CN108100172A - A kind of multi-functional unmanned boat and its system - Google Patents
A kind of multi-functional unmanned boat and its system Download PDFInfo
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- CN108100172A CN108100172A CN201711446860.8A CN201711446860A CN108100172A CN 108100172 A CN108100172 A CN 108100172A CN 201711446860 A CN201711446860 A CN 201711446860A CN 108100172 A CN108100172 A CN 108100172A
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- 241000251468 Actinopterygii Species 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 13
- 238000012800 visualization Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
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- 238000012876 topography Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
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- 210000003857 wrist joint Anatomy 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
- A01K79/02—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery by electrocution
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K97/00—Accessories for angling
- A01K97/02—Devices for laying ground-bait, e.g. chum dispensers, e.g. also for throwing ground-bait
-
- 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
- B63B35/14—Fishing vessels
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72406—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by software upgrading or downloading
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Environmental Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Animal Husbandry (AREA)
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- Marine Sciences & Fisheries (AREA)
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- General Physics & Mathematics (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of multi-functional unmanned boats, and including hull (1), the hull (1) includes：Propulsion system (11), including at least one propeller (111), for changing the athletic posture of the hull (1)；Camera system (12), including at least one camera (121), the camera (121) being capable of multivariant adjustment shooting angle；Communication system (13), including signal receiving module and signal emission module, for receiving the external signal that the unmanned boat detects, the signal emission module is used to emit signal to external control system the signal receiving module；And control system (14), for controlling the communication of the working condition of the propulsion system (11), the shooting angle of the adjustment camera system (12) and the communication system (13) inside and outside.Whole system is directly perceived, using convenient, multiple functional, has larger intelligent use prospect.
Description
Technical field
The present invention relates to a kind of unmanned boat, more particularly to a kind of multi-functional unmanned boat and its system.
Background technology
Existing unmanned boat on the market common are drone, beat nest ship, fish deteclor, and wherein drone can only realize letter
It is navigated by water in single water, the nest ship of beating can carry out easy material dispensing, and the fish deteclor can only be carried out by Sonar system
Simple shoal of fish identification.These unmanned boat functions are single, and intelligence degree is not high, it is impossible to realize automatic under complex water areas environment
Control, material allocation seek the operations such as fish, can not be carried out according to underwater environment real-time image, video transmission or can not
It realizes multi-angle, multivariant observation, shooting, transmission, and to realize enough intelligences, it is necessary to overcome of the prior art
Many difficulties carry out concentrating research and development that could obtain comparatively ideal unmanned boat system.
The content of the invention
Therefore, the present invention provides a kind of multi-functional unmanned boat, to solve the technology that existing unmanned boat applies not smart enoughization
Problem.
In order to achieve the above objectives, a kind of multi-functional unmanned boat provided by the invention, including hull 1, the hull 1 wraps
Contain：Propulsion system 11, including at least one propeller 111, for changing the athletic posture of the hull 1；Camera system 12, bag
At least one camera 121 is included, the camera 121 being capable of multivariant adjustment shooting angle；Communication system 13, including letter
Number receiving module and signal emission module, the signal receiving module for receiving the external signal that the unmanned boat detects,
The signal emission module is used to emit signal to external control system；And control system 14, for described promote to be controlled to be
The working condition of system 11, the communication of 13 inside and outside of shooting angle and the communication system of the adjustment camera system 12.
Embodiment, the propulsion system 11 further include a steering rudder 112, pass through institute one of according to the present invention
State propeller 111 and/or the athletic posture for turning to rudder 112 and changing the hull 1.
One of according to the present invention embodiment, the propeller 111 push away for motor helical paddle propeller or water spray
Into device.
Embodiment, the athletic posture include one of according to the present invention：Advance, retreat, turning left, turning right, rotation
Turn, shake the head, nod.
Embodiment, the camera system 12 further include one of according to the present invention：Head rod 122；Second
Connecting rod 123 is connected with the head rod 122 by the first rotation axis 124；Second rotation axis 125, connects the camera shooting
First 121 with second connecting rod 123.
Embodiment, first rotation axis 124, the second rotation axis 125 can pass through one of according to the present invention
Electric or hand mode drives.
One of according to the present invention embodiment, the unmanned boat further includes one or more carry equipment, described
Carry equipment is：
Towing hook device 2 is arranged at 1 afterbody of hull, is loaded for pulling；And/or
Nest-making device 3, carry is on the hull 1, for launching goods and materials；And/or
Seek fish device 4, carry carries out on the hull 1, by the communication system 13 with the hull 1 wired or wireless
Communication.
Embodiment, the nest-making device 3 include one of according to the present invention：Cavity 31, for housing the goods and materials；
Rotating mechanism 32 is fixedly connected with the cavity 31, and the rotating mechanism 32, which rotates, drives the cavity 31 to overturn, so as to fulfill
Goods and materials discharge.
One of according to the present invention embodiment, the unmanned boat carry out autonomous cruise, make a return voyage and keep away automatically automatically
Hinder at least one of movement.
A kind of multi-functional unmanned boat systems of other embodiment according to the present invention, include as above any one of them
Unmanned boat and
Remote controler, by the remote controler realize with the wired or wireless control of the unmanned boat and/or
Terminal electronic device realizes the monitoring, control, track of the unmanned boat state by the visualization operation and control interface
Setting and video or picture browsing.
In conclusion the multi-functional unmanned boat and its system of the present invention, contain camera, nest-making device, seek fish device, towing hook device
Etc. multiple equipments it is highly integrated, and be equipped with corresponding control operation system and connected with Intelligent hardware, increase unmanned boat intelligence
The multifunctional application of change, by using telecommunication module, multiple degrees of freedom camera, Digiplex intelligently seeks setting for fish device
It puts, disclosure satisfy that existing underwater a variety of demands, and can sub-marine situations be subjected to image or transmission of video in real time, pass through bank
Upper visualization system is intuitively controlled, shown, more easily obtains topography and geomorphology abundant under water, and whole system is straight
It sees, using convenient, multiple functional, there is larger intelligent use prospect.For the present invention foregoing and other technology contents, spy
Point and effect in the detailed description of the embodiment of following cooperation refer to the attached drawing, can be clearly presented.
Description of the drawings
Fig. 1 is the multi-functional unmanned boat system structure diagram of the embodiment of the present invention.
Fig. 2 is the multi-functional unmanned boat system impeller system structure diagram of the embodiment of the present invention.
Fig. 3 is the multi-functional unmanned boat system camera system structure diagram of the embodiment of the present invention.
Fig. 4 is the multi-functional unmanned boat system nest-making device structure diagram of the embodiment of the present invention.
Specific embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
It is described in detail to one step, it is clear that described embodiment is only the implementation of part of the embodiment of the present invention rather than whole
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, belongs to the scope of protection of the invention.
The term used in the embodiment of the present application is only merely for the purpose of description specific embodiment, and is not intended to be limiting
The application.In the embodiment of the present application and " one kind " of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings, " a variety of " generally comprise at least two.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can represent：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in the embodiment of the present application, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, the embodiment of the present application model is not being departed from
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detects (condition or event of statement) " " when definite " or " in response to determining " can be construed to or " when detection (statement
Condition or event) when " or " in response to detect (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of elements not only include those elements, but also including without clear and definite
It the other element listed or further includes as this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity including the element or system also
There are other identical elements.
The preferred embodiments of the present invention are described in detail by 1-4 below in conjunction with the accompanying drawings.
As shown in Figure 1, being the multi-functional unmanned boat system structure diagram of the embodiment of the present invention, remove terminal part and (remove
Remove APP and remote controler away from hull) it is considered that belonging to multi-functional unmanned boat part, which includes：Hull
1, the hull 1 further comprises propulsion system 11, camera system 12, communication system 13 and control system 14, these all belong to
In 1 body part of hull；Wherein, the propulsion system 11 includes at least one propeller 111, for changing the hull 1
Athletic posture；Camera system 12 includes at least one camera 121, and the camera 121 being capable of multivariant adjustment shooting
Angle；Communication system 13 includes signal receiving module and signal emission module, and the signal receiving module is used to receive the nothing
The external signal that people's ship detects, the signal emission module are used to emit signal to external control system；Control system 14 is used
In the working condition, the shooting angle and the communication system 13 of the adjustment camera system 12 that control the propulsion system 11
The communication of inside and outside.
By installing propulsion system 11, camera system 12, communication system 13 and control inside hull 1 shown in this part
The hull 1 with basic function is formed after 14 grade avionics control system of system.Propulsion system 11 is preferably pushed away including at least one
Into device 111, at this point, when embodiment is single propeller, it may be employed and pushed away immediately below the afterbody way of propelling or hull 1
Flowing mode is set, and ensures that the unmanned boat can be with free running.Common, the propeller includes engine and propeller, institute
It states engine to be controlled by control system 14, the mounting means of positive paddle or anti-paddle may be employed in propeller.Camera system 12,
Including the camera structure using waterproofing design, the adjusting and shooting of angle are realized by the control of control system 14.Communication system
System 13 generally includes signal receiving module and signal emission module, and the signal receiving module detects for receiving the unmanned boat
The external signal arrived, the signal emission module are used to emit signal to external control system；One side of signal receiving module
Face is used to receive the signal of detector (such as the depth detector, hygrosensor etc.) return of unmanned boat itself and such as takes the photograph
On the other hand video, picture signal as system photographs are used to receive the control signal that external remote is sent.And the signal
Transmitting module is mainly used for ashore console transmitting image video signal and the signal of unmanned boat oneself state information.Institute
It states transmitting or received signal module and preferably uses sonar module.Sonar module has certain transmission advantage in water.Control
System 14 controls the propulsion system 11, the camera system 12 and all work of the communication system 13 to refer to for whole
Order.
In one embodiment, control system 14 may include central processing element, including microprocessor, monokaryon processing
Device, polycaryon processor, microcontroller, logical device (such as：Be configured to carry out the programmable logic device of processing function), number
According to signal handling equipment or the well known processor of some other types.Central processing element be suitable for the propulsion system 11,
The camera system 12 and the communication system 13 interact communication.
Specifically, as shown in Fig. 2, propulsion system of the present invention 11 can include more than two propellers 111, preferably
For 2-7, by the different position in hull 1, different directions set multiple propellers 111, in conjunction with the spirit of control system 14
Control living, can realize multiple pose adjustments of hull, for example, athletic posture include：Advance, retreat, turning left, turning right, rotation
Turn, shake the head, putting head etc..It is, of course, preferable to embodiment in, can also include a steering rudder, by being arranged at the hull 1
The interior pose adjustment for turning to rudder and realizing hull 1.Certainly, the steering rudder can coordinate with the propeller 111 controls, and realizes
The adjustment of posture, for example, when being worked using twin screws 111, two propellers are symmetrically disposed on 1 both sides of hull, such as
Shown in Fig. 2, the power of two propellers is controlled at this time, makes the big power of one power small, and steering rudder is made to break to power
Small one side can thus realize the function of left-hand rotation, equally, according to drive knowledge, can combine propeller installation position,
Quantity and the direction for turning to rudder can realize the advance of hull, retrogressing, left-hand rotation, right-hand rotation, rotate, shake the head, putting first-class adjustment.
In embodiments of the present invention, the propeller 111 can be that motor combination propeller type propeller or water spray push away
Into device.Wherein preferably using motor combination propeller type propeller, a usual motor drives a propeller, certainly, described
Motor rotating forward reversion can match the anti-paddle of positive paddle and be promoted.
As shown in figure 3, one of present invention embodiment, the camera system 12 further includes：Head rod
122；Second connecting rod 123 is connected with the head rod 122 by the first rotation axis 124；Second rotation axis 125, connection
The camera 121 and second connecting rod 123.First rotation axis 124, the second rotation axis 125 can be by electronic
Or manual mode driving.Above-mentioned double rotation axis rotation, can meet waterborne and underwater viewing angles, wherein the first rotation axis 124
(elbow joint) is preferably electric drive, and the second rotation axis 125 (wrist joint) is preferably manual.The camera supports 4K cameras and FHD
Two kinds of configurations of camera, camera have headlamp, can be shot to camera and provide certain illumination, which can be at least one
A LED light, and be arranged in juxtaposition with camera, it rotates together, the LED light brightness is adjustable, to adapt to different illumination needs, together
When, when that need not shoot, brightness can be transferred to most dark or closed.The camera can surround 360 degree of the second rotation axis
Rotation, to adapt to the shooting needs of any angle, user can pass through the one key rollover camera preview of button on APP and recording circle
Face, to ensure that camera mechanism can positive preview and recording image after rotating more than 90 °.
Preferably, headlamp includes lighting control module and the fish-luring light and photograph that are connected respectively with lighting control module
Bright lamp, lighting control module is for controlling and adjusting light source, while lighting control module is electrically connected with central control unit, is connect
The signal light control assigned by central control unit is received to instruct.Fish-luring light includes waterproof circuit board plate and sets on circuit boards more
A LED electroluminescent lamps, wherein, the LED electroluminescent lamps can send visible ray and black light, the visible ray include at least feux rouges,
Green light and blue light, wherein, the LED electroluminescent lamp sparklings shine, so as to beneficial to cause the shoal of fish note that and it is described not
Visible ray includes at least infrared light, and it is since it is considered that fish is different from human eye to the perception of light to set black light, and fish can perceive
Infrared light.Further, lighting control module can control the brightness of LED electroluminescent lamps and be shone according to the result of detection of sonar unit
Color, such as when finding that the target shoal of fish is distant, the strong light of lighting control module control fish-luring light transmitting penetration power come into
Row attracting, while luminous brightness can also be enhanced.
As Figure 1 and Figure 4, the unmanned boat can also include：Towing hook device 2 is arranged at 1 afterbody of hull, for dragging
Load is dragged, available for fishing line fish hook, relief goods etc. are pulled, user discharges towing hook device after transporting goods and materials to appointed place, transported
Send goods and materials that can voluntarily come off from hull.The quantity of the towing hook device 2 is not particularly limited, can be according to the tool of the unmanned boat
Body structure setting 1-3, is advisable with being enough to pull load.The towing hook device is usually arranged at by welding or integral forming process
On hull 1, it is preferred that be arranged at 1 tail inner side of hull, realized in a manner of more hidden.
Preferably, as shown in figure 4, the unmanned boat can also include：Nest-making device 3, carry are used on the hull 1
Launch goods and materials；Cavity 31 is set in nest-making device, the goods and materials (bait etc.) for needing to transport can be loaded in cavity 31, be transported by hull
To designated position, goods and materials in cavity are discharged to the water surface by rotary drive mechanism.The nest-making device 3 can be adopted with towing hook device 2
It with common driving mechanism, can also be operated alone, under the rotation of drive shaft 32, cavity follows to be turned over the nest-making device cavity 31
Turn, so as to fulfill release function.
The unmanned boat can also include：Fish device 4 is sought, carry passes through the communication system 13 and institute on the hull 1
It states hull 1 and carries out wired or wireless communication.When it is described seek fish device 4 and find the shoal of fish target when, video or picture signal can be passed
It is defeated to hull 1, hull 1 go by analysis it is dry after, clearly shoal of fish situation will send ashore console.This seeks fish device 4 can be with
It is to depart from the mode of the hull 1 to be configured, the two realizes communication or seek fish device 4 and sets by wireless communication mode
The front end of told unmanned boat is placed in, for detecting the shoal of fish target around front end.
Preferably, seeking fish device 4 includes underwater imaging system, and for capturing shoal of fish dynamic image, infrared imaging may be employed
Equipment (such as thermal camera).Imaging system can represent any type of thermal camera, for example, the infrared photography
Machine testing infra-red radiation and being provided with represents data (for example, one or more snapshots or video infrared image).For example, imaging
System can represent be directed toward it is near, in and/or far-infrared spectrum thermal camera.In other implementations, imaging system can wrap
It includes to capture the radar imagery equipment of image and/or sonograms equipment, and is arranged at the control element of remote controler and shows
Show element for communicating with one another with seeking fish device.In another embodiment, imaging system, which can represent, utilizes electromagnetism and/or sound
The imaging device of other or different component of spectrum.
Preferably, fish device of seeking of the invention includes housing, and sonar contact module, Image Acquisition mould are provided in the housing
Block, fish-baiting instrument and central processing module；The sonar contact module, for detecting underwater environment and shoal of fish position；Institute
Image capture module is stated, for recording or shooting underwater picture；The fish-baiting instrument is described to lure for luring fish close to fish deteclor
Fish device includes fish-luring light；The sonar contact module, image capture module and fish-baiting instrument are electric with central processing module respectively
Property connection.It realizes and seeks many demands such as fish, fish finding and observation fishing process, in combination with fish-baiting instrument and the dress of fishing
It puts, enhances the practicability and interest of entire unmanned boat system.
In other embodiment, the present invention also provides a kind of multi-functional unmanned boat system, comprising any of the above-described described
Unmanned boat and remote controler realize the wired or wireless control with the unmanned boat by the remote controler；Visualization manipulation circle
Face passes through the monitoring of the visualization operation and control interface realization unmanned boat state, control, track setting and video or figure
Piece browses.The unmanned boat carries out autonomous cruise, automatic at least one moved with automatic obstacle-avoiding of making a return voyage.
One of according to the present invention embodiment, the remote controler can be remote controler underwater or waterborne, the remote control
The communication control of wired or wireless communication modes and the unmanned boat may be employed in device.Wireless parties may be employed under normal circumstances
Formula is remotely controlled, and this remote control mode, can be accurately with matching somebody with somebody using sonar transmission wireless signal from the limitation of underwater environment
To unmanned boat communicate.Under normal conditions, underwater remote-control device needs to carry out waterproof test, especially adapts to seawater etc.
The detection of environment just can guarantee the normal use of subsurface communication.Preferably, remote controler can carry display screen, by timely
Visualized operation accurately timely can make control to the target conditions detected in underwater environment, facilitate unmanned boat
Quick response.It is of course also possible to use within the specific limits have line traffic control, so timely substantial amounts of video can be believed
Number it is transferred to remote control equipment.
The visualization operation and control interface is APP or operation bench computer system, is preferably realized by way of cell phone application,
In the cell phone application, the monitoring, display, running state parameter of unmanned boat can be set, and are sent to remote controler, it is then described
Control command is sent to the unmanned boat system by remote controler, and on the other hand, the unmanned boat believes underwater video or image
Number Digiplex is transferred to by wired or wireless mode, the Digiplex is transferred to cell phone application, the APP again
It has been shown that, controllers are according to visualization status, then emission control orders are to unmanned boat, such as flutter in real time fish or shooting or
Person's tracking etc..
In conclusion the multi-functional unmanned boat and its system of the present invention, contain camera, nest-making device, seek fish device, towing hook device
Etc. multiple equipments it is highly integrated, and be equipped with corresponding control operation system and connected with Intelligent hardware, increase unmanned boat intelligence
The multifunctional application of change, by using telecommunication module, multiple degrees of freedom camera, Digiplex intelligently seeks setting for fish device
It puts, disclosure satisfy that existing underwater a variety of demands, and can sub-marine situations be subjected to image or transmission of video in real time, pass through bank
Upper visualization system is intuitively controlled, shown, more easily obtains topography and geomorphology abundant under water, and whole system is straight
It sees, using convenient, multiple functional, there is larger intelligent use prospect.For the present invention foregoing and other technology contents, spy
Point and effect in the detailed description of the embodiment of following cooperation refer to the attached drawing, can be clearly presented.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
To be or may not be physically separate, the component shown as unit may or may not be physics list
Member, you can be located at a place or can also be distributed in multiple network element.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent substitution to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (10)
1. a kind of multi-functional unmanned boat, including hull (1), which is characterized in that the hull (1) includes：
Propulsion system (11), including at least one propeller (111), for changing the athletic posture of the hull (1)；
Camera system (12), including at least one camera (121), the camera (121) being capable of multivariant adjustment bat
Take the photograph angle；
Communication system (13), including signal receiving module and signal emission module, the signal receiving module is described for receiving
The external signal that unmanned boat detects, the signal emission module are used to emit signal to external control system；And
Control system (14), for controlling the bat of the working condition of the propulsion system (11), the adjustment camera system (12)
Take the photograph the communication of angle and the communication system (13) inside and outside.
2. unmanned boat as described in claim 1, which is characterized in that the propulsion system (11) further includes a steering rudder
(112), the propeller (111) and/or the athletic posture for turning to rudder (112) and changing the hull (1) are passed through.
3. unmanned boat as claimed in claim 2, which is characterized in that the propeller (111) for motor helical paddle propeller or
Hydraulic propeller.
4. unmanned boat as claimed in claim 3, which is characterized in that the athletic posture includes：Advance, retreat, turning left, is right
Turn, rotate, shake the head, nod.
5. unmanned boat as described in claim 1, which is characterized in that the camera system (12) further includes：
Head rod (122)；
Second connecting rod (123) is connected with the head rod (122) by the first rotation axis (124)；
Second rotation axis rotation axis (125) connects the camera (121) and second connecting rod (123).
6. unmanned boat as claimed in claim 5, which is characterized in that first rotation axis (124), the second rotation axis (125)
It can be driven by electric or hand mode.
7. the unmanned boat as described in claim 1-6 is any, which is characterized in that the unmanned boat further includes one or more carries
Equipment, the carry equipment are：
Towing hook device (2) is arranged at the hull (1) afterbody, is loaded for pulling；And/or
Nest-making device (3), carry is on the hull (1), for launching goods and materials；And/or
Seek fish device (4), carry on the hull (1), by the communication system (13) and the hull (1) carry out it is wired or
Wireless telecommunications.
8. unmanned boat as claimed in claim 7, which is characterized in that the nest-making device (3) includes：
Cavity (31), for housing the goods and materials；
Rotating mechanism (32) is fixedly connected with the cavity (31), and the rotating mechanism (32), which rotates, drives the cavity (31)
Overturning discharges so as to fulfill goods and materials.
9. the unmanned boat as described in claim 1 to 7 is any, which is characterized in that the unmanned boat carries out autonomous cruise, returns automatically
At least one of boat and automatic obstacle-avoiding movement.
10. a kind of multi-functional unmanned boat system, which is characterized in that comprising claim 1-8 any one of them unmanned boat and
Remote controler, by the remote controler realize with the wired or wireless control of the unmanned boat and/or
Terminal electronic device realizes that the monitoring, control, track of the unmanned boat state are set by the visualization operation and control interface
It puts and video or picture browsing.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711446860.8A CN108100172A (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat and its system |
| PCT/CN2018/123927 WO2019129068A1 (en) | 2017-12-27 | 2018-12-26 | Multi-functional aquatic robot and system thereof |
| PCT/CN2018/123944 WO2019129079A1 (en) | 2017-12-27 | 2018-12-26 | Quick-release structure and aquatic robot |
| US16/911,413 US11247757B2 (en) | 2017-12-27 | 2020-06-25 | Multi-functional aquatic vehicle and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711446860.8A CN108100172A (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat and its system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108100172A true CN108100172A (en) | 2018-06-01 |
Family
ID=62213596
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711446860.8A Pending CN108100172A (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat and its system |
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| Country | Link |
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| CN (1) | CN108100172A (en) |
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| CN107253516A (en) * | 2017-05-21 | 2017-10-17 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent deliverance apparatus and its method of work based on unmanned boat |
| CN109061090A (en) * | 2018-08-31 | 2018-12-21 | 武汉大学 | A kind of live synchronization detecting method and system for Ocean Color Remote Sensing |
| CN109200512A (en) * | 2018-09-25 | 2019-01-15 | 上海海事大学 | A kind of unmanned fire boat |
| CN109263814A (en) * | 2018-08-30 | 2019-01-25 | 西北工业大学 | A kind of multi-functional autonomous cruise boat system of Novel surface |
| CN109760807A (en) * | 2019-03-25 | 2019-05-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Aquatic bionic goes sightseeing to image submersible |
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| WO2019129079A1 (en) * | 2017-12-27 | 2019-07-04 | 北京臻迪科技股份有限公司 | Quick-release structure and aquatic robot |
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| WO2019129079A1 (en) * | 2017-12-27 | 2019-07-04 | 北京臻迪科技股份有限公司 | Quick-release structure and aquatic robot |
| CN109263814B (en) * | 2018-08-30 | 2020-05-01 | 西北工业大学 | Multifunctional autonomous cruise ship system on water surface |
| CN109263814A (en) * | 2018-08-30 | 2019-01-25 | 西北工业大学 | A kind of multi-functional autonomous cruise boat system of Novel surface |
| CN109061090A (en) * | 2018-08-31 | 2018-12-21 | 武汉大学 | A kind of live synchronization detecting method and system for Ocean Color Remote Sensing |
| CN109200512A (en) * | 2018-09-25 | 2019-01-15 | 上海海事大学 | A kind of unmanned fire boat |
| CN109760807A (en) * | 2019-03-25 | 2019-05-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Aquatic bionic goes sightseeing to image submersible |
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| CN110989617A (en) * | 2019-12-20 | 2020-04-10 | 国家海洋局南海调查技术中心 | Unmanned ship obstacle avoidance control system and unmanned ship |
| CN110955248A (en) * | 2019-12-20 | 2020-04-03 | 珠海云洲智能科技有限公司 | Automatic obstacle avoidance method for unmanned ship |
| CN112693568A (en) * | 2020-12-28 | 2021-04-23 | 广东海纳农业有限公司 | Visual survey method for paddy rice insect pests in paddy field and unmanned ship for survey |
| CN113115749A (en) * | 2021-04-26 | 2021-07-16 | 中国水产科学研究院南海水产研究所 | Automatic catching system for cap snails with pencils |
| CN113142147A (en) * | 2021-04-26 | 2021-07-23 | 中国水产科学研究院南海水产研究所 | Emergency pump sucking and catching system for cap snails with pencils |
| CN114503961A (en) * | 2022-04-20 | 2022-05-17 | 视丰达科技（深圳）有限公司 | Infrared imaging fish finder suitable for turbid water area |
| CN117622435A (en) * | 2024-01-25 | 2024-03-01 | 招商局深海装备研究院(三亚)有限公司 | Underwater operation system and method |
| CN117622435B (en) * | 2024-01-25 | 2024-04-09 | 招商局深海装备研究院(三亚)有限公司 | Underwater operation system and method |
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Address after: 264200 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Applicant after: Zhendi Technology Co.,Ltd. Address before: Unit 301, unit a, No. 9, Fulin Road, Chaoyang District, Beijing 100107 Applicant before: POWERVISION TECH Inc. |
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Application publication date: 20180601 |