CN107145145B - A kind of autonomous unmanned boat of dual control - Google Patents
A kind of autonomous unmanned boat of dual control Download PDFInfo
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- CN107145145B CN107145145B CN201710266073.9A CN201710266073A CN107145145B CN 107145145 B CN107145145 B CN 107145145B CN 201710266073 A CN201710266073 A CN 201710266073A CN 107145145 B CN107145145 B CN 107145145B
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- 230000009977 dual effect Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000001141 propulsive effect Effects 0.000 claims 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G05B19/0421—Multiprocessor system
-
- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
-
- 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
- G05B2219/25257—Microcontroller
-
- 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
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to unmanned boat field, and a kind of autonomous unmanned boat of dual control is disclosed, including hull and the rectifier, electric-controlled plate, the first screw propulsion mechanism, the second screw propulsion mechanism, remote control receiver, the second screw propulsion mechanism, microcontroller, GPS receiver, inertial navigation system, wireless digital broadcasting station, solid-state relay and the GPS sensor that are commonly mounted on the hull；Solid-state relay is used to control electric-controlled plate to connect with remote control receiver or controls electric-controlled plate to be connected with microcontroller, so as to fulfill the navigation of remote control control unmanned boat and the dual control navigation of PC control unmanned boat.The present invention can pass through host computer and micro-controller communications, and the movement of screw propulsion mechanism is controlled by microcontroller, realize autonomous navigation, and the movement of screw propulsion mechanism can also be controlled by remote controler that there are the control of boat-carrying autonomous navigation and two kinds of control models of remote control device.
Description
Technical field
The invention belongs to unmanned boat field, more particularly, to a kind of autonomous unmanned boat.
Background technology
Water surface unmanned boat is that one kind has autonomous navigation ability in open waters, can be by carrying different function lists
Member completes the navigation unit by water of corresponding task.With the increase of mankind's seafari activity and the maturation of automatic technology, from
Main unmanned boat is gradually devoted in market, and the auxiliary mankind carry out ocean engineering operation.Since a large amount of manpower and materials can be saved,
Unmanned boat is shown up prominently in marine environmental monitoring, hydrographic survey, coastline patrol etc..
The autonomous unmanned boat technology of recent year is quickly grown, major colleges and universities and research institute have been achieved with necessarily research into
Fruit.In Beijing Olympic Games Olympic Sailing competition in Qingdao, by the China first of Shenyang Xin Guang companies of China Aerospace Science and Industry Corporation development
Unmanned maritime meteorological detecting ship " astronomical phenomena No.1 " successfully provides Meteorological safeguard and service for grand sports meet.The development of astronomical phenomena No.1
It is related to the multinomial cutting edge technologies such as automatic Pilot, autonomous collision prevention, satellite communication, image transmitting, its cruising ability was up to 20 days left sides
The right side, and meteorological detection work can be carried out under high sea situation.But unmanned surveying vessel domestic at present mainly using remote control control as
Main, common remotely pilotless ship has very strong dependence, and easily not high by external interference, precision and stability.
The content of the invention
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of autonomous unmanned boat of dual control, nobody
Ship can navigate by water under ipc monitor, have two kinds of operating modes of autonomous navigation and remote control control, and allow monitoring flat
Platform remotely switches two kinds of operating modes.
To achieve the above object, it is proposed, according to the invention, provide a kind of autonomous unmanned boat of dual control, including hull and common installation
Rectifier, electric-controlled plate, the first screw propulsion mechanism, the second screw propulsion mechanism and remote control receiver on the hull,
The rectifier connects the electric-controlled plate, the first screw propulsion mechanism and the second screw propulsion mechanism, the electric-controlled plate point respectively
The first screw propulsion mechanism and the second screw propulsion mechanism are not connected, it is characterised in that are further included described in being commonly mounted on
Microcontroller, GPS receiver, inertial navigation system, wireless digital broadcasting station, solid-state relay and GPS sensor on hull, institute
State microcontroller and connect the GPS receiver, inertial navigation system, wireless digital broadcasting station and solid-state relay, the GPS respectively
Receiver connects the GPS sensor, and the solid-state relay connects the electric-controlled plate and remote control receiver respectively, described distant
Remote controler antenna is connected with control device receiver, radio antenna is connected with the wireless digital broadcasting station；
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless data sending
Station telecommunication, so that the host computer carries out information exchange with the microcontroller；
The solid-state relay is used to make electric-controlled plate connect with remote control receiver or make electric-controlled plate connect with microcontroller,
So that unmanned boat is by remote control control or by PC control；
The common structure of microcontroller, GPS sensor, GPS receiver, inertial navigation system, wireless digital broadcasting station, boosting battery
Into boat-carrying self-control system, boat-carrying self-control system includes autonomous navigation control algolithm, to realize autonomous navigation control
System, microcontroller receive and handle the data message of each on-board sensor, and by the sensor information and unmanned boat after processing
The movement state information of itself is integrated into a data frame, and transmitting ipc monitor platform by wireless digital broadcasting station remembers
Record and analysis；
According to the correspondence of the control signal form that remote control receiver is sent and unmanned boat speed of a ship or plane size, design driven
Program, makes the control signal of microcontroller analog telecommand device receiver, produces the similar pwm signal control speed of a ship or plane, realizes boat-carrying
Self-control system is established with propulsion system and connected；
By controlling relay switch to realize the selection of unmanned boat control signal, i.e. microcontroller control signals or remote controler
The selection of control signal, signal switch by ipc monitor platform remote control, and the autonomous unmanned boat of dual control is in self-control system
Returned when failure or dead electricity by remote control device mode.
Preferably, during original state, the solid-state relay connects electric-controlled plate and remote control receiver.
Preferably, the switching of the switch of the upper function control solid-state relay.
Preferably, the first screw propulsion mechanism includes the first driver, the first motor and the first propeller, described
Rectifier and electric-controlled plate connect first driver respectively, and first driver is connected with first motor, and described
First propeller is installed in the shaft of one motor.
Preferably, the second screw propulsion mechanism includes the second driver, the second motor and the second propeller, described whole
Stream device and electric-controlled plate connect second driver respectively, and second driver is connected with second motor, and described second
Second propeller is installed in the shaft of motor.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
The present invention can be by host computer and micro-controller communications, and controls by microcontroller the fortune of screw propulsion mechanism
It is dynamic, realize autonomous navigation, and the movement of screw propulsion mechanism can also be controlled by remote controler, and therefore, the unmanned gear
There are the control of boat-carrying autonomous navigation and two kinds of control models of remote control device, and can realize that unmanned boat controls mould in host computer platform
The switching of formula, it is ensured that the autonomous unmanned boat of dual control can pass through remote control device mode in self-control system failure or dead electricity
Return, improve the reliability of unmanned boat autonomous navigation.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the schematic diagram that control section of the present invention carries out information exchange.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not forming conflict each other can be mutually combined.
With reference to Fig. 1, Fig. 2, a kind of autonomous unmanned boat of dual control, including hull 1 and the rectification being commonly mounted on the hull 1
Device 5, electric-controlled plate 2, the first screw propulsion mechanism 3, the second screw propulsion mechanism 6 and remote control receiver 4, the rectifier 5 divide
The electric-controlled plate 2, the first screw propulsion mechanism 3 and the second screw propulsion mechanism 6 are not connected, and the electric-controlled plate 2 connects institute respectively
The first screw propulsion mechanism 3 and the second screw propulsion mechanism 6 are stated, in addition, the autonomous unmanned boat of this dual control is further included and is commonly mounted on
Microcontroller 7, GPS receiver 8, inertial navigation system 9, wireless digital broadcasting station 10,11 and of solid-state relay on the hull 1
GPS sensor 12, the microcontroller 7 connect the GPS receiver 8, inertial navigation system 9, wireless digital broadcasting station 10 respectively
With solid-state relay 11, the GPS receiver 8 connects the GPS sensor 12, described in the solid-state relay 11 connects respectively
Electric-controlled plate 2 and remote control receiver 4, are connected with remote controler antenna 20, the wireless digital broadcasting station on the remote control receiver 4
Radio antenna 21 is connected with 10；Electric-controlled plate 2 and rectifier 5 are powered by lithium battery 13, and GPS receiver 8 passes through 12V batteries
14 power supplies, microcontroller 7 are powered by 5V batteries 15.
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless data sending
Radio station 10 communicates, so that the host computer carries out information exchange with the microcontroller 7；
The solid-state relay 11 is used to make electric-controlled plate 2 connect with remote control receiver 4 or make electric-controlled plate 2 and microcontroller
7 connect, so that unmanned boat can thus pass through the first screw propulsion mechanism 3 by remote control control or by PC control
The speed and course angle of hull 1 are adjusted with the second screw propulsion mechanism 4.
Further, during original state, the solid-state relay 11 connects electric-controlled plate 2 and remote control receiver 4.
Further, the switching of the switch of the upper function control solid-state relay 11.
Further, the first screw propulsion mechanism 3 includes the first driver 16, the first motor 17 and the first propeller,
The rectifier 5 and electric-controlled plate 2 connect first driver 16, first driver 16 and first motor 17 respectively
Connect, first propeller is installed in the shaft of first motor 17.
Further, the second screw propulsion mechanism 6 includes the second driver 18, the second motor 19 and the second propeller,
The rectifier 5 and electric-controlled plate 2 connect second driver 18, second driver 18 and second motor 19 respectively
Connect, second propeller is installed in the shaft of second motor 19.
The present invention is added with lower module on the basis of original common remotely pilotless ship：Microcontroller 7, GPS sensor
12nd, GPS receiver 8, inertial navigation system 9, wireless digital broadcasting station 10, boosting battery etc., constitute boat-carrying self-control system,
Boat-carrying self-control system includes autonomous navigation control algolithm, it is possible to achieve autonomous navigation controls.Microcontroller 7 is received and located
The data message of each on-board sensor is managed, and the movement state information of the sensor information after processing and unmanned boat itself is whole
A data frame is combined into, ipc monitor platform record and analysis are transmitted by wireless digital broadcasting station 10.According to remote control
The correspondence of the control signal form that device receiver 4 is sent and unmanned boat speed of a ship or plane size, design driven program, makes microcontroller
It can produce the similar pwm signal control speed of a ship or plane with the control signal of analog telecommand device receiver 4, realize boat-carrying autonomous control system
System is established with propulsion system and connected.Unmanned boat control signal switching circuit is devised, by controlling relay switch to realize nobody
The selection of ship control signal --- microcontroller control signals or remote control control signal.Signal switching can be put down by ipc monitor
Platform remote control, the autonomous unmanned boat of dual control can be returned in self-control system failure or dead electricity by remote control device mode
Return.
Further, the microcontroller 7 of unmanned boat uses STM32F103RCT6, and GPS positioning device is to measure day by GPS600
Line and TimeNav time service navigation receivers composition, horizontal positioning accuracy 2m, rate accuracy 0.03m/s, maximum data renewal frequency
Rate is 20Hz；Inertial navigation system 9 uses MTi-300AHRS, and for obtaining the course angle of unmanned boat, course angle measurement accuracy is
±1°；The use WDS2510/MDS EL7052 type half-duplex data transmission radio stations of wireless digital broadcasting station 10, output power 25W, most
Remote communication distance is more than 10km；Relay uses SRD-05VDC-SL-C two-ways solid-state relay 11.
This unmanned boat communication distance brings up to 10km by the 1km of common unmanned boat, and microcontroller 7 can be embedded in autonomous navigation
Control algolithm, realizes autonomous navigation.Meanwhile there is the unmanned boat remote control device and boat-carrying autonomous navigation to control two kinds of control moulds
Formula, and the switching of unmanned boat control model can be realized in the host computer platform of independent development, it is ensured that the autonomous unmanned boat of dual control
It can be returned in self-control system failure or dead electricity by remote control device mode, improve the reliable of unmanned boat autonomous navigation
Property.Meanwhile component used is easily chosen in this method, and low- medium- high level can be selected according to demand, there is very big flexibility,
It is adapted to use in marketing.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of autonomous unmanned boat of dual control, including hull and the rectifier, electric-controlled plate, the first spiral shell that are commonly mounted on the hull
Rotation propulsive mechanism, the second screw propulsion mechanism and remote control receiver, the rectifier connect the electric-controlled plate, the first spiral shell respectively
Revolve propulsive mechanism and the second screw propulsion mechanism, the electric-controlled plate connects the first screw propulsion mechanism and second spiral respectively
Propulsive mechanism, it is characterised in that further include the microcontroller being commonly mounted on the hull, GPS receiver, inertial navigation system
System, wireless digital broadcasting station, solid-state relay and GPS sensor, the microcontroller connect the GPS receiver, inertia respectively
Navigation system, wireless digital broadcasting station and solid-state relay, the GPS receiver connect the GPS sensor, the solid-state relay
Device connects the electric-controlled plate and remote control receiver respectively, and remote controler antenna, the nothing are connected with the remote control receiver
Radio antenna is connected with line data radio station；
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless digital broadcasting station
Communication, so that the host computer carries out information exchange with the microcontroller；
The solid-state relay is used to make electric-controlled plate connect with remote control receiver or make electric-controlled plate connect with microcontroller, so that
Make unmanned boat by remote control control or by PC control；
Microcontroller, GPS sensor, GPS receiver, inertial navigation system, wireless digital broadcasting station, boosting battery together constitute
Boat-carrying self-control system, boat-carrying self-control system include autonomous navigation control algolithm, micro- to realize autonomous navigation control
Controller receives and handles the data message of each on-board sensor, and by the sensor information after processing and unmanned boat itself
Movement state information is integrated into a data frame, transmits ipc monitor platform record by wireless digital broadcasting station and divides
Analysis；
According to the correspondence of the control signal form that remote control receiver is sent and unmanned boat speed of a ship or plane size, design driven journey
Sequence, makes the control signal of microcontroller analog telecommand device receiver, produces the similar pwm signal control speed of a ship or plane, realizes boat-carrying certainly
Master control system is established with propulsion system and connected；
By controlling relay switch to realize the selection of unmanned boat control signal, i.e. microcontroller control signals or remote control control
The selection of signal, signal switch by ipc monitor platform remote control, and the autonomous unmanned boat of dual control is in self-control system failure
Or returned during dead electricity by remote control device mode.
A kind of 2. autonomous unmanned boat of dual control according to claim 1, it is characterised in that during original state, the solid-state after
Electric appliance connects electric-controlled plate and remote control receiver.
A kind of 3. autonomous unmanned boat of dual control according to claim 1, it is characterised in that the upper function control solid-state after
The switching of the switch of electric appliance.
A kind of 4. autonomous unmanned boat of dual control according to claim 1, it is characterised in that the first screw propulsion mechanism bag
The first driver, the first motor and the first propeller are included, the rectifier and electric-controlled plate connect first driver, institute respectively
State the first driver to be connected with first motor, first propeller is installed in the shaft of first motor.
A kind of 5. autonomous unmanned boat of dual control according to claim 1, it is characterised in that the second screw propulsion mechanism bag
The second driver, the second motor and the second propeller are included, the rectifier and electric-controlled plate connect second driver, institute respectively
State the second driver to be connected with second motor, second propeller is installed in the shaft of second motor.
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| CN201710266073.9A CN107145145B (en) | 2017-04-21 | 2017-04-21 | A kind of autonomous unmanned boat of dual control |
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| CN201710266073.9A CN107145145B (en) | 2017-04-21 | 2017-04-21 | A kind of autonomous unmanned boat of dual control |
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| CN107145145B true CN107145145B (en) | 2018-05-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109163709A (en) * | 2018-08-29 | 2019-01-08 | 上海华测导航技术股份有限公司 | A kind of measurement method of unmanned boat integration underwater topography |
| CN108803630A (en) * | 2018-08-29 | 2018-11-13 | 上海华测导航技术股份有限公司 | A kind of unmanned boat system and topographic method is carried out based on the unmanned boat system |
| CN109144075A (en) * | 2018-10-29 | 2019-01-04 | 长沙理工大学 | A kind of control system and control method of unmanned boat |
| CN109709950A (en) * | 2018-11-20 | 2019-05-03 | 广州南方卫星导航仪器有限公司 | A kind of unmanned surveying vessel remote control system and method |
| CN112947040B (en) * | 2021-01-29 | 2022-04-19 | 中国科学院合肥物质科学研究院 | Unmanned naval vessel bimodulus control system of physics isolation |
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| CN106094606A (en) * | 2016-05-19 | 2016-11-09 | 南通航运职业技术学院 | A kind of unmanned surface vehicle navigation and control remote-controlled operation platform |
| CN106125746A (en) * | 2016-07-08 | 2016-11-16 | 北京四方继保自动化股份有限公司 | A kind of multiterminal for unmanned ships and light boats control collaborative control system and control method |
| CN106444767A (en) * | 2016-10-24 | 2017-02-22 | 天津城建大学 | Linkage-combined automatic navigation unmanned ship control system based on APM and I7 intelligent chip |
| CN106516022A (en) * | 2016-11-03 | 2017-03-22 | 广州海工船舶设备有限公司 | Intelligent sailing/remote control unmanned working boat used for fishing of fishery |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
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| CN107145145A (en) | 2017-09-08 |
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