinate is Q (xq, yq, zq) where infrared transmission instrument, on hull
Two infrared instrument coordinates that receive distinguish P1 (x1, y1, z1) and P2 (x2, y2, z2), calculating two in real time is infrared receive instrument with it is red
The outer drift angle for sending instrument, determines the infrared transmission instrument i.e. particular location of charging plug.
As shown in Figure 10, client end AP P be intelligent ship each water area monitoring to data message dynamically monitored
Monitoring, including water quality parameter, hull running orbit, hull battery electric quantity etc., and the knot that will be monitored using Baidu map API figure layers
It is really visual to show, so as to accomplish browsing, inquire about and managing for the information such as position, state to intelligent ship, APP client
Also there is setting control action at end to unmanned operation ship's head, course, the water quality threshold of automatic job and working time.
As shown in figure 11, APP client terminals are tracked positioning using the API technologies that Baidu map is opened, including right
Calling for BMAP class functions, data storage and reading are carried out using SQL Server databases, are opened by Google
Android api interfaces are realized being communicated with the data transmit-receive of server.
Unmanned operation ship can utilize the Big Dipper, the bimodulus positioning of GPS to be set according to user with the orientating function of digital compass
Course line Automatic Track Finding traveling, and the water quality parameter that will be gathered on the way includes that the water quality parameters such as PH, dissolved oxygen, temperature pass through GPRS
Remote server is transferred to, user can at any time check the driving trace of unmanned operation ship, nothing by the APP on mobile phone
People's ship is presently in position, water quality parameter, and can be automatic to unmanned operation ship remote control, including setting unmanned boat by APP
The course line of traveling, controls the data of unmanned ship's head, setting charge point geography latitude coordinates and setting unmanned boat automatic job
Threshold value and time etc..The parameters such as water quality parameter threshold value, the time that intelligent ship can set according to user carry out automatic job, once
Water quality parameter is detected beyond the threshold value of user's setting and meets the working time, you can opened by Si4432 wireless transport modules
Or aerator and device for feeding are closed, also can automatically turn on or close the device for feeding being mounted on hull.Intelligent ship is in traveling
If during detect front just like water plant, during the barrier such as other operation ships also can automatic obstacle-avoiding, when intelligent ship
Self-checking system detect battery electric quantity it is too low when intelligent ship can automatically return to charge node and charged.
It should be appreciated that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent, improvement etc., should be included within the scope of the present invention.Additionally, appended claims purport of the present invention
In the whole changes covered in the equivalents for falling into scope and border or this scope and border and repair
Change example.
Claims (8)
1. a kind of unmanned operation intelligence boat equipment, including intelligent ship body, the intelligent ship body is provided with main control module, institute
State main control module and be connected with navigation system, water quality detection system and data transmission module, it is characterised in that the water quality detection
System includes being arranged at the sensor assembly of intelligent ship body lower part, and the navigation system includes the Big Dipper and GPS dual-mode positioning mould
Block and compass module, the main control module are also associated with executing agency, range finder module and power testing system.
2. unmanned operation according to claim 1 intelligence boat equipment, it is characterised in that the executing agency at least includes feeding
Food device, oxygen increasing equipment.
3. unmanned operation according to claim 2 intelligence boat equipment, it is characterised in that the device for feeding is by base branch
Frame is arranged on intelligent ship body, including upper cavity and lower chamber, and the upper cavity top side is provided with a discharging opening, described
Upper cavity sets limited location thumb wheel near discharging opening, and the lower chamber is provided with motor, and the motor is connected by rotating shaft and rotated
Gear train, the rotate gear group drives upper cavity to rotate, and the upper cavity bottom is provided with spacing preiection, in the lower chamber
The limit switch coordinated with spacing preiection is provided with wall, the spacing preiection is oppositely arranged with limit switch.
4. unmanned operation according to claim 1 intelligence boat equipment, it is characterised in that the intelligent ship body is provided with the
One wireless transport module, first wireless transport module is led to the second wireless transport module being arranged in executing agency
Letter, the work of control executing agency.
5. unmanned operation according to claim 1 intelligence boat equipment, it is characterised in that the main control module is also connected with back
Docking system is filled, the top of the intelligent ship body is provided with charging waterproof port, and both sides are provided with infrared receiving device, institute
State infrared receiving device for receive be arranged on charge node infrared launcher launch infrared signal, it is described to recharge docking
System is used to position the position of charging contacts and carry out charge control.
6. unmanned operation according to claim 1 intelligence boat equipment, it is characterised in that the positioning for recharging docking system
Method is：
With in a certain infrared receiving device on intelligent ship body for origin sets up rectangular coordinate system, two infrared receiving
Instrument coordinate distinguishes P1 (x1, y1, z1) and P2 (x2, y2, z2), and coordinate where infrared transmission instrument is Q (xq, yq, zq)；Calculate in real time
Two infrared drift angles for receiving instrument and infrared transmission instrument, determine the infrared transmission instrument i.e. particular location of charging plug.
7. unmanned operation according to claim 1 intelligence boat equipment, it is characterised in that main control module controls navigation system
Automatic cruising is carried out, following steps are specifically included：
S01：Know the latitude and longitude information residing for current intelligence ship body by protocol analysis；
S02：The longitude and latitude is compared in real time with impact point longitude and latitude, the target folder with direct north needed for calculating ship
Angle, then by I2C communication protocols and compass module communicate and obtain ship and the actual angle of direct north, by actual angle
Subtract each other with target angle and obtain error amount；
S03：The integration of current error value, the differential of error amount and error amount is multiplied by corresponding coefficient respectively and obtains required electricity
Machine rotating speed deviation, fore direction is adjusted by changing motor speed, makes actual angle identical with target angle, current intelligence ship
When latitude and longitude information residing for body is identical with impact point longitude and latitude, terminate automatic cruising.
8. it is a kind of according to claim any one of 1-7 unmanned operation intelligence boat equipment control system, it is characterised in that
The data transmission module is used for real-time data transmission to remote server, and the remote server leads to Intelligent terminal data
Letter, is provided with the control system APP, the control system APP for controlling intelligent ship for showing nothing in the intelligent terminal
The driving trace and water quality parameter of people's operation ship；Transmission control command, including the course line of unmanned boat automatic running is set, control nothing
People ship's head, the data threshold and time of setting charge point geography latitude coordinates and setting automatic job.
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| CN201710288964.4A CN106873578A (en) | 2017-04-27 | 2017-04-27 | Unmanned operation intelligence boat equipment and control system |
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| CN201710288964.4A CN106873578A (en) | 2017-04-27 | 2017-04-27 | Unmanned operation intelligence boat equipment and control system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433234A (en) * | 2016-12-14 | 2017-12-05 | 安徽科微智能科技有限公司 | Move the unmanned boat system of the accurate operation of plant protection in a kind of high-effect paddy field |
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| CN107433234A (en) * | 2016-12-14 | 2017-12-05 | 安徽科微智能科技有限公司 | Move the unmanned boat system of the accurate operation of plant protection in a kind of high-effect paddy field |
| CN107688318A (en) * | 2017-08-31 | 2018-02-13 | 江苏大学 | A kind of full-automatic aquaculture operation ship APP design methods based on Android intelligent |
| CN109885043A (en) * | 2017-12-06 | 2019-06-14 | 田瑜 | Electronic waterborne sports equipment and monitoring system |
| CN108181907A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of intelligent harbour stopped for unmanned boat |
| CN108181908A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of unmanned boat system for inland river environmental monitoring |
| CN108181907B (en) * | 2018-01-11 | 2021-04-27 | 福州大学 | Intelligent wharf for unmanned ship berthing |
| CN108549374A (en) * | 2018-04-16 | 2018-09-18 | 江南大学 | It is a kind of that there is the portable smart water quality of positioning and distant control function to detect ship |
| CN108549374B (en) * | 2018-04-16 | 2023-10-17 | 江南大学 | Portable intelligent water quality detection ship with positioning and remote control functions |
| CN108958194A (en) * | 2018-07-19 | 2018-12-07 | 广州喜马拉雅环保科技有限公司 | A kind of long-range medicine system of boiler based on data cloud and method |
| CN111240346A (en) * | 2018-11-28 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Deep sea AUV unmanned monitoring platform tracking method |
| CN111240346B (en) * | 2018-11-28 | 2021-07-23 | 中国科学院沈阳自动化研究所 | Deep sea AUV unmanned monitoring platform tracking method |
| CN109991573A (en) * | 2019-03-20 | 2019-07-09 | 珠海云航智能技术有限公司 | Ship localization method, computer readable storage medium and terminal device |
| CN110333721A (en) * | 2019-07-11 | 2019-10-15 | 中国地质大学（武汉） | A kind of small boat system of water quality detection with Function for Automatic Pilot |
| CN110727280A (en) * | 2019-09-26 | 2020-01-24 | 北京农业信息技术研究中心 | Facility breeding robot device with terahertz sensing function and method |
| CN110727280B (en) * | 2019-09-26 | 2022-11-04 | 北京农业信息技术研究中心 | Facility breeding robot device with terahertz sensing function and method |
| CN110692548A (en) * | 2019-09-26 | 2020-01-17 | 北京农业信息技术研究中心 | Wide-area breeding robot device with terahertz sensing and communication functions and method |
| CN110837261A (en) * | 2019-11-19 | 2020-02-25 | 深圳市人工智能与机器人研究院 | Unmanned ship autonomous energy supply system and method |
| CN111239780A (en) * | 2020-03-05 | 2020-06-05 | 浙江大学 | Intelligent unmanned ship platform positioning system based on Arduino |
| CN111538336A (en) * | 2020-05-20 | 2020-08-14 | 西交利物浦大学 | Unmanned ship control system |
| CN111538336B (en) * | 2020-05-20 | 2023-11-21 | 西交利物浦大学 | Unmanned ship control system |
| CN111897318B (en) * | 2020-06-12 | 2021-11-23 | 中国环境科学研究院 | Unmanned ship-based intelligent water pollution investigation method and device |
| CN111897318A (en) * | 2020-06-12 | 2020-11-06 | 中国环境科学研究院 | Unmanned ship-based intelligent water pollution investigation method and device |
| CN112363506A (en) * | 2020-11-10 | 2021-02-12 | 李鹏 | Automatic homing method and automatic homing system of intelligent cruise ship |
| CN112688438A (en) * | 2020-12-24 | 2021-04-20 | 桂林电子科技大学 | Intelligent system for recognizing and reading meters |
| CN112688438B (en) * | 2020-12-24 | 2022-09-23 | 桂林电子科技大学 | Intelligent system for recognizing and reading meters |
| CN113312709A (en) * | 2021-06-24 | 2021-08-27 | 中国舰船研究设计中心 | Ship racing engine room based on digital intelligence fusion |
| CN114228547A (en) * | 2021-12-13 | 2022-03-25 | 广东海洋大学 | Unmanned ship inspection system for offshore wind power plant and working method of unmanned ship inspection system |
| CN117690194A (en) * | 2023-12-08 | 2024-03-12 | 北京虹湾威鹏信息技术有限公司 | Multi-source AI biodiversity observation method and acquisition system |
| CN117690194B (en) * | 2023-12-08 | 2024-06-07 | 北京虹湾威鹏信息技术有限公司 | Multi-source AI biodiversity observation method and acquisition system |
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