CN106980319A - Unmanned boat based on nobody machine integrated obstacle avoidance system - Google Patents
Unmanned boat based on nobody machine integrated obstacle avoidance system Download PDFInfo
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- CN106980319A CN106980319A CN201710336691.6A CN201710336691A CN106980319A CN 106980319 A CN106980319 A CN 106980319A CN 201710336691 A CN201710336691 A CN 201710336691A CN 106980319 A CN106980319 A CN 106980319A
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- unmanned
- unmanned boat
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- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 11
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of unmanned boat based on nobody machine integrated obstacle avoidance system, including hull, the operating desk being placed in hull, and the unmanned plane used cooperatively with unmanned boat, the operating desk include communication unit, memory cell, positioning unit, collecting sensor signal unit, navigation elements and control unit.Unmanned boat of the present invention, unmanned plane integrated system, the two complements each other, real-time Communication for Power, being capable of barrier and effective avoidance on quick detection navigation channel, it can be both not concerned about the stranded collision of hull with both flexible operatings, and also can exhaustively complete work in complex water areas operator.
Description
Technical field
The present invention relates to unmanned boat technical field, and in particular to a kind of nobody based on nobody machine integrated obstacle avoidance system
Ship.
Background technology
Unmanned boat measures the operations such as water quality, sampling, the depth of water, underwater topography, flow measurement in complex water areas, such as islands and reefs, weeds
More, ship is outside the camera view of operator and ship, it is necessary to which unmanned plane finds out water hazard thing.
Current unmanned boat avoidance ability, it is easily stranded, but water surface operation function is perfect, unmanned plane endurance difference and nothing
Undersea detection ability, but the camera flexible transformation visual field can be carried, if can combine both, it can realize more perfect
Function.
The content of the invention
The present invention provides a kind of unmanned boat based on nobody machine integrated obstacle avoidance system, using unmanned boat as unmanned plane water
Upper mother ship carrier is to solve the problems, such as that unmanned boat is applied to the avoidance of complicated operation at sea.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of unmanned boat based on nobody machine integrated obstacle avoidance system, including hull, the operating desk that is placed in hull, Yi Jiyu
The unmanned plane that unmanned boat is used cooperatively, the operating desk includes communication unit, memory cell, positioning unit, sensor signal and adopted
Collect unit, navigation elements and control unit；The communication unit is used for unmanned boat and UAV Communication, the memory cell storage
The sensing data of collection and default electronic grille fence region, the positioning unit are used to gather unmanned plane position, velocity information,
The collecting sensor signal unit is used for the data for receiving unmanned plane and the detection of unmanned boat surrounding environment, the navigation elements root
The data gathered according to sensor carry out path planning and track unmanned ship position, and described control unit is used to control unmanned boat
Hull is promoted.
The airplane parking area for parking unmanned plane, unmanned boat and unmanned plane real-time Communication for Power are provided with the hull.
The airplane parking area is circle, and surrounding sets sensor, for perceiving azran distance in unmanned plane descent
From.
The underface bottom of the unmanned plane is provided with range sensor and pressure sensor, and logical with unmanned boat in real time
Letter.
The collecting sensor signal unit includes barometer, gyroscope, camera and electronic compass.
The stopping process of unmanned plane is divided into the static shutdown of hull and ship motion is shut down, wherein in ship motion stopping process
Unmanned plane and unmanned boat real-time Communication for Power, keep relative velocity and direction.
From above technical scheme, unmanned boat of the present invention, unmanned plane integrated system, the two complements each other, real-time Communication for Power,
Can barrier and effective avoidance on quick detection navigation channel, can be both not concerned about with both flexible operatings in complex water areas operator
The stranded collision of hull, also can exhaustively complete work.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the systematic schematic diagram of operating desk in the present invention.
Embodiment
A kind of preferred embodiment to the present invention is described in detail below in conjunction with the accompanying drawings.
Unmanned boat has stable operational capabilities in complicated, dangerous waters, it is necessary to accomplish to monitor setting for itself in real time
For operation conditions, perceive external information, make correct decision-making, and these operations are by the sensor system interacted with external environment
System, high level autonomous navigation system, accurately automatic control program and stablize what quick network communications technology was realized.
As shown in figure 1, the unmanned boat 1 includes hull 2, the operating desk 3 being placed in hull, and coordinate with unmanned boat
The unmanned plane 4 used.
As shown in Fig. 2 the operating desk 3 includes control unit 31 and the communication unit being connected with the control unit signal
32nd, memory cell 33, positioning unit 34, collecting sensor signal unit 35 and navigation elements 36.Power is additionally provided with hull
Unit 5, including motor, battery, motor are located at hull afterbody, and battery is located at midship.Radar spy is additionally provided with unmanned boat
Device is surveyed, for sounding the depth of the water.
The communication unit 32 is used for the real-time Communication for Power of unmanned boat and unmanned plane, and the memory cell 33 stores the biography of collection
Sensor data and default electronic grille fence region, the positioning unit 34 are used to gather unmanned plane position, velocity information, the biography
Sensor signal collecting unit 35 is used for the data for receiving unmanned plane and the detection of unmanned boat surrounding environment, the basis of navigation elements 36
The data of sensor collection carry out path planning and track unmanned ship position, and described control unit 31 receives positioning unit, passed
The data of sensor signal collecting unit, navigation elements, entered after analysis calculating, and the hull of control unmanned boat is promoted.
The airplane parking area 21 for parking unmanned plane, unmanned boat and unmanned plane real-time Communication for Power are provided with the unmanned boat 1, should
Airplane parking area is circle, and surrounding sets sensor, for perceiving in unmanned plane descent azran distance.The unmanned plane
4 underface bottom, which is provided with range sensor and pressure sensor, unmanned plane, is additionally provided with navigation system, and in real time with nothing
People's ship communicates, and effectively can accurately land shutdown.The stopping process of unmanned plane is divided into the static shutdown of hull and ship motion stops
Unmanned plane and unmanned boat real-time Communication for Power in machine, wherein ship motion stopping process, keep relative velocity and direction, realize accurate nothing
The landing of impact.Unmanned plane greatly extends the visual field of unmanned boat by self-contained camera, coordinates with unmanned boat,
Comprehensively find out water hazard thing.Unmanned plane is explored the way at any time, Real-time Feedback water surface situation, is reclaimed in real time, and prevention other factors are drawn
The loss such as aircraft bombing risen so that unmanned boat can reach more complicated waters, in the presence of a harsh environment, it is to avoid personnel's fieldwork.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (6)
1. a kind of unmanned boat based on nobody machine integrated obstacle avoidance system, it is characterised in that including hull, be placed in hull
Operating desk, and the unmanned plane used cooperatively with unmanned boat, the operating desk include communication unit, memory cell, positioning unit,
Collecting sensor signal unit, navigation elements and control unit；The communication unit is used for unmanned boat and UAV Communication, described
The sensing data of memory cell storage collection and default electronic grille fence region, the positioning unit are used to gather unmanned seat in the plane
Put, velocity information, the collecting sensor signal unit be used for receive unmanned plane and unmanned boat surrounding environment detection data, institute
Data progress path planning and the unmanned ship position of tracking that navigation elements are gathered according to sensor are stated, described control unit is used for
The hull of unmanned boat is controlled to promote.
2. unmanned boat according to claim 1, it is characterised in that be provided with the hull for parking stopping for unmanned plane
Machine level ground, unmanned boat and unmanned plane real-time Communication for Power.
3. unmanned boat according to claim 2, it is characterised in that the airplane parking area is circle, surrounding sets sensor, uses
In perceiving azran ground distance in unmanned plane descent.
4. unmanned boat according to claim 1, it is characterised in that the underface bottom of the unmanned plane is provided with distance and passed
Sensor and pressure sensor, and communicated in real time with unmanned boat.
5. unmanned boat according to claim 1, it is characterised in that the collecting sensor signal unit include barometer,
Gyroscope, camera and electronic compass.
6. the unmanned boat according to any one of claim 1 to 5, it is characterised in that the stopping process of unmanned plane is divided into hull
Static shutdown and ship motion are shut down, and unmanned plane and unmanned boat real-time Communication for Power wherein in ship motion stopping process keep relative
Speed and direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710336691.6A CN106980319A (en) | 2017-05-13 | 2017-05-13 | Unmanned boat based on nobody machine integrated obstacle avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710336691.6A CN106980319A (en) | 2017-05-13 | 2017-05-13 | Unmanned boat based on nobody machine integrated obstacle avoidance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106980319A true CN106980319A (en) | 2017-07-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710336691.6A Pending CN106980319A (en) | 2017-05-13 | 2017-05-13 | Unmanned boat based on nobody machine integrated obstacle avoidance system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107558456A (en) * | 2017-08-18 | 2018-01-09 | 重庆交通大学 | Folding device is reclaimed in a kind of Oil spills in time |
| CN108492628A (en) * | 2018-03-02 | 2018-09-04 | 上海埃威航空电子有限公司 | A kind of aircraft operation monitoring system waterborne and its control method |
| CN108482034A (en) * | 2018-03-23 | 2018-09-04 | 青岛中邦防务智能装备有限公司 | The amphibious unmanned boat-carrying UAV system of one kind and unmanned plane landing method |
| CN108536143A (en) * | 2018-03-27 | 2018-09-14 | 上海海事大学 | A kind of horseshoe type remote control Intelligent lifesaving device |
| CN108829101A (en) * | 2018-06-12 | 2018-11-16 | 刁川川 | For identification with the system and method that track unacknowledged marine ship |
| CN109991386A (en) * | 2019-04-17 | 2019-07-09 | 武汉理工大学 | Unmanned boat and unmanned plane Collaborative Control monitoring method, apparatus and system |
| CN110171542A (en) * | 2019-05-24 | 2019-08-27 | 河海大学 | The integrated river of coupled inferring ship and unmanned plane is patrolled platform |
| CN110231827A (en) * | 2019-06-12 | 2019-09-13 | 哈尔滨工程大学 | A kind of offline initial construction of UUV geography fence and online rolling update method |
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN112612022A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Ground penetrating radar detection device in shallow water |
| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN113759964A (en) * | 2021-08-19 | 2021-12-07 | 北京航天华腾科技有限公司 | Wide-area ocean monitoring equipment |
| CN116684822A (en) * | 2023-08-02 | 2023-09-01 | 山东科技大学 | Unmanned aerial vehicle and unmanned ship cooperative operation system and method |
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| CN203020547U (en) * | 2012-11-28 | 2013-06-26 | 深圳市顶创科技开发有限公司 | Unmanned early warning airplane for monitoring water bodies and unmanned ship |
| CN105292398A (en) * | 2015-11-10 | 2016-02-03 | 四方继保（武汉）软件有限公司 | Unmanned aerial vehicle mixed system carried by unmanned ship |
| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
| CN105527975A (en) * | 2015-12-09 | 2016-04-27 | 周润华 | Target tracking system based on UAV |
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| KR100734814B1 (en) * | 2006-08-03 | 2007-07-03 | 디에스엠이 유텍 주식회사 | Auto-piloting unmanned ship |
| CN203020547U (en) * | 2012-11-28 | 2013-06-26 | 深圳市顶创科技开发有限公司 | Unmanned early warning airplane for monitoring water bodies and unmanned ship |
| CN105292398A (en) * | 2015-11-10 | 2016-02-03 | 四方继保（武汉）软件有限公司 | Unmanned aerial vehicle mixed system carried by unmanned ship |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107558456A (en) * | 2017-08-18 | 2018-01-09 | 重庆交通大学 | Folding device is reclaimed in a kind of Oil spills in time |
| CN108492628A (en) * | 2018-03-02 | 2018-09-04 | 上海埃威航空电子有限公司 | A kind of aircraft operation monitoring system waterborne and its control method |
| CN108482034B (en) * | 2018-03-23 | 2020-05-22 | 青岛中邦智能技术有限公司 | Amphibious unmanned shipborne unmanned aerial vehicle system and unmanned aerial vehicle take-off and landing method |
| CN108482034A (en) * | 2018-03-23 | 2018-09-04 | 青岛中邦防务智能装备有限公司 | The amphibious unmanned boat-carrying UAV system of one kind and unmanned plane landing method |
| CN108536143A (en) * | 2018-03-27 | 2018-09-14 | 上海海事大学 | A kind of horseshoe type remote control Intelligent lifesaving device |
| CN108829101A (en) * | 2018-06-12 | 2018-11-16 | 刁川川 | For identification with the system and method that track unacknowledged marine ship |
| CN108829101B (en) * | 2018-06-12 | 2021-06-18 | 震兑工业智能科技有限公司 | System and method for identifying and tracking unidentified marine vessels |
| CN109991386A (en) * | 2019-04-17 | 2019-07-09 | 武汉理工大学 | Unmanned boat and unmanned plane Collaborative Control monitoring method, apparatus and system |
| CN110171542A (en) * | 2019-05-24 | 2019-08-27 | 河海大学 | The integrated river of coupled inferring ship and unmanned plane is patrolled platform |
| CN110231827A (en) * | 2019-06-12 | 2019-09-13 | 哈尔滨工程大学 | A kind of offline initial construction of UUV geography fence and online rolling update method |
| CN110231827B (en) * | 2019-06-12 | 2022-03-18 | 哈尔滨工程大学 | Method for off-line initial construction and on-line rolling update of UUV geo-fence |
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN112612022A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Ground penetrating radar detection device in shallow water |
| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN112764431B (en) * | 2021-04-08 | 2021-07-06 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN113759964A (en) * | 2021-08-19 | 2021-12-07 | 北京航天华腾科技有限公司 | Wide-area ocean monitoring equipment |
| CN116684822A (en) * | 2023-08-02 | 2023-09-01 | 山东科技大学 | Unmanned aerial vehicle and unmanned ship cooperative operation system and method |
| CN116684822B (en) * | 2023-08-02 | 2023-10-31 | 山东科技大学 | Unmanned aerial vehicle and unmanned ship cooperative operation system and method |
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Application publication date: 20170725 |