CN109782799A - A kind of unmanned boat environment measuring control system and detection method based on machine fish - Google Patents
A kind of unmanned boat environment measuring control system and detection method based on machine fish Download PDFInfo
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- CN109782799A CN109782799A CN201910071952.5A CN201910071952A CN109782799A CN 109782799 A CN109782799 A CN 109782799A CN 201910071952 A CN201910071952 A CN 201910071952A CN 109782799 A CN109782799 A CN 109782799A
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Abstract
The invention belongs to unmanned boat applied technical fields, more particularly to a kind of unmanned boat environment measuring control system and detection method based on machine fish, including the central processing unit on unmanned boat and the power supply module, application module, data acquisition module and the remote monitoring module that are connected with central processing unit；Power supply module includes power module, and power module is connected with central processing unit, data acquisition module and application module；Application module includes intelligent delivery device and the machine fish that matches with intelligent delivery device；Data acquisition module includes hull monitor and sea environmental monitor, and hull monitor includes magnetic compass, accelerometer and GPS receiver, and sea environmental monitor includes air monitoring device and wind direction monitor；Remote monitoring module includes remote controler and operation and control interface.For the present invention using unmanned boat as carrier, machine fish is measurement main body, can be broken through geological restraint, and improves the efficiency and accuracy for detecting and surveying and drawing to marine environment.
Description
Technical field
The invention belongs to unmanned boat applied technical fields, and in particular to a kind of unmanned boat environment measuring control based on machine fish
System and detection method processed.
Background technique
With the progress of ocean development, the economic development of coastal area, increasing for extra large substance is arranged, marine environmental pollution is tight
Weight, ecological environment destruction is larger, and Oceanic disasters frequently occur, and economic loss is continuously increased.The protection of marine environment has caused
The attention of various countries, China are ocean big country again, and marine environment has epochmaking shadow to Chinese society, economic sustainable development
It rings.The grasp of state of marine environment is the premise of marine protection, grasps principal element, pollution and its source for influencing marine environment
It is of great significance with variation to marine environmental protection.Existing environment automatic monitoring instrument generally has that equipment volume is big, peace
Mobile disadvantage is not easy to after installing, for some simple detections, sampling trouble takes a long time, can not obtain phase in time
The water environment information of pass geographically also has certain limitation in measurement, and accuracy in detection is lower, it is therefore desirable to Yi Taogao
Low energy consumption and the accurate system of detection are imitated to realize the detection of marine environment.
Summary of the invention
It is an object of the invention to solve the problems, such as background technique, provide that a kind of detection territorial scope is wide, detection
A kind of high-efficient and high accuracy in detection unmanned boat environment measuring control system based on machine fish, and examined using the environment
Survey the method that control system carries out environment measuring.
Based on above-mentioned purpose, the present invention provides a kind of unmanned boat environment measuring control system and detection based on machine fish
Method.
A kind of unmanned boat environment measuring control system based on machine fish, including be set to unmanned boat on central processing unit with
And power supply module, application module, data acquisition module and the remote monitoring module being connected with central processing unit；Central processing unit
There are unidirectional signal transfers between data acquisition module, transmit a signal to central processing unit by data acquisition module, center
There is two-way signaling transmission between processor and application module and remote monitoring module；Power supply module includes power module, electricity
Source module is connected with central processing unit, data acquisition module and application module；Application module include intelligent delivery device and
The machine fish matched with intelligent delivery device, intelligent delivery device receive the dispensing or recycling machine fish that central processing unit issues
Signal, carry out dispensing or the reclaimer operation of machine fish, machine fish acquires environment measuring coherent signal, and is transferred to central processing
Device, central processing unit will be transferred to remote monitoring module after signal processing；Data acquisition module includes hull monitor and sea
Environmental monitor, hull monitor includes magnetic compass, accelerometer and GPS receiver, for monitoring the real time position and bow of hull
To, sea environmental monitor includes air monitoring device and wind direction monitor, for monitoring the wind speed and wind direction in sea area locating for hull,
The position of data collecting module collected hull and bow and are transferred to the wind speed and wind direction signals in sea area locating for signal and hull
Central processor, central processing unit will be transferred to remote monitoring module after signal processing；Remote monitoring module include remote controler and
Operation and control interface, remote controler issue control instruction to central processing unit, and operation and control interface is equipped with tangible display screen, and operation and control interface connects
Receive and show that the signal of central processing unit transmission, operation and control interface issue control to central processing unit by tangible display screen and refer to
It enables.
Further, the power supply module further includes Voltage stabilizing module, and the power module in power supply module passes through Voltage stabilizing module
Afterwards, stable operating voltage is exported for data acquisition module and application module, power module passes through after Voltage stabilizing module and using mould
Intelligent delivery device in block is connected.
Further, radio receiver-transmitter and alarm device are equipped in machine fish, radio receiver-transmitter receives center
The control signal that processor issues, warning device issues alarm signal in machine fish low battery, and fills through transceiving
It sets and alarm signal is sent to central processing unit.
Further, machine fish is made of Perception Area, behavior area, active region and instruction area；Perception Area includes chemical sensitisation
Device, contact sensor, sonar and camera, chemical sensor detect the environment in specified sea area, sonar and sensing contact
Device surveys and draws sea-floor relief, and the situation in camera monitoring seabed simultaneously acquires video data；Behavior area includes in machine fish
Control circuit；Active region includes motor, pull rod and the gear for driving the movement of machine fish fish body；Instruction area includes the control in machine fish
Molding block, instruction area control Perception Area, active region.
Further, the quantity at least two of unmanned boat inner machine fish.
The method detected using the above-mentioned unmanned boat environment measuring control system based on machine fish, including following step
It is rapid: (1) unmanned boat to be navigated by water to sea area to be measured is specified, carry out the dispensing of machine fish；(2) detection and survey of marine environment to be measured
It draws；(3) detection and mapping task after the completion of, unmanned boat carry out machine fish recycling, to machine fish recycling finish, unmanned boat according to
Specified path makes a return voyage.
Further, unmanned boat is navigated by water to specifying sea area to be measured and carry out the specific step of machine fish dispensing in step (1)
Suddenly are as follows:
It is determined 1. when unmanned boat receives specified maritime environment pollution analyte detection or sea floor surreying task, passes through GPS receiver
Unmanned boat position determines the bow of unmanned boat to data acquisition module is in place by unmanned boat institute by magnetic compass and accelerometer
It sets and bow to signal is transferred to central processing unit, central processing unit will be transferred to remote monitoring module after signal processing, long-range to supervise
Operation and control interface in control module receives and shows signal, and operator is by the tangible display screen on operation and control interface to unmanned boat
Path planning is carried out, and path planning signal is transferred to by central processing unit by operation and control interface；Central processing unit RX path
Signal is planned, so that unmanned boat carries out tracking according to planning path, to arrive at specified sea area；
2., after unmanned boat arrives at task sea area, central processing unit is by hull position and bow to the wind speed and wind of signal and sea
It is transferred to remote monitoring module to signal, meanwhile, the request signal for launching machine fish is issued to remote monitoring module；
Believe 3. remote monitoring module receives the hull position that central processing unit is sent and bow to signal, the wind speed on sea and wind direction
Number and launch the request signal of machine fish, and received signal show in operation and control interface, operator shows according to operation and control interface
The information shown decides whether to carry out the dispensing of machine fish, if determining to launch machine fish, operator after operator's comprehensive analysis
Response instruction is issued to central processing unit by operation and control interface, meanwhile, by operation and control interface to central processing unit distribution of machine fish
Cruise path signal, central processing unit handles the cruise path signal received, and will treated cruise path
Signal is sent to any bar machine fish in unmanned boat, and demarcates to the machine fish for receiving cruise path signal；
4. central processing unit is to intelligent delivery device after central processing unit receives the response instruction of remote monitoring module sending
The signal for launching machine fish is issued, intelligent delivery device receives signal and launches to the machine fish of calibration.
Further, in step (2) detection and the mapping of marine environment to be measured specific steps are as follows:
A. after the machine fish being calibrated enters water, the instruction area of machine fish issues control signal to Perception Area, active region, so that machine
Fish starts to cruise according to specified cruise path, using chemical sensor progress environment measuring during cruise, using connecing
Touching sensor and sonar survey and draw sea-floor relief, acquire video data using camera, and pass through the nothing built in machine fish
Measuring signal is transferred to central processing unit by line electricity R-T unit, and central processing unit receives measuring signal and handled, center
By treated, measuring signal is transferred to remote monitoring module to processor；
B. operation and control interface in remote monitoring module receives the detection signal sent by central processing unit, and in operation and control interface can
Testing result is shown in touch display screen, operator analyzes the information of tangible display screen display, and to suspicious
Information position is demarcated；
C. it when being calibrated the machine fish not enough power supply of dispensing, first launches remaining any bar machine fish in unmanned boat and continues to examine
Survey and mapping operations, the low machine fish of recycling electricity charge, alternately detected using the machine fish in unmanned boat and
Mapping operations, until detection and mapping task are completed.
Further, in step C when being calibrated the machine fish not enough power supply of dispensing, remaining machine in unmanned boat is first launched
Any bar machine fish in fish continues detection and mapping operations, the specific mistake that the low machine fish of recycling electricity charges
Journey are as follows:
A. when being calibrated the machine fish not enough power supply of dispensing, the warning device in the machine fish issues alarm signal, and by machine
Alarm signal is sent to central processing unit by the radio receiver-transmitter in device fish, and central processing unit receives the alarm of machine fish
After signal, the alarm signal of the machine fish is transferred to remote monitoring module, meanwhile, nobody is launched to remote monitoring module transmission
The request instruction of any bar machine fish, remote monitoring module receive the machine fish sent by central processing in remaining interior machine fish of ship
After the request instruction of alarm signal and dispensing machine fish, and the operation and control interface in remote monitoring module is shown, operator's root
The information shown according to operation and control interface sends response instruction to central processing unit by operation and control interface, while sending out to central processing unit
The cruise path signal of machine fish is sent, central processing unit handles the cruise path signal received, and by treated
Cruise path signal is sent in unmanned boat any bar machine fish in remaining machine fish, and to the machine for receiving cruise path signal
Device fish is demarcated；
B. after the response that central processing unit receives remote monitoring module sending instructs, central processing unit sends out intelligent delivery device
The signal of recycling machine fish out, intelligent delivery device receive signal and carry out recycling charging to the machine fish for issuing alarm signal.
Compared with prior art, the device have the advantages that are as follows:
(1) for the present invention using unmanned boat as carrier, machine fish is measurement main body, can adapt to complicated water environment, breaks through tradition
Ocean environment monitoring and the territory restriction of mapping are replaced manpower, and the form worked alternatively using more machine fishs with machine, prolonged
The effective time has been grown, has been improved work efficiency, has carried out marine environment inspection using a variety of detection devices being arranged in machine fish
It surveys and surveys and draws, improve the efficiency and accuracy of environment measuring and mapping.
(2) central processing unit on unmanned boat and power supply module, application module, data acquisition module and remote monitoring module
Be connected connection, and the metrical information convenient for central processing unit application modules and data acquisition module is read out and handles, and
By treated, information is sent to remote monitoring module, consequently facilitating remotely being controlled unmanned boat.
(3) application module includes intelligent delivery device and the machine fish that matches with intelligent delivery device, the two with
Central processing unit is connected, and intelligent delivery device carries out the dispensing or recycling of machine fish, machine according to the signal of central processing unit
The signal of its own is then fed back to central processing unit by fish, and intelligent delivery device is determined according to the dispensing of central processing unit
Plan carries out the dispensing and recycling of machine fish, carries out recycling charging to the machine fish of low battery alarm, and launch another machine
Fish continues to detect work, and a plurality of machine fish is used alternatingly, so that environment measuring and mapping process are gone on smoothly.
(4) data acquisition module includes hull monitor and sea environmental monitor, and data acquisition module is supervised by hull
It surveys device and sea environmental monitor monitors the sail information of unmanned boat in real time, and sail information is sent to central processing
Device, central processing unit are read out and handle to the information of data acquisition module, and unmanned boat itself navigation is believed by treated
Breath realizes the real-time remote monitoring to unmanned boat by antenna real-time transmission to remote monitoring module, is convenient for operator's foundation
The real-time sail information of unmanned boat carries out decision.
(5) hull monitor includes magnetic compass, accelerometer and GPS receiver, using locating for GPS receiver detection unmanned boat
Position, judge the bow of unmanned boat to having reliable and stable, convenient and efficient, strong interference immunity using magnetic compass and accelerometer
And the advantages of good concealment；Sea environmental monitor includes air monitoring device and wind direction monitor, can be with real-time detection unmanned boat
The wind speed and direction in the sea area realizes that position and bow provide specific external interference information to calm for unmanned boat, convenient for behaviour
Control personnel make correct decision for unmanned boat state in which.
(6) remote monitoring module includes the remote controler and operation and control interface being wirelessly connected with central processing unit；Remote controler is logical
It crosses central processing unit and remotely controls unmanned boat, operation and control interface receives, shows and feed back the letter that central processing unit and machine fish issue
Number, the environmental information and mapping information that operation and control interface receives and the operational configuration of display unmanned boat itself and machine fish detect,
The automation for realizing detection process, improves detection efficiency and accuracy in detection.
(7) power supply module further includes power supply and Voltage stabilizing module, after power supply passes through Voltage stabilizing module, for data acquisition module and is answered
Stable operating voltage is exported with module, power supply by being connected after Voltage stabilizing module with the intelligent delivery device in application module,
Improve the stability of data acquisition module and the intelligent delivery device course of work.
(8) radio receiver-transmitter and alarm device are equipped in machine fish, radio receiver-transmitter receives long-range monitoring mould
The control signal that block issues, warning device issue alarm signal in machine fish low battery, and will through radio receiver-transmitter
Alarm signal is sent to central processing unit, realizes that the machine fish of low battery is returned in the long-range control to machine fish, realization
Charging is received, recycling improves the utilization efficiency to machine fish.
(9) machine fish is made of Perception Area, behavior area, active region and instruction area；Perception Area includes chemical sensor, contact
Sensor, sonar and camera, wherein chemical sensor detects the environment in specified sea area, sonar and contact sensor pair
Sea-floor relief is surveyed and drawn, and the situation in camera monitoring seabed simultaneously acquires video data；Behavior area is that motor is controlled in machine fish
Circuit；Active region is motor, pull rod and the gear for driving the movement of machine fish fish body；Instruction area is the control journey in machine fish
Sequence, for controlling Perception Area, active region, the long-range monitoring mould that is received by the radio receiver-transmitter in machine fish
After the planning path of block transmission, control signal is issued to Perception Area and active region by instruction area, to realize to planning path
Traversal and pollutant monitoring and sea floor surreying, and environmental information, mapping information and the corresponding position that will test
Information real-time transmission realizes the real-time of testing result, improves the accuracy of testing result to remote monitoring module.
(10) due to high efficiency and mobility that machine fish itself has, so that the present invention has low energy consumption and adaptation range
Wide advantage can reduce other unnecessary to the maximum extent in addition, the travelling mode hunting frequency of machine fish is low, flexible
Energy loss makes full use of and controls vortex, effectively reduce the noise generated in environment measuring and mapping process, is conducive to hidden
Body is prevented with prominent, is monitored in special sea area with concealment, has important military value.
In conclusion the present invention, using unmanned boat as carrier, machine fish is measurement main body, can break through geological restraint,
It improves to the detection of specified marine environment and the efficiency of sea floor surreying and accuracy.
Detailed description of the invention
Fig. 1 is that the present invention is based on the module maps of the unmanned boat environment measuring control system of machine fish.
Specific embodiment
Embodiment 1:
As shown in Figure 1, a kind of unmanned boat environment measuring control system based on machine fish, including the centre being set on unmanned boat
Reason device and power supply module, application module, data acquisition module and the remote monitoring module being connected with central processing unit, center
There are unidirectional signal transfers between processor and data acquisition module, transmit a signal to central processing by data acquisition module
There is two-way signaling transmission in device, be convenient for central processing unit pair between central processing unit and application module and remote monitoring module
The metrical information of application module and data acquisition module is read out and handles, and information is sent to long-range monitoring by treated
Module, consequently facilitating remotely being controlled unmanned boat.
Application module includes intelligent delivery device and the machine fish that matches with intelligent delivery device, intelligent delivery device
The signal for receiving dispensing or recycling machine fish that central processing unit issues, carries out dispensing or the reclaimer operation of machine fish, machine fish
Environment measuring coherent signal is acquired, and is transferred to central processing unit, central processing unit will be transferred to long-range monitoring after signal processing
Module.The quantity of machine fish is two, first launches first machine fish and carries out detection work, low to first machine fish electricity
When, recycling charging is carried out by the machine fish alarmed low battery, and launch the second rule machine fish and continue to detect work
Make, worked alternatively using the machine fish in unmanned boat, so that environment measuring and mapping process are gone on smoothly, in addition, machine fish is handed over
Temporary substitute is made, and the effective time is able to extend, and improves detection and mapping efficiency.
It is equipped in machine fish and receives central processing unit hair with radio receiver-transmitter and alarm device, radio receiver-transmitter
Control signal out, warning device issues alarm signal in machine fish low battery, and will alarm through radio receiver-transmitter
Signal is sent to central processing unit, and realization carries out recycling charging to the machine fish of low battery, reuses, improves to machine
The utilization efficiency of fish.Machine fish is made of Perception Area, behavior area, active region and instruction area；Perception Area includes chemical sensor, connects
Touching sensor, sonar and camera, chemical sensor detect the environment in specified sea area, and sonar and contact sensor are to sea
Bottom landform is surveyed and drawn, and the situation in camera monitoring seabed simultaneously acquires video data；Behavior area includes the control electricity in machine fish
Road；Active region includes motor, pull rod and the gear for driving the movement of machine fish fish body；Instruction area includes the control mould in machine fish
Block, instruction area receive planning road for controlling Perception Area, active region, by the radio receiver-transmitter in machine fish
After diameter, control signal is issued to Perception Area and active region by instruction area, to realize the traversal and pollution to planning path
Analyte detection and sea floor surreying, and environmental information, mapping information and the corresponding location information real-time transmission that will test are extremely
Central processing unit realizes the real-time of testing result, improves the accuracy of testing result.Further, since machine fish itself has
Standby high efficiency and mobility, so that the present invention has the advantages that low energy consumption and wide adaptation range, in addition, the travelling side of machine fish
Formula hunting frequency is low, flexible, can reduce other unnecessary energy losses to the maximum extent, makes full use of and control vortex,
The noise generated in environment measuring and mapping process is effectively reduced, is conducive to stealthy and prominent anti-, is monitored in special sea area
With concealment, there is important military value.
Power supply module includes power module and the Voltage stabilizing module that connect with power module, power module and central processing unit
Electrical connection provides power supply for central processing unit, power module by after Voltage stabilizing module with data acquisition module and application module phase
Connection provides stable operating voltage for data acquisition module and application module, power module by after Voltage stabilizing module with application
Intelligent delivery device in module is connected, and improves the stability of data acquisition module and the intelligent delivery device course of work.
Data acquisition module includes hull monitor and sea environmental monitor, and data acquisition module passes through hull monitor
It is monitored in real time with sail information of the sea environmental monitor to unmanned boat, and sail information is sent to central processing unit,
Central processing unit is read out and handles to the information of data acquisition module, and unmanned boat itself sail information leads to by treated
Antenna real-time transmission is crossed to remote monitoring module, the real-time remote monitoring to unmanned boat is realized, convenient for operator according to nobody
The real-time sail information of ship carries out decision.In addition, hull monitor includes magnetic compass, accelerometer and GPS receiver, GPS is utilized
Receiver monitors the location of unmanned boat, judged using magnetic compass and accelerometer the bow of unmanned boat to, have it is reliable and stable,
The advantages of convenient and efficient, strong interference immunity and good concealment；Sea environmental monitor includes air monitoring device and wind direction monitor,
The wind speed and direction in sea area locating for unmanned boat can be monitored in real time, realize that position and bow provide outside specific to calm for unmanned boat
Boundary's interference information makes correct decision for unmanned boat state in which convenient for operator.
Remote monitoring module includes issuing control instruction to central processing unit with remote controler and operation and control interface, remote controler,
Long-range control unmanned boat, operation and control interface are equipped with tangible display screen, and operation and control interface receives and shows central processing unit transmission
Signal, operation and control interface issue control instruction to central processing unit by tangible display screen, and operation and control interface receives and shows nobody
The environmental information and mapping information that the operational configuration and machine fish of ship itself detect realize the automation of detection process, improve
Detection efficiency and accuracy in detection.
Embodiment 2:
The method detected using the unmanned boat environment measuring control system in embodiment 1 based on machine fish, including following step
It is rapid:
(1) unmanned boat is navigated by water to sea area to be measured is specified, carries out the dispensing of machine fish, it may be assumed that
It is determined 1. when unmanned boat receives specified maritime environment pollution analyte detection or sea floor surreying task, passes through GPS receiver
Unmanned boat position determines the bow of unmanned boat to data acquisition module is in place by unmanned boat institute by magnetic compass and accelerometer
It sets and bow to signal is transferred to central processing unit, central processing unit will be transferred to remote monitoring module after signal processing, long-range to supervise
Operation and control interface in control module receives and shows signal, and operator is by the tangible display screen on operation and control interface to unmanned boat
Path planning is carried out, and path planning signal is transferred to by central processing unit by operation and control interface；Central processing unit RX path
Signal is planned, so that unmanned boat carries out tracking according to planning path, to arrive at specified sea area；
2., after unmanned boat arrives at task sea area, central processing unit is by hull position and bow to the wind speed and wind of signal and sea
It is transferred to remote monitoring module to signal, meanwhile, the request signal for launching machine fish is issued to remote monitoring module；
Believe 3. remote monitoring module receives the hull position that central processing unit is sent and bow to signal, the wind speed on sea and wind direction
Number and launch the request signal of machine fish, and received signal show in operation and control interface, operator shows according to operation and control interface
The information shown decides whether to carry out the dispensing of machine fish, if determining to launch machine fish, operator after operator's comprehensive analysis
Response instruction is issued to central processing unit by operation and control interface, meanwhile, by operation and control interface to central processing unit distribution of machine fish
Cruise path signal, central processing unit handles the cruise path signal received, and will treated cruise path
Signal is sent to first machine fish in unmanned boat, and demarcates to first machine fish for receiving cruise path signal；
4. central processing unit is to intelligent delivery device after central processing unit receives the response instruction of remote monitoring module sending
The signal for launching first machine fish is issued, intelligent delivery device receives signal and throws first machine fish of calibration
It puts.
(2) detection and mapping of marine environment to be measured, it may be assumed that
A. after first machine fish being calibrated enters water, the instruction area of first machine fish issues control to Perception Area, active region
Signal utilizes chemical sensor so that first machine fish starts to cruise according to specified cruise path during cruise
Environment measuring is carried out, sea-floor relief is surveyed and drawn using contact sensor and sonar, acquires video data using camera, and
Measuring signal is transferred to central processing unit by the radio receiver-transmitter built in first machine fish, central processing unit receives
Measuring signal is simultaneously handled, and by treated, measuring signal is transferred to remote monitoring module to central processing unit；
B. operation and control interface in remote monitoring module receives the detection signal sent by central processing unit, and in operation and control interface can
Testing result is shown in touch display screen, operator analyzes the information of tangible display screen display, and to suspicious
Information position is demarcated；
C. when being calibrated first machine fish not enough power supply of dispensing, the warning device in the machine fish issues alarm signal,
And alarm signal is sent to central processing unit by the radio receiver-transmitter in first machine fish, central processing unit receives
After the alarm signal of first machine fish, the alarm signal of the machine fish is transferred to remote monitoring module, meanwhile, to long-range prison
It controls module and sends the request instruction for launching Article 2 machine fish in unmanned boat, remote monitoring module reception is sent by central processing
After the request instruction of first machine fish alarm signal and dispensing Article 2 machine fish, and manipulation circle in remote monitoring module
Face shows that the information that operator shows according to operation and control interface sends response instruction to central processing unit by operation and control interface, together
When to central processing unit send Article 2 machine fish cruise path signal, the cruise path signal that central processing unit will receive
It is handled, and by treated, cruise path signal is sent to Article 2 machine fish in unmanned boat, and to reception cruise path
The Article 2 machine fish of signal is demarcated；After central processing unit receives the response instruction of remote monitoring module sending, center
Processor issues the signal of first machine fish of recycling to intelligent delivery device, and intelligent delivery device receives signal and reports to issuing
First machine fish of alert signal carries out recycling charging.It is alternately detected using the machine fish in unmanned boat and mapping operations,
It is completed to detecting and surveying and drawing task.
(3) detection and mapping task after the completion of, unmanned boat carry out machine fish recycling, to machine fish recycling finish, nobody
Ship makes a return voyage according to specified path.
Embodiment 3:
The difference of embodiment 3 and above-described embodiment is only that the quantity of machine fish is three, first launches first machine fish and carries out
Detect work, when the machine fish electricity is low, launch Article 2 machine fish continue detect work, and by electricity it is low first
Machine fish carries out recycling charging, when Article 2 machine fish electricity is low, continues to launch Article 3 machine fish and continues to detect
Work, and the low Article 2 machine fish of electricity is subjected to recycling charging, when Article 3 machine fish electricity is low, launch first machine
Device fish carries out detection work, and carries out recycling charging to Article 3 machine fish, repeats the above process, until Detection task is completed.
Embodiment 4:
The difference of embodiment 4 and embodiment 3 is only that the quantity of machine fish is four, successively launches first, Article 2, third
Item and Article 4 machine fish, and carry out recycling charging to the low machine fish of electricity launch the when Article 4 machine fish electricity is low
One machine fish carries out detection work, and carries out recycling charging to Article 4 machine fish, repeats the above process, until Detection task is complete
At.
Embodiment 5:
The difference of embodiment 5 and embodiment 3 is only that the quantity of machine fish is five, successively launches first, Article 2, third
Item, Article 4 and Article 5 machine fish, and recycling charging is carried out to the low machine fish of electricity, it is low to Article 5 machine fish electricity
When, it launches first machine fish and carries out detection work, and recycling charging is carried out to Article 5 machine fish, repeat the above process, until
Detection task is completed.
Claims (9)
1. a kind of unmanned boat environment measuring control system based on machine fish, which is characterized in that in being set on unmanned boat
Central processor and the power supply module being connected with central processing unit, application module, data acquisition module and remote monitoring module；
Power supply module includes power module, and power module is connected with central processing unit, data acquisition module and application module；Using mould
Block includes intelligent delivery device and the machine fish that matches with intelligent delivery device, and intelligent delivery device receives central processing unit
The dispensing of sending or the signal of recycling machine fish, carry out dispensing or the reclaimer operation of machine fish, and machine fish acquires environment measuring phase
OFF signal, and it is transferred to central processing unit, central processing unit will be transferred to remote monitoring module after signal processing；Data acquisition module
Block includes hull monitor and sea environmental monitor, and hull monitor includes magnetic compass, accelerometer and GPS receiver, sea
Environmental monitor includes air monitoring device and wind direction monitor, and the position of data collecting module collected hull and bow are to signal and ship
The wind speed and wind direction signals in sea area locating for body, and it is transferred to central processing unit, central processing unit will be transferred to far after signal processing
Range monitoring module；Remote monitoring module includes remote controler and operation and control interface, and remote controler issues control instruction to central processing unit,
Operation and control interface is equipped with tangible display screen, and operation and control interface receives and show that the signal of central processing unit transmission, operation and control interface are logical
It crosses tangible display screen and control instruction is issued to central processing unit.
2. the unmanned boat environment measuring control system according to claim 1 based on machine fish, which is characterized in that the confession
Electric module further includes Voltage stabilizing module, is data acquisition module and application after the power module in power supply module passes through Voltage stabilizing module
Module exports stable operating voltage, and power module is connected after passing through Voltage stabilizing module with the intelligent delivery device in application module
It connects.
3. the unmanned boat environment measuring control system according to claim 2 based on machine fish, which is characterized in that the machine
Radio receiver-transmitter and alarm device are equipped in device fish, radio receiver-transmitter receives the control letter that central processing unit issues
Number, warning device issues alarm signal in machine fish low battery, and is sent to alarm signal through radio receiver-transmitter
Central processing unit.
4. the unmanned boat environment measuring control system according to claim 3 based on robot, which is characterized in that the machine
Device fish is made of Perception Area, behavior area, active region and instruction area；The Perception Area includes chemical sensor, contact sensor, sound
And camera, chemical sensor detect the environment in specified sea area, sonar and contact sensor carry out sea-floor relief
Mapping, the situation in camera monitoring seabed simultaneously acquire video data；The behavior area includes the control circuit in machine fish；It is described
Active region includes motor, pull rod and the gear for driving the movement of machine fish fish body；Described instruction area includes the control mould in machine fish
Block, instruction area control Perception Area, active region.
5. the unmanned boat environment measuring control system according to claim 4 based on machine fish, which is characterized in that the nothing
The quantity at least two of people ship inner machine fish.
6. the side detected using any unmanned boat environment measuring control system based on machine fish of claim 1-5
Method, which comprises the following steps: (1) unmanned boat is navigated by water to sea area to be measured is specified, carry out the dispensing of machine fish；(2)
The detection and mapping of marine environment to be measured；(3) detection and mapping task after the completion of, unmanned boat carry out machine fish recycling, it is standby
The recycling of device fish finishes, and unmanned boat makes a return voyage according to specified path.
7. the detection method according to claim 6 using the unmanned boat environment measuring control system based on machine fish,
It is characterized in that, navigates by water unmanned boat to specifying sea area to be measured and carry out the specific steps of machine fish dispensing in the step (1) are as follows:
It is determined 1. when unmanned boat receives specified maritime environment pollution analyte detection or sea floor surreying task, passes through GPS receiver
Unmanned boat position determines the bow of unmanned boat to data acquisition module is in place by unmanned boat institute by magnetic compass and accelerometer
It sets and bow to signal is transferred to central processing unit, central processing unit will be transferred to remote monitoring module after signal processing, long-range to supervise
Operation and control interface in control module receives and shows signal, and operator is by the tangible display screen on operation and control interface to unmanned boat
Path planning is carried out, and path planning signal is transferred to by central processing unit by operation and control interface；Central processing unit RX path
Signal is planned, so that unmanned boat carries out tracking according to planning path, to arrive at specified sea area；
2., after unmanned boat arrives at task sea area, central processing unit is by hull position and bow to the wind speed and wind of signal and sea
It is transferred to remote monitoring module to signal, meanwhile, the request signal for launching machine fish is issued to remote monitoring module；
Believe 3. remote monitoring module receives the hull position that central processing unit is sent and bow to signal, the wind speed on sea and wind direction
Number and launch the request signal of machine fish, and received signal show in operation and control interface, operator shows according to operation and control interface
The information shown decides whether to carry out the dispensing of machine fish, if determining to launch machine fish, operator after operator's comprehensive analysis
Response instruction is issued to central processing unit by operation and control interface, meanwhile, by operation and control interface to central processing unit distribution of machine fish
Cruise path signal, central processing unit handles the cruise path signal received, and will treated cruise path
Signal is sent to any bar machine fish in unmanned boat, and demarcates to the machine fish for receiving cruise path signal；
4. central processing unit is to intelligent delivery device after central processing unit receives the response instruction of remote monitoring module sending
The signal for launching machine fish is issued, intelligent delivery device receives signal and launches to the machine fish of calibration.
8. the detection method according to claim 7 using the unmanned boat environment measuring control system based on machine fish,
It is characterized in that, the specific steps of detection and the mapping of marine environment to be measured in the step (2) are as follows:
A. after the machine fish being calibrated enters water, the instruction area of machine fish issues control signal to Perception Area, active region, so that machine
Fish starts to cruise according to specified cruise path, using chemical sensor progress environment measuring during cruise, using connecing
Touching sensor and sonar survey and draw sea-floor relief, acquire video data using camera, and pass through the nothing built in machine fish
Measuring signal is transferred to central processing unit by line electricity R-T unit, and central processing unit receives measuring signal and handled, center
By treated, measuring signal is transferred to remote monitoring module to processor；
B. operation and control interface in remote monitoring module receives the detection signal sent by central processing unit, and in operation and control interface can
Testing result is shown in touch display screen, by analyzing the information that operation and control interface is shown, and to suspicious information position into
Rower is fixed；
C. it when being calibrated the machine fish not enough power supply of dispensing, first launches remaining any bar machine fish in unmanned boat and continues to examine
Survey and mapping operations, the low machine fish of recycling electricity charge, alternately detected using the machine fish in unmanned boat and
Mapping operations, until detection and mapping task are completed.
9. the detection method according to claim 8 using the unmanned boat environment measuring control system based on machine fish,
It is characterized in that, in the step C when being calibrated the machine fish not enough power supply of dispensing, first launches in unmanned boat in remaining machine fish
Any bar machine fish continue detection and mapping operations, the detailed process that the low machine fish of recycling electricity charges
Are as follows:
A. when being calibrated the machine fish not enough power supply of dispensing, the warning device in the machine fish issues alarm signal, and by machine
Alarm signal is sent to central processing unit by the radio receiver-transmitter in device fish, and central processing unit receives the alarm of machine fish
After signal, the alarm signal of the machine fish is transferred to remote monitoring module, meanwhile, nobody is launched to remote monitoring module transmission
The request instruction of any bar machine fish, remote monitoring module receive the machine fish sent by central processing in remaining interior machine fish of ship
After the request instruction of alarm signal and dispensing machine fish, and the operation and control interface in remote monitoring module is shown, operator's root
The information shown according to operation and control interface sends response instruction to central processing unit by operation and control interface, while sending out to central processing unit
The cruise path signal of machine fish is sent, central processing unit handles the cruise path signal received, and by treated
Cruise path signal is sent in unmanned boat any bar machine fish in remaining machine fish, and to the machine for receiving cruise path signal
Device fish is demarcated；
B. after the response that central processing unit receives remote monitoring module sending instructs, central processing unit sends out intelligent delivery device
The signal of recycling machine fish out, intelligent delivery device receive signal and carry out recycling charging to the machine fish for issuing alarm signal.
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