CN108196537B - Device and method for remotely controlling starting, stopping and anchoring of unmanned ship - Google Patents
Device and method for remotely controlling starting, stopping and anchoring of unmanned ship Download PDFInfo
- Publication number
- CN108196537B CN108196537B CN201711417665.2A CN201711417665A CN108196537B CN 108196537 B CN108196537 B CN 108196537B CN 201711417665 A CN201711417665 A CN 201711417665A CN 108196537 B CN108196537 B CN 108196537B
- Authority
- CN
- China
- Prior art keywords
- anchoring
- power
- control system
- instruction
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a device and a method for remotely controlling starting, stopping and anchoring of an unmanned ship, wherein the device comprises a shore-based monitoring station, a starting, stopping and controlling module, a wireless communication module, a power supply module, a main control system and an electric anchor machine; the power supply module supplies power to the unmanned boat; the main control system is used for controlling power distribution of the shipborne equipment and anchoring or breaking actions of the electric anchor machine; the shore-based monitoring station sends a power-on/power-off command and an anchor-lifting/command to the unmanned ship through the wireless communication module; the start-stop control module receives a power-on instruction and a power-off instruction of the shore-based monitoring station and controls the power supply module to be powered on or powered off, monitors a heartbeat signal and an alarm signal of the main control system through the internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or abnormal duration time of the main control system; and the main control system receives an anchoring instruction and an anchoring instruction of the shore-based monitoring station and controls the electric anchor machine to anchor or break anchor. The invention can realize the remote control of starting, stopping and anchoring of the unmanned ship.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to a device and a method for remotely controlling starting, stopping and anchoring of an unmanned boat.
Background
The unmanned ship can be used as a new intelligent platform, can carry different application modules, and has wide application prospects in the aspects of security patrol, water area surveying and mapping, water quality monitoring, auxiliary combat and the like. The unmanned ship can replace a manual operation conventional ship, works in dangerous, polluted and complex water areas, has the advantages of all weather, high precision, high efficiency and the like, and can obviously improve the working efficiency and safety of the water area industry. Remote control unmanned ship opens and stops and anchor mooring is one of the indispensable function of unmanned ship, and its realization method and realization degree have important meaning to promoting unmanned ship's level of practicality and security performance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device and a method for remotely controlling starting, stopping and anchoring of an unmanned ship.
The technical scheme adopted by the invention for solving the technical problems is as follows: the device for remotely controlling the starting, stopping and anchoring of the unmanned ship is constructed and comprises a shore-based monitoring station, a starting and stopping control module, a wireless communication module, a power supply module, a master control system and an electric anchor machine; the power supply module supplies power to the unmanned ship, and the start-stop control module and the wireless communication module are supplied with power by a shipborne battery; the main control system comprises a control module, a communication module and a sensor and is used for controlling navigation of the unmanned ship, power distribution of shipborne equipment and anchoring or breaking actions of the electric anchor machine; the shore-based monitoring station sends a power-on instruction, a power-off instruction, an anchoring instruction and a navigation task to the unmanned ship through the wireless communication module; the shore-based monitoring station and the start-stop control module perform information interaction through the wireless communication module, the start-stop control module receives a power-on instruction and a power-off instruction of the shore-based monitoring station and controls the power-on or power-off of the power supply module, and the start-stop control module monitors a heartbeat signal and an alarm signal of the main control system through the internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or abnormal duration time of the main control system; the shore-based monitoring station and the main control system carry out information interaction through the wireless communication module, and the main control system receives an anchoring instruction and a breaking instruction of the shore-based monitoring station and controls the electric anchor machine to anchor or break down.
In the above scheme, the wireless communication module adopts a data transmission radio station or a 4G communication module.
In the scheme, the start-stop control module adopts a low-power-consumption design, and a low-power-consumption CPU and low-power-consumption peripheral devices are selected; the start-stop control module is in a standby state when no control instruction exists, and wakes up the CPU to enter an operating state when the control instruction is received.
In the scheme, the power supply module adopts a double-circuit power supply and carries out seamless switching between power-on and power-off by controlling the contactor.
In the scheme, the electric anchor machine comprises a controller, an anchor machine and a tension sensor, and receives an anchor lifting instruction and an anchor dropping instruction of the main control system and feeds back the working state of the anchor machine to the main control system; the controller of the electric anchor machine acquires the water depth information detected by sonar through an internal communication bus, calculates the length of the anchor chain required by anchoring, controls the rotating speed and time of the anchor machine, judges whether anchoring is successful or not according to the data of the tension sensor after the anchoring action of the anchor machine is finished, and stores the length of the anchor chain after anchoring is successful; and the controller of the electric anchor machine controls the anchor lifting and stopping action of the anchor machine according to the stored anchor chain length.
In the scheme, the shore-based monitoring station sends out an instruction through the operation of a control panel of a monitoring center or a portable control box or a remote control key.
The invention also provides a method for remotely controlling the starting, stopping and anchoring of the unmanned ship, which is applied to the device for remotely controlling the starting, stopping and anchoring of the unmanned ship and comprises the following steps:
step 1), starting a main switch of the unmanned ship, wherein the start-stop control module and the wireless communication module continuously operate in a charged mode;
step 2), the shore-based monitoring station sends a power-on instruction, the power-on instruction is transmitted to the start-stop control module through the wireless communication module, the start-stop control module firstly powers on a main control system of the unmanned ship through a first power supply of the power supply module, monitors the voltage and current values of the main control system and judges whether the power-on is successful, if the power-on is unsuccessful, the start-stop control module powers on the main control system of the unmanned ship through a second power supply of the power supply module, and sends the first power supply abnormal information of the power supply module to the shore-based monitoring station;
step 3), the main control system is powered on and started, a sensor detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends anchoring instructions, the anchoring instructions are transmitted to the main control system through the wireless communication module, the main control system converts the anchoring instructions into control commands and sends the control commands to a controller of the electric anchor machine through an internal bus, and the controller of the electric anchor machine controls the starting, the working speed and the working time of the anchor machine and monitors the working state of the anchor machine until the anchoring action is completed;
step 4), the unmanned ship is started, the main control system receives a navigation task issued by a shore-based monitoring station and controls the unmanned ship to enter a navigation state, and the start-stop control module continuously monitors the electric quantity and the power supply loop state of the two-way power supply and performs power supply switching when any power supply is insufficient in electric quantity or the power supply loop fails;
step 5), in the navigation process of the unmanned ship, the start-stop control module monitors the heartbeat signal and the alarm signal of the master control system through an internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or the abnormal duration time of the master control system;
step 6), after the sailing task is finished and the unmanned ship returns, a sensor of the main control system detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends an anchoring instruction, the anchoring instruction is transmitted to the main control system through the wireless communication module, the main control system converts the anchoring instruction into a control instruction and sends the control instruction to a controller of the electric anchor machine through an internal bus, the controller of the electric anchor machine obtains water depth information detected by sonar through the internal communication bus, the length of an anchor chain required by anchoring is calculated, the rotating speed and time of the anchor machine are controlled, and whether anchoring is successful or not is judged according to data of the tension sensor after the anchoring action of the anchor machine is executed;
and 7) after the anchor is successfully anchored, the controller of the electric anchor machine stores the length of the anchor chain, the shore-based monitoring station sends a power-off instruction, the power-off instruction is transmitted to the start-stop control module through the wireless communication module, and the start-stop control module simultaneously cuts off two paths of power supplies of the power supply module, so that the power-off of the unmanned ship main control system is realized.
The device and the method for remotely controlling the starting, the stopping and the anchoring of the unmanned ship have the following beneficial effects that:
1. the invention can realize the remote control of starting, stopping and anchoring of the unmanned ship and bring great convenience for the application of the unmanned ship.
2. The start-stop control module is independent of the unmanned ship master control system, and accidents possibly caused by the faults of the master control system can be effectively avoided.
3. According to the invention, tasks of all functional modules are clearly divided, and are monitored and managed step by step, so that the reliability of the device is effectively improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a block diagram of a device for remotely controlling starting, stopping and anchoring of an unmanned ship.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a device for remotely controlling the start-stop and anchoring of an unmanned ship, which comprises a shore-based monitoring station, a start-stop control module, a wireless communication module, a power supply module, a main control system and an electric anchor machine. The power supply module supplies power to the unmanned ship, adopts a double-circuit power supply and carries out seamless switching of power-on and power-off through the control contactor, and ensures continuous and stable power supply of the unmanned ship. The start-stop control module adopts a low-power-consumption design, and selects a low-power-consumption CPU and low-power-consumption peripheral devices; the start-stop control module is in a standby state when no control instruction exists, and wakes up the CPU to enter an operating state when the control instruction is received. The wireless communication module adopts a data transmission radio station or a 4G communication module. The start-stop control module and the wireless communication module are both powered by a shipborne battery, so that the start-stop control module and the wireless communication module can continuously operate in a charged mode. The main control system comprises a control module, a communication module and necessary sensors, such as inertial navigation sensors, radar sensors, sonar sensors, cameras, meteorological stations and the like, and is responsible for controlling navigation of the unmanned ship, power distribution of shipborne equipment and anchoring or breaking actions of the electric anchor machine after the unmanned ship is normally started. The shore-based monitoring station sends a power-on command, a power-off command, an anchoring command and a navigation task through the operation of a control panel of a monitoring center or a portable control box or a remote control key, and sends the commands to the unmanned ship through the wireless communication module; the action process and the result of the command are monitored through a display of the shore-based monitoring station, in addition, the information of the surrounding environment of the unmanned ship returned by the main control system can be checked, and whether the start-stop and anchoring operation is in due time or not is judged according to the field environment. The shore-based monitoring station and the start-stop control module carry out information interaction through the wireless communication module, and the start-stop control module receives a power-on instruction and a power-off instruction of the shore-based monitoring station and controls the power supply module to be powered on or powered off; in the navigation process of the unmanned ship, the start-stop control module monitors the heartbeat signal and the alarm signal of the master control system through the internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or the abnormal duration time of the master control system. The shore-based monitoring station and the main control system carry out information interaction through the wireless communication module, the main control system receives an anchoring instruction and an anchoring instruction of the shore-based monitoring station and controls the electric anchor machine to anchor or break, wherein the electric anchor machine comprises a controller, an anchor machine and a tension sensor, and the electric anchor machine receives the anchoring instruction and the anchoring instruction of the main control system and feeds back the working state of the anchor machine to the main control system; the controller of the electric anchor machine acquires the water depth information detected by the sonar through the internal communication bus, calculates the length of the anchor chain required by the anchoring, controls the rotating speed and time of the anchor machine, judges whether the anchoring is successful or not according to the data of the tension sensor after the anchoring action of the anchor machine is finished, and stores the length of the anchor chain after the anchoring is successful; and the controller of the electric anchor machine controls the anchor lifting and stopping action of the anchor machine according to the stored anchor chain length.
The invention also provides a method for remotely controlling the starting, stopping and anchoring of the unmanned ship, which is applied to the device for remotely controlling the starting, stopping and anchoring of the unmanned ship and comprises the following steps:
step 1), starting a main switch of the unmanned ship, and continuously carrying out live operation on a start-stop control module and a wireless communication module;
step 2), the shore-based monitoring station sends a power-on instruction, the power-on instruction is transmitted to the start-stop control module through the wireless communication module, the start-stop control module firstly powers on a main control system of the unmanned ship through a first power supply of the power supply module, monitors the voltage and current values of the main control system and judges whether the power-on is successful, if the power-on is unsuccessful, the start-stop control module powers on the main control system of the unmanned ship through a second power supply of the power supply module, and sends the first power supply abnormal information of the power supply module to the shore-based monitoring station;
step 3), the main control system is powered on and started, a sensor detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends anchoring instructions, the anchoring instructions are transmitted to the main control system through a wireless communication module, the main control system converts the anchoring instructions into control commands and sends the control commands to a controller of the electric anchor machine through an internal bus, and the controller of the electric anchor machine controls the starting, the working speed and the working time of the anchor machine and monitors the working state of the anchor machine until the anchoring action is completed;
step 4), the unmanned ship is started, the main control system receives a navigation task issued by the shore-based monitoring station and controls the unmanned ship to enter a navigation state, and the start-stop control module continuously monitors the electric quantity and the power supply loop state of the double-path power supply and performs power supply switching when any power supply is insufficient in electric quantity or the power supply loop fails;
step 5), in the navigation process of the unmanned ship, the start-stop control module monitors the heartbeat signal and the alarm signal of the master control system through the internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or the abnormal duration time of the master control system;
step 6), after the sailing task is finished and the unmanned ship returns, a sensor of a main control system detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends an anchoring instruction, the anchoring instruction is transmitted to the main control system through a wireless communication module, the main control system converts the anchoring instruction into a control command and sends the control command to a controller of an electric anchor machine through an internal bus, the controller of the electric anchor machine obtains water depth information detected by sonar through the internal communication bus, the length of an anchor chain required by anchoring is calculated, the rotating speed and time of the anchor machine are controlled, and after the anchoring action of the anchor machine is finished, whether anchoring is successful or not is judged according to data of a tension sensor;
and 7) after the anchor is successfully anchored, the controller of the electric anchor machine stores the length of the anchor chain, the shore-based monitoring station sends a power-off instruction, the power-off instruction is transmitted to the start-stop control module through the wireless communication module, and the start-stop control module simultaneously cuts off two power supplies of the power supply module, so that the power-off of the unmanned ship main control system is realized.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (1)
1. A method for remotely controlling starting, stopping and anchoring of an unmanned ship is characterized in that a device for remotely controlling starting, stopping and anchoring of the unmanned ship is applied, and the device comprises a shore-based monitoring station, a starting, stopping and controlling module, a wireless communication module, a power supply module, a main control system and an electric anchor machine; the power supply module supplies power to the unmanned ship, and the start-stop control module and the wireless communication module are supplied with power by a shipborne battery; the main control system comprises a control module, a communication module and a sensor and is used for controlling navigation of the unmanned ship, power distribution of shipborne equipment and anchoring or breaking actions of the electric anchor machine; the shore-based monitoring station sends a power-on instruction, a power-off instruction, an anchoring instruction and a navigation task to the unmanned ship through the wireless communication module; the shore-based monitoring station and the start-stop control module perform information interaction through the wireless communication module, the start-stop control module receives a power-on instruction and a power-off instruction of the shore-based monitoring station and controls the power-on or power-off of the power supply module, and the start-stop control module monitors a heartbeat signal and an alarm signal of the main control system through the internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or abnormal duration time of the main control system; the shore-based monitoring station and the main control system carry out information interaction through the wireless communication module, and the main control system receives an anchoring instruction and a breaking instruction of the shore-based monitoring station and controls the electric anchor machine to anchor or break; the wireless communication module adopts a data transmission radio or a 4G communication module; the start-stop control module adopts a low-power-consumption design, and selects a low-power-consumption CPU and low-power-consumption peripheral devices; the start-stop control module is in a standby state when no control instruction exists, and wakes up the CPU to enter an operating state when receiving the control instruction; the power supply module adopts a double-circuit power supply and carries out seamless switching between power-on and power-off by controlling the contactor; the electric anchor machine comprises a controller, an anchor machine and a tension sensor, and receives an anchor lifting instruction and an anchor dropping instruction of the main control system and feeds back the working state of the anchor machine to the main control system; the controller of the electric anchor machine acquires the water depth information detected by sonar through an internal communication bus, calculates the length of the anchor chain required by anchoring, controls the rotating speed and time of the anchor machine, judges whether anchoring is successful or not according to the data of the tension sensor after the anchoring action of the anchor machine is finished, and stores the length of the anchor chain after anchoring is successful; the controller of the electric anchor machine controls the anchor lifting and stopping action of the anchor machine according to the stored anchor chain length; the shore-based monitoring station sends out an instruction through the operation of a control panel of a monitoring center or a portable control box or a remote control key;
the method comprises the following steps:
step 1), starting a main switch of the unmanned ship, wherein the start-stop control module and the wireless communication module continuously operate in a charged mode;
step 2), the shore-based monitoring station sends a power-on instruction, the power-on instruction is transmitted to the start-stop control module through the wireless communication module, the start-stop control module firstly powers on a main control system of the unmanned ship through a first power supply of the power supply module, monitors the voltage and current values of the main control system and judges whether the power-on is successful, if the power-on is unsuccessful, the start-stop control module powers on the main control system of the unmanned ship through a second power supply of the power supply module, and sends the first power supply abnormal information of the power supply module to the shore-based monitoring station;
step 3), the main control system is powered on and started, a sensor detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends anchoring instructions, the anchoring instructions are transmitted to the main control system through the wireless communication module, the main control system converts the anchoring instructions into control commands and sends the control commands to a controller of the electric anchor machine through an internal bus, and the controller of the electric anchor machine controls the starting, the working speed and the working time of the anchor machine and monitors the working state of the anchor machine until the anchoring action is completed;
step 4), the unmanned ship is started, the main control system receives a navigation task issued by a shore-based monitoring station and controls the unmanned ship to enter a navigation state, and the start-stop control module continuously monitors the electric quantity and the power supply loop state of the two-way power supply and performs power supply switching when any power supply is insufficient in electric quantity or the power supply loop fails;
step 5), in the navigation process of the unmanned ship, the start-stop control module monitors the heartbeat signal and the alarm signal of the master control system through an internal communication bus and controls the power supply module to be powered off according to the heartbeat disappearance time or the abnormal duration time of the master control system;
step 6), after the sailing task is finished and the unmanned ship returns, a sensor of the main control system detects surrounding environment information of the unmanned ship and sends the surrounding environment information to a shore-based monitoring station, when the surrounding environment of the unmanned ship meets anchoring conditions, the shore-based monitoring station sends an anchoring instruction, the anchoring instruction is transmitted to the main control system through the wireless communication module, the main control system converts the anchoring instruction into a control instruction and sends the control instruction to a controller of the electric anchor machine through an internal bus, the controller of the electric anchor machine obtains water depth information detected by sonar through the internal communication bus, the length of an anchor chain required by anchoring is calculated, the rotating speed and time of the anchor machine are controlled, and whether anchoring is successful or not is judged according to data of the tension sensor after the anchoring action of the anchor machine is executed;
and 7) after the anchor is successfully anchored, the controller of the electric anchor machine stores the length of the anchor chain, the shore-based monitoring station sends a power-off instruction, the power-off instruction is transmitted to the start-stop control module through the wireless communication module, and the start-stop control module simultaneously cuts off two paths of power supplies of the power supply module, so that the power-off of the unmanned ship main control system is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417665.2A CN108196537B (en) | 2017-12-25 | 2017-12-25 | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417665.2A CN108196537B (en) | 2017-12-25 | 2017-12-25 | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108196537A CN108196537A (en) | 2018-06-22 |
| CN108196537B true CN108196537B (en) | 2020-11-27 |
Family
ID=62583855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711417665.2A Active CN108196537B (en) | 2017-12-25 | 2017-12-25 | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108196537B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733536B (en) * | 2018-12-19 | 2020-11-10 | 智慧航海（青岛）科技有限公司 | Control method and system for autonomous decision making of unmanned ship anchoring mode method |
| CN109733537B (en) * | 2018-12-19 | 2020-08-28 | 智慧航海（青岛）科技有限公司 | Autonomous anchoring control method and system for unmanned ship |
| CN109733538B (en) * | 2018-12-29 | 2020-05-15 | 智慧航海（青岛）科技有限公司 | Autonomous anchor lifting control method for unmanned ship |
| CN111240293A (en) * | 2020-03-23 | 2020-06-05 | 榆林学院 | Electrical control system |
| CN111615122B (en) * | 2020-04-17 | 2021-10-01 | 珠海云洲智能科技股份有限公司 | Communication method, device and terminal for unmanned ship formation |
| CN111552287A (en) * | 2020-04-27 | 2020-08-18 | 四方智能(武汉)控制技术有限公司 | Unmanned ship automatic energy supply system and method based on intelligent dock |
| CN111559463B (en) * | 2020-05-25 | 2021-12-24 | 智慧航海（青岛）科技有限公司 | Control method and system for intelligent ship anchor equipment |
| CN114360234B (en) * | 2021-12-23 | 2023-03-24 | 中交第四航务工程局有限公司 | Wireless remote control system and method for ship |
| CN114455051B (en) * | 2022-01-06 | 2023-07-25 | 珠海云洲智能科技股份有限公司 | Unmanned equipment control method and device and unmanned equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4458631A (en) * | 1980-12-18 | 1984-07-10 | Karmoy Mek. Versted A.S. | Stop assembly for securing a buoy line connecting a mooring anchor to the associated buoy |
| WO2008008127A2 (en) * | 2006-07-13 | 2008-01-17 | Exxonmobil Upstream Research Company | Method to maintain towed dipole source orientation |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070203623A1 (en) * | 2006-02-28 | 2007-08-30 | J3S, Inc. | Autonomous water-borne vehicle |
| KR101024868B1 (en) * | 2009-03-31 | 2011-03-31 | 국방과학연구소 | The wireless based power distribution apparatus and method complied with a mission type of unmanned vehicle |
| CN102176132B (en) * | 2011-02-24 | 2014-05-14 | 浙江海洋学院 | Ship mooring remote control device and method |
| CN203324780U (en) * | 2013-06-09 | 2013-12-04 | 浙江海洋学院 | Ship anchoring remote control system |
| CN104933897B (en) * | 2014-03-17 | 2017-06-20 | 林兴志 | A kind of intelligent bank base interactive device of ship networking based on the Big Dipper |
| CN204010276U (en) * | 2014-05-16 | 2014-12-10 | 中国人民解放军海军工程大学 | The integrated monitor control system of unmanned boat ship bank based on 3G network |
| CN104485024B (en) * | 2014-12-17 | 2017-02-22 | 江苏科技大学 | Ship dragging remote alarm control device and alarm control method thereof |
| CN104965502A (en) * | 2015-07-14 | 2015-10-07 | 上海海事大学 | Unmanned surface vessel sailing monitoring system based on internet of things |
| CN105599864B (en) * | 2016-01-14 | 2017-10-24 | 中国船舶重工集团公司第七0四研究所 | One kind is cast anchor management system |
| CN106886220B (en) * | 2017-03-21 | 2020-09-25 | 安徽科微智能科技有限公司 | High-reliability unmanned ship control system and implementation method thereof |
| CN206757690U (en) * | 2017-03-28 | 2017-12-15 | 中华人民共和国青岛海事局 | LNG ship oceangoing ship remote supervision system |
| CN106950962A (en) * | 2017-04-14 | 2017-07-14 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat dcs |
| CN107241217A (en) * | 2017-05-23 | 2017-10-10 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat group multilayer centralized control system |
-
2017
- 2017-12-25 CN CN201711417665.2A patent/CN108196537B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4458631A (en) * | 1980-12-18 | 1984-07-10 | Karmoy Mek. Versted A.S. | Stop assembly for securing a buoy line connecting a mooring anchor to the associated buoy |
| WO2008008127A2 (en) * | 2006-07-13 | 2008-01-17 | Exxonmobil Upstream Research Company | Method to maintain towed dipole source orientation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108196537A (en) | 2018-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108196537B (en) | Device and method for remotely controlling starting, stopping and anchoring of unmanned ship | |
| CN102786002B (en) | Tower crane intelligent control system and tower crane | |
| CN106741795B (en) | A kind of battery management method and intelligent power | |
| CN106886220B (en) | High-reliability unmanned ship control system and implementation method thereof | |
| CN108639301B (en) | Light outboard motorboat end control system, remote control system and automatic control system | |
| CN109849677B (en) | Energy management and low-power prompting system and method for automatic driving automobile | |
| CN107807607B (en) | Unmanned ship wireless remote control electric propulsion system and communication method thereof | |
| CN113825104B (en) | Digital vehicle key working state management method and system | |
| CN104485024A (en) | Ship dragging remote alarm control device and alarm control method thereof | |
| CN106774358A (en) | Unmanned plane intelligent battery and its control method, device and unmanned plane | |
| CN209044854U (en) | A kind of unmanned boat remote control system | |
| CN109591992A (en) | Marine electric propeller control system and method, electric plating propulsion and electric ship | |
| CN107229290B (en) | Unmanned aerial vehicle search and rescue system and method | |
| CN112994581A (en) | Motor system control method, motor system, control device, and storage medium | |
| CN109720521A (en) | A kind of control system and method for AUV Underwater Docking Device | |
| CN205384760U (en) | Impact system is prevented to boats and ships | |
| CN112757309B (en) | Control system and control method of spraying robot | |
| CN113885402A (en) | Control method, device and equipment for remotely controlling driving vehicle and storage medium | |
| CN105305610A (en) | Ship electric propulsion monitoring device | |
| CN214363760U (en) | Excavator opens and stops control system | |
| CN112947040B (en) | Unmanned naval vessel bimodulus control system of physics isolation | |
| CN214577377U (en) | Remote unmanned control system of diesel generating set | |
| CN202346629U (en) | Wireless early warning system of bridge crane | |
| CN202533577U (en) | A device capable of remotely controlling data sampling of a train-mounted geological radar. | |
| JP3216628U (en) | Ship radio engine control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |