CN107902049A - The autonomous fuel loading system of unmanned boat based on image and laser sensor - Google Patents
The autonomous fuel loading system of unmanned boat based on image and laser sensor Download PDFInfo
- Publication number
- CN107902049A CN107902049A CN201711032778.0A CN201711032778A CN107902049A CN 107902049 A CN107902049 A CN 107902049A CN 201711032778 A CN201711032778 A CN 201711032778A CN 107902049 A CN107902049 A CN 107902049A
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- Prior art keywords
- unmanned boat
- unmanned
- aircraft
- boat
- fuel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The present invention relates to a kind of autonomous fuel loading system of the unmanned boat based on image and laser sensor.The autonomous fuel loading system is made of unmanned boat, unmanned fuel feeding aircraft, signal transmitting module, GPS navigation module, environmental perception module, control system module etc..When unmanned boat oil mass is less than a certain value, request of refueling is sent to bank base staff by signal transmitting module, the specific location of unmanned boat is obtained according to GPS module, by the environmental perception module being mounted in above unmanned fuel feeding aircraft（Laser radar and rotatable camera composition）To recognize the need for the specific location to land, final refueling process is realized.The autonomous fuel loading system can realize the autonomous oiling of unmanned boat, can greatly reduce human cost, improve cruising ability and the working time of unmanned boat.
Description
Technical field
Merged the present invention relates to one kind based on image and laser sensor, to determine unmanned boat refueling device specific location,
Unmanned refueling operation is realized, so as to improve the cruising ability of unmanned surface vehicle.Belong to unmanned boat applied technical field.
Background technology
As China greatly develops ocean strength, diversified ocean intelligence application and give birth to.Wherein nobody
Ship is as a kind of modernization intelligence for integrating the functions such as seafari, water quality detection, patrol on the sea and marine unmanned battle
System, is also developed rapidly.Since unmanned boat at this stage belongs to mini-plant in volume and tonnage, particularly exist
During the so vast region operation in ocean, its cruising ability is just particularly important, and directly decides the completion of a task
Whether.
In most cases, unmanned boat it is outgoing it is on duty during when low on fuel, then can need to return away from female ship
Base carries out refueling operation, this can undoubtedly limit its working range, its long-time and remote operation are caused to hinder.
In order to improve the cruising ability of unmanned boat, the present invention wants to carry fuel oil by using unmanned fuel feeding aircraft, arrives at unmanned boat institute
Fuel oil supplement is carried out to it in marine site.This can improve the intelligent level of unmanned boat, while decrease the throwing of manpower and materials
Enter, better guarantee be able to must be provided for the tasks carrying of unmanned boat.
The content of the invention
The object of the present invention is to provide a kind of autonomous fuel loading system of the unmanned boat based on image and laser sensor, solves nothing
People's ship adds the cruising ability of unmanned boat must make a return voyage because of Low oil Fuel during on duty the problem of, improve its from
Mainization degree.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of autonomous fuel loading system of unmanned boat based on image and laser sensor, including unmanned boat 2 and unmanned fuel feeding aircraft
6, it is characterised in that：1）Equipped with green on boat-carrying GPS navigation 1, oiling shutdown cylindrical boss 14 and boss on the unmanned boat 2
Color triangle mark 15, fuel tank 7, be equipped with low oil mass alarm 3 in lower sidewall；2）It is equipped with the unmanned fuel feeding aircraft 6
Oil storage tank 4, Airborne GPS navigation 10, Compact Laser Radar 11 and rotatable camera 12；3）The elasticity oiling pipeline 5 is used for
Fuel tank 7 is connected with oil storage tank 4；4）On unmanned boat 2 and unmanned fuel feeding aircraft 6, a control cabinet 2-1 and control are carried respectively
Case 6-1 processed.The angle value and distance value that control cabinet 6-1 is sent according to laser radar 11 and camera 12 fly to control
The angle of inclination of 6 rotor of device and flying speed, when aircraft 6, which drops to oiling, shuts down above cylindrical boss 14, stop machine
The wing rotates, while controls elastic oiling pipeline 5 to stretch into 2 oil filler of unmanned boat.After the landing of aircraft 6, control adds control cabinet 2-1
Hydraulic fluid port automatically opens up, while makes the position of the fixation aircraft of fixed clamping device 13.
Be equipped with GPS navigation system on unmanned boat and unmanned fuel feeding aircraft, can obtain in real time unmanned boat and
The positional information of aircraft.When the situation of amount of fuel deficiency is occurring in unmanned boat during navigation, unmanned boat can stop navigating by water,
And female ship staff is given to send request of refueling by the low oil quantity alarming equipment on ship.Staff returns according to unmanned boat
GPS information, sets out unmanned fuel feeding aircraft and reaches specified waters.At this time, it is loaded in carry-on environmental perception module（Laser
And camera）Specific level point is judged into line search, judges that unmanned boat distance substantially and angle are believed by laser radar
Breath, judges specific level point, and slower speeds drop to nothing by camera after approaching according to the landing pattern on boat deck
People's ship is specified on deck.Then clamping is fixed to the position of fuel feeding aircraft by the fixed clamping device on ship, it is possible to
Allow oiling ejection pipeline to connect the oil inlet on the oil transportation mouth and unmanned boat of aircraft, realize the fuel oil supply to unmanned boat.
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and notable technology into
Step：Cumbersome hand oiling operation has been abandoned, and then has used entirely autonomous oiling mode, has improved the continuation of the journey energy of unmanned boat
Power；For the mode independently refueled while manpower and materials input is reduced, refueling process is also simple operable；Using aircraft to nothing
The mode that people's ship refuels also improves oiling efficiency, compared to ship to the mode speed of ship faster, operability is stronger；System is whole
The entirely autonomous completion of refueling process, without human intervention, can further improve independence and the intelligence of unmanned boat.
Brief description of the drawings
Fig. 1 is unmanned boat and unmanned fuel feeding aircraft schematic diagram in the present invention.
Fig. 2 is each module diagram of fuel feeding aircraft in the present invention.
Fig. 3 is unmanned boat deck schematic diagram in the present invention.
Fig. 4 is the flow chart that present system is realized.
Embodiment
The implementation process of the present invention is described below in detail, the example of the implementation process is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is same or like element.
A kind of autonomous fuel loading system of unmanned boat based on image and laser sensor, including unmanned boat 2 and unmanned fuel feeding fly
Row device 6, it is characterised in that：1）Shut down on the unmanned boat 2 equipped with boat-carrying GPS navigation 1, oiling on cylindrical boss 14 and boss
Green triangle shape mark 15, fuel tank 7, low oil mass alarm 3 is housed in lower sidewall；2）On the unmanned fuel feeding aircraft 6
Equipped with oil storage tank 4, Airborne GPS navigation 10, Compact Laser Radar 11 and rotatable camera 12；3）The elasticity oiling pipeline 5
It is connected for fuel tank 7 with oil storage tank 4；4）On unmanned boat 2 and unmanned fuel feeding aircraft 6, a control cabinet 2-1 is carried respectively
With control cabinet 6-1.Angle value and distance value that control cabinet 6-1 is sent according to laser radar 11 and camera 12 controls
The angle of inclination of 6 rotor of aircraft and flying speed, when aircraft 6, which drops to oiling, shuts down above cylindrical boss 14, stop
Only wing rotates, while controls elastic oiling pipeline 5 to stretch into 2 oil filler of unmanned boat.Control cabinet 2-1 is after the landing of aircraft 6, control
Oil filler processed automatically opens up, while makes the position of the fixation aircraft of fixed clamping device 13.
Wherein, Fig. 1-Fig. 3 is this hair for the autonomous fuel loading system structure diagram of the present invention and system operating diagram, Fig. 4
The bright flow chart for realizing autonomous fuel loading system work.
As shown in Figure 1-Figure 3, the autonomous fuel loading system of the unmanned boat of the invention based on image and laser sensor mainly by
Unmanned boat and the interaction of unmanned fuel feeding aircraft are realized.
As shown in Figure 1, unmanned boat 2 is equipped with boat-carrying GPS navigation 1 above, the specific side of ship can be sent to female ship personnel
Position.It is fuel tank 7 inside the middle cabin of unmanned boat, the position close to 7 bottom of fuel tank is a low oil mass alarm 3, works as fuel oil
During less than certain value, alarm 3 can send request of refueling from trend mother's ship staff.
As shown in Fig. 2, this device is unmanned fuel feeding aircraft 6.It is a ball in the tip position of unmanned fuel feeding aircraft 6
The supply oil storage tank 4 of shape, fuel oil is loaded with before flight on female ship.Delivery outlet 8 is supplied with supplying the bottom phase of oil storage tank 4
Oil outlet when even, as supply.Airborne GPS navigation 10 can send the specific orientation of aircraft in real time.Compact Laser Radar
11 and rotatable camera 12 constitute the environmental perception module of this unmanned fuel feeding aircraft 6.Led according to the GPS that unmanned boat carries
The unmanned boat position that boat is beamed back, aircraft 6 arrive at target water.Compact Laser Radar 11 by the acquisition to a cloud and gathers at this time
Class, obtains treating the substantially relative distance and orientation of fuel feeding unmanned boat 2 and aircraft 6, and is allowed by the final control system of aircraft
Unmanned fuel feeding aircraft 6 slower speeds flies to nearly deck top position.
As shown in figure 3, to treat the schematic top plan view of fuel feeding unmanned boat 2.Unmanned fuel feeding aircraft 6 finally needs the ground to land
Point is the top position refueled and shut down cylindrical boss 14, and a Green triangle shape is decorated with 14 surface of shutdown cylindrical boss of refueling
Oil filler identification icon 15.The Green triangle shape can be caught to aircraft 6 by carrying calibrated rotatable camera 12 above
Pattern.Due to the difference of color and the deck color elsewhere of pattern, in triangle edge, the gradient of pixel can produce greatly
Change, by comparing and matching, calibrated rotatable camera 12 can clearly identify triangle pattern, and draw plus
Oil shuts down the relative angle information of cylindrical boss 14 and unmanned fuel feeding aircraft 6.It is final to drop to oiling shutdown circular cylindrical projection
The top position of platform 14, to prevent the collision of landing generation, in four alighting carriage bottoms of unmanned fuel feeding aircraft 6 equipped with slow
Rush foot pad 9.After landing successfully, aircraft is fixed by the fixed clamping device 13 on unmanned boat 2, prevents unmanned boat in water
In acutely rock so that position deviation occurs in unmanned fuel feeding aircraft 6, influence follow-up refueling operation.Finally, unmanned boat 2 from
It is dynamic to open the oil inlet for refueling and shutting down on cylindrical boss 14, to unmanned fuel feeding aircraft 6 and treat fuel feeding by elastic oiling pipeline 5
Unmanned boat 2 carries out connection refueling operation.
The flow chart of implementation method of the present invention is illustrated in figure 4, is described in detail as follows：
S01:For unmanned boat during navigation, the low oil mass alarm 3 in unmanned boat fuel tank 7 prompts the amount of fuel of unmanned boat not
Foot, stops navigation immediately, and sends request of refueling to female ship staff, and the positional information of itself is sent by GPS；
S02:Unmanned fuel feeding aircraft 6 is connected to supply instruction, and the positional information come is sent back according to unmanned boat, flies to treating fuel feeding
The target water of unmanned boat 2, and find level point by context aware systems.
S03:When unmanned fuel feeding aircraft drops to oiling 14 top position of boss, by fixing to clamp dress on unmanned boat
Put 13 pairs of aircraft and clamping is fixed, prevent since rocking for ship causes the deviation of position of aircraft.
S04:Treat that fuel feeding unmanned boat 2 is opened to refuel and shut down oil filler at cylindrical boss 14,6 elasticity of extension of fuel feeding aircraft
Oiling pipeline carries out refueling operation to unmanned boat.
S05:Refuel and complete, aircraft flies away from unmanned boat deck, and unmanned boat continues to navigate by water.
Claims (3)
1. a kind of autonomous fuel loading system of unmanned boat based on image and laser sensor, including unmanned boat（2）Fly with unmanned fuel feeding
Row device（6）, it is characterised in that：
1）The unmanned boat（2）It is upper that boat-carrying GPS navigation is housed（1）, refuel shut down cylindrical boss（14）With the green on boss
Triangle identifies（15）, fuel tank（7）, low oil mass alarm is housed in lower sidewall（3）；
2）The unmanned fuel feeding aircraft（6）It is upper that oil storage tank is housed（4）, Airborne GPS navigation（10）, Compact Laser Radar（11）With
Rotatable camera（12）；
3）The elasticity oiling pipeline（5）For fuel tank（7）With oil storage tank（4）It is connected；
4）In unmanned boat（2）With unmanned fuel feeding aircraft（6）On, a control cabinet is carried respectively（2-1）And control cabinet（6-1）,
Control cabinet（6-1）According to laser radar（11）And camera（12）The angle value and distance value that are sent controls aircraft
（6）The angle of inclination of rotor and flying speed, work as aircraft（6）Drop to oiling and shut down cylindrical boss（14）When above, stop
Only wing rotates, while controls elastic oiling pipeline（5）Stretch into unmanned boat（2）Oil filler, control cabinet（2-1）In aircraft（6）
After landing, automatically opening up for oil filler is controlled, while makes the position of the fixed aircraft of fixed clamping device (13).
2. low oil quantity alarming device according to claim 1（3）Installed in unmanned boat（2）Tank bottoms, it be realize
The follow-up first step independently refueled, when the unmanned boat oil mass that the water surface performs task is less than a certain value, just by warning device（3）To
Female ship staff sends request of refueling, while by boat-carrying GPS navigation（1）Send the specific location of oneself.
3. small-sized laser radar according to claim 1（11）With a calibrated rotatable camera head（12）Composition
The environmental perception module module of the autonomous fuel loading system of the unmanned surface vehicle, it is fuel feeding aircraft（6）Finally can correctly it land
Guarantee, first by miniature laser（11）Acquired cloud data determines unmanned boat（2）With aircraft（6）Relative position,
Including distance value and angle value, after locking unmanned boat, above slow flight to unmanned boat deck, taken the photograph by calibrated rotary type
As head（12）Identify the Green triangle shape mark on deck（15）, draw itself and aircraft（6）Relative angle information, Ran Houhuan
Speed flies to shut down cylindrical boss to refueling（14）Surface carries out follow-up refueling operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032778.0A CN107902049A (en) | 2017-10-30 | 2017-10-30 | The autonomous fuel loading system of unmanned boat based on image and laser sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032778.0A CN107902049A (en) | 2017-10-30 | 2017-10-30 | The autonomous fuel loading system of unmanned boat based on image and laser sensor |
Publications (1)
| Publication Number | Publication Date |
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| CN107902049A true CN107902049A (en) | 2018-04-13 |
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ID=61841996
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711032778.0A Pending CN107902049A (en) | 2017-10-30 | 2017-10-30 | The autonomous fuel loading system of unmanned boat based on image and laser sensor |
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Cited By (4)
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| CN110713162A (en) * | 2019-09-23 | 2020-01-21 | 南京信息工程大学 | Unmanned ship is oiling device independently |
| CN112340688A (en) * | 2020-11-09 | 2021-02-09 | 辽宁工程技术大学 | Unmanned refueling system for underground explosion-proof vehicle |
| CN113192302A (en) * | 2021-04-28 | 2021-07-30 | 中国民航大学 | Airport oil depot storage tank structure safety evaluation system and method based on liquid level monitoring |
| CN114636795A (en) * | 2022-03-09 | 2022-06-17 | 娄底市三和绿缘高科农业发展有限公司 | Water quality environment-friendly detection device |
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| CN112340688A (en) * | 2020-11-09 | 2021-02-09 | 辽宁工程技术大学 | Unmanned refueling system for underground explosion-proof vehicle |
| CN113192302A (en) * | 2021-04-28 | 2021-07-30 | 中国民航大学 | Airport oil depot storage tank structure safety evaluation system and method based on liquid level monitoring |
| CN114636795A (en) * | 2022-03-09 | 2022-06-17 | 娄底市三和绿缘高科农业发展有限公司 | Water quality environment-friendly detection device |
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Application publication date: 20180413 |
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