CN109795629A - A kind of unmanned cargo ship - Google Patents
A kind of unmanned cargo ship Download PDFInfo
- Publication number
- CN109795629A CN109795629A CN201910057626.9A CN201910057626A CN109795629A CN 109795629 A CN109795629 A CN 109795629A CN 201910057626 A CN201910057626 A CN 201910057626A CN 109795629 A CN109795629 A CN 109795629A
- Authority
- CN
- China
- Prior art keywords
- cargo ship
- unmanned cargo
- cabin
- unmanned
- instruction
- 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.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a kind of unmanned cargo ships, the unmanned cargo ship includes cabin, the controller being set to inside cabin, the propeller for being set to cabin rear and the navigation device being set to above cabin, controller is after receiving the instruction for starting unmanned cargo ship, it can be according to the target position information control navigation device planning navigation routine for including in the instruction, and it can be after the navigation routine for receiving navigation device transmission, propeller work is controlled, so that unmanned cargo ship is moved according to navigation routine.In the embodiment of the present invention, unmanned cargo ship can plan navigation routine according to the instruction of the unmanned cargo ship of starting received automatically, so as to without artificial control, compared with the prior art by the way of the unmanned cargo ship movement of remote control control, human cost can be saved, realizes automatic movement of the unmanned cargo ship in unmanned control.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of unmanned cargo ships.
Background technique
With the progress of automatic control technology, more and more electronic equipments develop towards unwatched direction, such as
Autonomous driving vehicle, unmanned chemical industry producing line etc..By taking unmanned cargo ship as an example, for traditional cargo ship, unmanned fortune
It may not need the personnel of arranging work on defeated ship, on the one hand can save the space for placing lifesaving goods and materials on Traditional Transportation ship
Come, so that unmanned cargo ship can transport more cargos；On the other hand unmanned cargo ship occur contingency (such as
Hit a submerged reef or collide with other ships) when, it is possible to reduce casualties.
In the prior art, a kind of method of unmanned cargo ship is realized are as follows: by the way that monitoring device is arranged on unmanned cargo ship,
The case where staff can obtain the surrounding sea that monitoring device monitors by server, and can be according to surrounding sea
Situation determines the navigation direction of unmanned cargo ship, and then passes through the movement of the unmanned cargo ship of remote control control.This kind of method is compared
For Traditional Transportation ship, it may not need the personnel that arrange work on unmanned cargo ship, but the motion profile of unmanned cargo ship
Or controlled by staff, that is to say, that there is no the unmanned transports realized truly for this kind of mode.Using this
Kind of mode, during practical operation, the direction of motion of unmanned cargo ship is controlled by staff, may be due to
Artificial decision causes unmanned cargo ship that contingency occurs.Therefore, how to make unmanned cargo ship in unwatched situation
It realizes automatic movement, is always the difficult point and hot spot of unmanned cargo ship research field.
To sum up, a kind of unmanned cargo ship is needed at present, to realize that unmanned cargo ship is realized in unwatched situation
Automatic movement.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned cargo ship, to realize that unmanned cargo ship is real in unwatched situation
Now automatic movement.
A kind of unmanned cargo ship provided in an embodiment of the present invention, the unmanned cargo ship include cabin, are set to the cabin
The controller in internal portion, the navigation device for being set to the propeller at the cabin rear and being set to above the cabin；
After the controller receives the instruction for starting the unmanned cargo ship, the navigation device is controlled according to target position
Information planning navigation routine is set, and after receiving the navigation routine that the navigation device is sent, controls the propeller work,
So that the unmanned cargo ship is moved according to the navigation routine；The instruction of the starting unmanned cargo ship includes the mesh
Cursor position information.
Optionally, the navigation device includes global position system GPS module；
When the controller detects that the signal strength of the GPS module is greater than or equal to the first preset threshold, institute is controlled
It states navigation device and the navigation routine is planned according to the signal of the GPS module and the target position information.
Optionally, the unmanned cargo ship further includes at least one ultrasonic sensor for being set to the cabin side；
The controller detects that the signal strength of the GPS module is greater than or equal to the second preset threshold and is less than described
When the first preset threshold, it is in running order to control at least one described ultrasonic sensor；
At least one described ultrasonic sensor is used for, and is detected to the scene around the unmanned cargo ship, and examining
It measures around the unmanned cargo ship there are when barrier, generates the information of the barrier；
The controller is also used to, and obtains the information of the barrier from least one described ultrasonic sensor, and according to
The information of the barrier and the target position information control the traveling side that the propeller adjusts the unmanned cargo ship
To so that the unmanned cargo ship avoids the barrier.
Optionally, the unmanned cargo ship further includes the warning lamp being set to above the navigation device；
When the controller detects that the signal strength of the GPS module is less than second preset threshold, described in control
Warning lamp alarm；And it after receiving the instruction for controlling the direction of travel of the unmanned cargo ship, is adjusted by the propeller
The direction of travel of the unmanned cargo ship.
Optionally, the unmanned cargo ship further includes the freight house being set to inside the cabin, the freight house bottom setting
There is conveyer belt；
After the controller receives shipping instruction, the conveyer belt movement is controlled, the conveyer belt side will be placed in
Cargo transport to the conveyer belt other side.
Optionally, the unmanned cargo ship further includes the rubbish cabin being set to inside the cabin, the rubbish cabin
Head be provided with water inlet and self prime pump, rubbish cabin tail portion is provided with filter device；
After the controller receives the instruction of cleaning rubbish, it is in the open state to control the water inlet, and control institute
Self prime pump work is stated, so that the self prime pump drives water flow to enter in the rubbish cabin by the water inlet；
The filter device is used for, and is filtered to the intracorporal water flow in rubbish cabin is entered by the water inlet.
Optionally, weight sensor is provided with below the rubbish cabin；The weight sensor is used for, and detects the rubbish
The weight of rubbish cabin；
The controller is also used to, and the weight of the rubbish cabin is obtained by the weight sensor, described in determination
The weight of rubbish cabin be more than preset threshold after, control the self prime pump and stop working, and control the water inlet in
Closed state.
Optionally, the unmanned cargo ship further includes the multibeam sonar being set to around the water inlet；
The controller is also used to, and after the instruction for receiving cleaning rubbish, controls the multibeam sonar transmitting for driving
Catch up with the sound wave of marine organisms.
Optionally, the unmanned cargo ship further includes the communications module for being set to the navigation device side；
The communications module is used for, and the control instruction received is sent to the controller；The control instruction includes
Start instruction, shipping instruction, unloading instruction, the instruction of cleaning rubbish and the control unmanned cargo ship of the unmanned cargo ship
Direction of travel instruction in it is one or more.
Optionally, the unmanned cargo ship further includes the photographic device being set to above the cabin；The photographic device
For obtaining the image information around the unmanned cargo ship；
The communication module group is also used to, and obtains described image information from the photographic device, and described image information is sent out
Give the controller；
The controller is also used to, and according to described image information, determines the barrier around the unmanned cargo ship, and control
The direction of travel that the propeller adjusts the unmanned cargo ship is made, so that the unmanned cargo ship avoids the barrier.
In the above embodiment of the present invention, unmanned cargo ship may include cabin, the controller being set to inside cabin, set
It is placed in the propeller at cabin rear and the navigation device being set to above cabin, controller is receiving the unmanned cargo ship of starting
, can be according to the target position information control navigation device planning navigation routine for including in the instruction after instruction, and can connect
After the navigation routine for receiving navigation device transmission, control propeller work, so that unmanned cargo ship is moved according to navigation routine.This
In inventive embodiments, unmanned cargo ship can plan navigation routine according to the instruction of the unmanned cargo ship of starting received automatically,
So as to be controlled without artificial, compared with the prior art by the way of the unmanned cargo ship movement of remote control control, Neng Goujie
It saves labor costs, realizes automatic movement of the unmanned cargo ship in unmanned control.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of possible system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of control interface schematic diagram provided by the embodiments of the present application；
Fig. 3 is a kind of structural schematic diagram of unmanned cargo ship provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of possible system architecture schematic diagram provided in an embodiment of the present invention, as shown in Figure 1, the system architecture
In may include unmanned cargo ship 100, server 200 and control device 300, wherein server 200 can respectively with unmanned fortune
Defeated ship 100 and control device 300 realize communication.In one example, server 200 and unmanned cargo ship 100 and control device
300 can wirelessly communicate, such as microwave communication, satellite communication etc.；In another example, server 200 with
Unmanned cargo ship 100 and control device 300 can be communicated by wired mode, such as cable, optical fiber；In another example
In, server 200 is wirelessly communicated with unmanned cargo ship 100, it is communicated with control device 300 by wired mode, or
Person's server 200 is communicated with unmanned cargo ship 100 by wired mode, is wirelessly communicated with control device 300, specifically
It is not construed as limiting.
In specific implementation, control device 200 can be terminal device, such as mobile phone, tablet computer, desktop computer etc., user
It is corresponding with default mark can to control the unmanned execution of cargo ship 100 by the default mark being arranged on trigger control device 200
Instruction.In one example, web browser can be set on control device 200, user can be by control device
Web browser logs in default website, and presetting website is a control interface, and multiple default figures can be set in control interface
Mark, correspondingly, can be set control instruction corresponding with multiple preset icons in server 300.When server 300 detects
When preset icon in control interface is triggered, it can be generated according to the preset icon being triggered corresponding with the preset icon
Preset instructions.Further, the corresponding preset instructions of the preset icon can be sent to unmanned cargo ship by server 300
100, so that unmanned cargo ship executes preset instructions.
It is only said so that control device 200 is the scene of the terminal device with touch screen as an example in the embodiment of the present application
Bright, terminal device can support Android (Android) operating system, or can also support iOS operating system.In an example
In, the control interface being arranged on terminal device can be main presentation object with icon using icon formula desktop layouts, will
Logotype of the icon as mark application specific functionality, the size of each icon can be consistent, can between icon
In the blocky desktop layouts being spacedly distributed.
Fig. 2 is a kind of control interface schematic diagram provided by the embodiments of the present application, as shown in Fig. 2, can wrap in control interface
Include the preset icons such as multiple preset icons, such as starting, stopping, cleaning rubbish.If terminal device detects that user triggers control
The mark of the preset icon can be sent to server, correspondingly, server by the preset icon shown on interface, terminal device
After receiving the mark of preset icon, the corresponding control instruction of the preset icon can be generated.It should be noted that Fig. 2 institute
The control interface illustrated is only the citing of control interface, does not constitute the restriction to control interface, in specific implementation, control
It can also include presetting module more more or fewer than presetting module illustrated in Figure 2 in interface, for example, emergency contact mode,
Emergency etc., specifically without limitation.
Based on system architecture illustrated in Figure 1 and control interface illustrated in Figure 2, Fig. 3 is provided in an embodiment of the present invention
A kind of structural schematic diagram of unmanned cargo ship 100, as shown in figure 3, unmanned cargo ship 100 may include cabin 110, be set to cabin
Controller 120 inside body 110, the navigation dress for being set to the propeller 130 at 110 rear of cabin and being set to 110 top of cabin
Set 140.
In specific implementation, after terminal device can trigger " starting " icon being arranged in control interface detecting user,
The interface that prompt user inputs destination information is switched to, in the interface, user can input the purpose of unmanned cargo ship 100
Ground information, destination information can for the purpose of ground picture, perhaps or destination coordinate or can be for the purpose of
The longitude and latitude on ground, is specifically not construed as limiting.In one example, presetting database, preset data can be set in server 300
The mapping relations that can store picture, coordinate and longitude and latitude in library detect that user submits destination information in server 300
Afterwards, it can determine that the corresponding target position information of destination information, target position information can be by inquiring presetting database
The longitude and latitude of destination.And the black instruction that the unmanned cargo ship 100 of starting can be generated according to target position information of server 300,
The instruction is sent to the controller 120 being arranged on unmanned cargo ship 100.
Further, controller 120 can parse the instruction of the unmanned cargo ship of starting received, obtain target position letter
Breath, and target position information is sent to navigation device 140, road is carried out to control navigation device 140 according to target position information
Diameter planning, obtains from the current location of unmanned cargo ship 100 to the navigation routine of destination.Controller 120 can also obtain
After the navigation routine planned to navigation device 140, control propeller 130 works, so that unmanned cargo ship 100 is according to navigation routine
Movement.
In one possible implementation, navigation device 140 may include global positioning system (Global
Positioning System, GPS) module 141, controller 120 can be after receiving target position information, control GPS mould
Block 141 is positioned, and the current location information of unmanned cargo ship 100 is obtained, if controller 120 detects the letter of GPS module 141
Number intensity is greater than or equal to the first preset threshold, then can control navigation device 140 according to the signal and target of GPS module 141
Location information plans navigation routine.Wherein, the first preset threshold can be set according to the actual situation with capable field technique personnel
It sets, or can also be determined according to experiment, is specifically not construed as limiting.Specifically, if the signal strength of GPS module 141 is big
In the first preset threshold, illustrate the current location information that the signal strength of GPS module 141 is preferable, then GPS module 141 is got
It is more accurate, at this point, controller 120 can control navigation device 140 and use according to current location information and target position information
Default planning algorithm plans navigation routine.
In one example, attitude transducer 142, GPS module 141 and posture are also provided in navigation device 140
Sensor 142 can form satellite inertial navigation system, and close coupling algorithm can be used as default in satellite inertial navigation system
Planning algorithm, to cook up accurate navigation routine.
In the embodiment of the present invention, unmanned cargo ship 100 can also include at least one ultrasonic wave for being set to cabin side
Sensor, such as 151~ultrasonic sensor of ultrasonic sensor 153 shown in Fig. 3.If the GPS mould that controller 120 detects
The signal strength of block 141 is greater than or equal to the second preset threshold and less than the first preset threshold, then controller 120 can control to
A few ultrasonic sensor is in running order.Correspondingly, at least one ultrasonic sensor, can be to nothing in working condition
Scene around people's cargo ship 100 detects, and is detecting around unmanned cargo ship 100 there are when barrier, generates barrier
Hinder the information of object.Further, controller 120 can obtain the information of barrier, and root from least one ultrasonic sensor
According to the information and target position information of barrier, the direction of travel of the 130 unmanned cargo ship 100 of adjustment of control, so that unmanned transport
100 avoiding obstacles of ship.
Citing when unmanned cargo ship 100 is run in river, is arranged to be illustrated at left and right sides of unmanned cargo ship 100
Ultrasonic sensor can be with the side of left and right two of the unmanned cargo ship 100 of real-time detection at a distance from riverbank, and detecting
When distance is less than or equal to pre-determined distance, generate apart from warning information.Further, controller 120 can receive ultrasound
Wave sensor send after warning information, according to the distance for including in warning information, adjust unmanned cargo ship 100
The direction of motion.For example, the content for including in warning information are as follows: then controlled apart from left side riverbank 0.5m apart from right side riverbank 5m
Device 120 processed can control the dynamical system jet to the left of propeller 140, so that unmanned cargo ship 100 be pushed to turn to the right.
In the embodiment of the present invention, unmanned cargo ship 100 can also include the warning lamp for being set to 140 top of navigation device
160, warning light 160 can be there are many type, for example, when warning light 160 is triggered, the time of available triggering, if
Triggered time is daytime, then can issue fireworks alarm；If the departure time is night, light alarm can be issued.It is specific real
Shi Zhong, if controller 120 detect the signal strength of GPS module 141 less than the second preset threshold, can determination can not position
The current location of unmanned cargo ship 100, at this point, controller 120 can control the alarm of warning lamp 160；Correspondingly, if the alarm quilt
Staff in land receives, then " the people that staff can be arranged in the control interface by triggering terminal equipment
Industry control system " icon (as shown in Figure 2), artificial control pass 100 direction of travel without personnel's number.For example, terminal device can examined
After measuring user's triggering " manual control " icon, the interface of real-time control traffic direction is switched to, may include on the surface
Front button, rear button, left button and right button, user can be sent out control instruction by triggering this four buttons
Controller 120 is given, correspondingly, controller 120 can receive the instruction advanced to the left for controlling unmanned cargo ship 100
Afterwards, it by the jet to the right of propeller 130, adjusts unmanned cargo ship 100 and advances to the left.
In other embodiments, the warning device being arranged on unmanned cargo ship 100 can also be other types, such as sound
Alarm device, audio alarm can issue the audio alarm that human ear can be heard, or can also issue human ear and can't hear
Signal alarm, such as ultrasonic signal alarm, microwave signal warning light are specifically not construed as limiting.In actual use, if unmanned fortune
What defeated ship 100 transported is closer, for example realizes two compared with the transport between inshore, then audio alarm can issue sound
Tone alerts；If the distance that unmanned cargo ship 100 transports is farther out, for example realizes two transports between seashore farther out, then sound is alert
Reporting device can issue signal alarm, and the signal which can be correspondingly arranged in target position or initial position receives
Device receives.
Unmanned cargo ship 100 in the embodiment of the present invention can be also used for transport cargo, in a kind of possible implementation
In, unmanned cargo ship 100 can also include the freight house 170 being set to inside cabin 110, and the bottom of freight house 170 can be set
Conveyer belt 171.In specific implementation, user if it is determined that need freight or need to unload, then can be with the control of triggering terminal equipment
" loading " icon being arranged on interface or " unloading " instruction (as shown in Figure 2), at this point, shipping instruction can be generated in server 300
Or unloading instruction；Further, controller 120 can be after receiving shipping instruction or unloading instruction, and control conveyer belt 171 is transported
It is dynamic.As shown in figure 3, in one example, controller can control conveyer belt 171 and transport counterclockwise after receiving shipping instruction
It is dynamic, thus by being placed on the left of the cargo transport to conveyer belt 171 on 171 right side of conveyer belt；Correspondingly, controller is unloaded receiving
After goods instruction, 171 clockwise movement of conveyer belt can control, so that the cargo transport for being stacked on 171 left side of conveyer belt extremely be passed
Send band 171 right side.
It should be noted that the device by conveyer belt 171 as loading or unloading used in the embodiment of the present invention, only
In specific implementation, other loading or unloading modes can also be arranged in a kind of example.For example, escalator can be set, certainly
After dynamic staircase detects that the goods weight on escalator meets preset condition, automatically by cargo transport into freight house, cargo interests is unloaded
Formula repeats no more.
It in one possible implementation, can also include the rubbish being set to inside cabin 110 in unmanned cargo ship 100
Water inlet and self prime pump 181, the tail portion of rubbish cabin 180 has can be set in rubbish cabin 180, the head of rubbish cabin 180
Filter device 182 can be set.In specific implementation, server 300 can be in the control for detecting user's triggering terminal equipment
After " cleaning rubbish " icon being arranged on interface, the instruction of cleaning rubbish is generated, and the instruction is sent to controller 120；Into
One step, controller 120 can be in the open state according to the instruction control water inlet of cleaning rubbish, and controls self prime pump
181 work；Self prime pump 181 can will drive water flow rotary, and will be located at the head of rubbish cabin 180 by water inlet
Water flow sucks in rubbish cabin 180.It, can be with into the water flow in rubbish cabin 180 during the movement of unmanned cargo ship 100
It is rearwardly moved from the head of rubbish cabin 180, at this point, filter device can enter in rubbish cabin 180 to by water inlet
Water flow be filtered, rubbish is stayed in rubbish cabin 180, and water flow can by the tail portion of rubbish cabin 180 be arranged
Water outlet filter out.
In one example, weight sensor 183 has can be set in the lower section of rubbish cabin 180, and weight sensor 183 can
With the weight of real-time detection rubbish cabin 180, controller 120 can obtain the weight of rubbish cabin 180 by weight sensor 183
Amount, and the weight of the rubbish in rubbish cabin 180 can be determined according to preset algorithm.If controller 120 determines rubbish cabin 180
In the weight of rubbish be equal to or more than default rubbish threshold value, then can control self prime pump 181 and stop working, and can close
Water inlet is closed, so that water flow does not enter back into rubbish cabin, protects the safety of unmanned cargo ship 100.
In the embodiment of the present invention, in order to ensure the safety of marine organisms, more waves can also be set in unmanned cargo ship 100
Beam sonar 184, more wave sounds 184 can be set around water inlet.In specific implementation, controller 120 can received clearly
After the instruction for managing rubbish, control multibeam sonar 184 emits the sound wave for driving marine organisms, which can be multi beam sound
Wave, multi beam sound wave may be constructed a fan-shaped region (such as 60 degree~180 degree).In this way, being distributed in the fan-shaped region
The sound wave of marine organisms is driven, so as to avoid the marine organisms such as the shoal of fish from entering near water inlet, guarantees the peace of marine organisms
Entirely.
In one example, chute door 185 can be set in rubbish cabin 180, controller 120 can be beaten receiving
After the instruction (as shown in Figure 2) for opening chute door, control chute door 185 is opened, so that user can will place in rubbish cabin 180
Rubbish clean out.
In the embodiment of the present invention, unmanned cargo ship 100 can also include the communications module for being set to 140 side of navigation device
190, communications module 190 can be used as communications intermediary, for example, can receive the control instruction of the transmission of server 300, and will receive
To control instruction be sent to controller 120, or the feedback command that controller 120 is sent can also be sent to server.
Wherein, control instruction may include the instruction for starting unmanned cargo ship 100, the instruction for stopping unmanned cargo ship 100, freighting refers to
Enable, instruction of unloading, the instruction for clearing up rubbish, the instruction for opening chute door, the unmanned cargo ship 100 of control direction of travel instruction
In it is one or more.
In one possible implementation, unmanned cargo ship 100 can also include the camera shooting for being set to 110 top of cabin
Device 191, the figure during movement of unmanned cargo ship 100, around the available unmanned cargo ship 100 of photographic device 191
As information.The image information can be at least picture shot according to predetermined period, or may be from unmanned transport
The video letter recorded in any one preset time period during 100 setting in motion of ship terminates to the movement of unmanned cargo ship 100
Breath.Further, communication module group 190 can obtain the image information from photographic device 191, and the image information is sent to control
Device 120 processed；Controller 120 can parse the image information by pre-set image algorithm after receiving the image information, if
It determines around unmanned cargo ship 100 there are barrier, then the direction of travel of adjustable unmanned cargo ship 100, so that nobody
100 avoiding obstacles of cargo ship.
It can be seen from the above: in the above embodiment of the present invention, unmanned cargo ship may include cabin, be set to
Controller inside cabin, the navigation device for being set to the propeller at cabin rear and being set to above cabin, controller are connecing
It, can be according to the target position information control navigation device planning for including in the instruction after receiving the instruction for starting unmanned cargo ship
Navigation routine, and can be after the navigation routine for receiving navigation device transmission, control propeller work, so that unmanned cargo ship
It is moved according to navigation routine.In the embodiment of the present invention, unmanned cargo ship can be according to the finger of the unmanned cargo ship of starting received
Automatic planning navigation routine is enabled, so as to be not necessarily to artificial control, is transported compared with the prior art using remote control control is unmanned
The dynamic mode of shipping, can save human cost, realize automatic movement of the unmanned cargo ship in unmanned control.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the present invention
Form.It is deposited moreover, the present invention can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of unmanned cargo ship, which is characterized in that the unmanned cargo ship includes cabin, the control that is set to inside the cabin
Device processed, the navigation device for being set to the propeller at the cabin rear and being set to above the cabin；
After the controller receives the instruction for starting the unmanned cargo ship, controls the navigation device and believe according to target position
Breath planning navigation routine, and after receiving the navigation routine that the navigation device is sent, the propeller work is controlled, so that
The unmanned cargo ship is moved according to the navigation routine；The instruction of the starting unmanned cargo ship includes the target position
Confidence breath.
2. unmanned cargo ship according to claim 1, which is characterized in that the navigation device includes global positioning system
GPS module；
When the controller detects that the signal strength of the GPS module is greater than or equal to the first preset threshold, led described in control
Device navigate according to the signal of the GPS module and the target position information planning navigation routine.
3. unmanned cargo ship according to claim 2, which is characterized in that the unmanned cargo ship further include be set to it is described
At least one ultrasonic sensor of cabin side；
The controller detects that the signal strength of the GPS module is greater than or equal to the second preset threshold and is less than described first
When preset threshold, it is in running order to control at least one described ultrasonic sensor；
At least one described ultrasonic sensor is used for, and is detected to the scene around the unmanned cargo ship, and detecting
There are when barrier around the unmanned cargo ship, the information of the barrier is generated；
The controller is also used to, and the information of the barrier is obtained from least one described ultrasonic sensor, and according to described
The information of barrier and the target position information control the direction of travel that the propeller adjusts the unmanned cargo ship, with
The unmanned cargo ship is set to avoid the barrier.
4. unmanned cargo ship according to claim 3, which is characterized in that the unmanned cargo ship further include be set to it is described
Warning lamp above navigation device；
When the controller detects that the signal strength of the GPS module is less than second preset threshold, the warning is controlled
Lamp alarm；And after receiving the instruction for controlling the direction of travel of the unmanned cargo ship, by described in propeller adjustment
The direction of travel of unmanned cargo ship.
5. unmanned cargo ship according to claim 1, which is characterized in that the unmanned cargo ship further include be set to it is described
Freight house inside cabin, the freight house bottom are provided with conveyer belt；
After the controller receives shipping instruction, the conveyer belt movement is controlled, the goods of the conveyer belt side will be placed in
Object is transported to the conveyer belt other side.
6. unmanned cargo ship according to claim 1, which is characterized in that the unmanned cargo ship further include be set to it is described
Rubbish cabin inside cabin, the head of the rubbish cabin are provided with water inlet and self prime pump, the rubbish cabin tail
Portion is provided with filter device；
After the controller receives the instruction of cleaning rubbish, it is in the open state to control the water inlet, and control is described certainly
Suction pump working, so that the self prime pump drives water flow to enter in the rubbish cabin by the water inlet；
The filter device is used for, and is filtered to the intracorporal water flow in rubbish cabin is entered by the water inlet.
7. unmanned cargo ship according to claim 6, which is characterized in that be provided with weight sensing below the rubbish cabin
Device；
The weight sensor is used for, and detects the weight of the rubbish cabin；
The controller is also used to, and the weight of the rubbish cabin is obtained by the weight sensor, is determining the rubbish
The weight of cabin controls the self prime pump and stops working, and control the water inlet in closing more than after preset threshold
State.
8. unmanned cargo ship according to claim 6 or 7, which is characterized in that the unmanned cargo ship further includes being set to
Multibeam sonar around the water inlet；
The controller is also used to, and after the instruction for receiving cleaning rubbish, controls the multibeam sonar transmitting for driving sea
The sound wave of foreign biology.
9. unmanned cargo ship according to any one of claim 1 to 7, which is characterized in that the unmanned cargo ship also wraps
Include the communications module for being set to the navigation device side；
The communications module is used for, and the control instruction received is sent to the controller；The control instruction includes starting
Instruction, shipping instruction, unloading instruction, the instruction of cleaning rubbish and the row for controlling the unmanned cargo ship of the unmanned cargo ship
Into one or more in the instruction in direction.
10. unmanned cargo ship according to claim 9, which is characterized in that the unmanned cargo ship further includes being set to institute
State the photographic device above cabin；
The photographic device is used for, and obtains the image information around the unmanned cargo ship；
The communication module group is also used to, and obtains described image information from the photographic device, and described image information is sent to
The controller；
The controller is also used to, and according to described image information, determines the barrier around the unmanned cargo ship, and control institute
The direction of travel that propeller adjusts the unmanned cargo ship is stated, so that the unmanned cargo ship avoids the barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057626.9A CN109795629A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned cargo ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057626.9A CN109795629A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned cargo ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109795629A true CN109795629A (en) | 2019-05-24 |
Family
ID=66559922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910057626.9A Pending CN109795629A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned cargo ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795629A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294093A (en) * | 2019-07-12 | 2019-10-01 | 胡泽兵 | A kind of ship propulsion device that paddle is adjusted by rotation |
| CN110393165A (en) * | 2019-07-11 | 2019-11-01 | 浙江大学宁波理工学院 | A kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship |
| CN113291427A (en) * | 2021-06-10 | 2021-08-24 | 丁鸿雨 | Ocean engineering ship is with preventing striking reef system based on thing networking |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202694149U (en) * | 2012-06-03 | 2013-01-23 | 西北工业大学 | Unmanned powered ship model with positioning and obstacle avoiding functions |
| CN204229233U (en) * | 2014-10-21 | 2015-03-25 | 湖北省机电研究设计院股份公司 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
| CN106444811A (en) * | 2016-10-26 | 2017-02-22 | 徐州飞梦电子科技有限公司 | Control method of utilizing signal intensity switching to control plant protection unmanned aerial vehicle |
| CN206178469U (en) * | 2016-08-16 | 2017-05-17 | 北京中科涌泉科技发展有限公司 | Unmanned ship control system |
| CN107229276A (en) * | 2017-05-27 | 2017-10-03 | 浙江大学 | Intelligent unattended ship platform and its control method based on ARM Cortex M7 processors |
| CN107450546A (en) * | 2017-08-16 | 2017-12-08 | 北京克路德人工智能科技有限公司 | Obstacle Avoidance based on GPS and ultrasonic radar |
| CN107542073A (en) * | 2017-07-14 | 2018-01-05 | 浙江大学 | A kind of mixed dynamic water surface cleaning of intelligence based on Raspberry Pi and water monitoring device and method |
| CN108082404A (en) * | 2017-12-14 | 2018-05-29 | 缪宜霖 | A kind of clean device and method of river garbage |
| CN207972758U (en) * | 2018-01-12 | 2018-10-16 | 中国科学院合肥物质科学研究院 | A kind of hybrid power robot for water surface cleaner |
| CN208167684U (en) * | 2018-04-08 | 2018-11-30 | 南通安中水务科技有限公司 | A kind of unmanned cleaning boat refuse transport system |
-
2019
- 2019-01-22 CN CN201910057626.9A patent/CN109795629A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202694149U (en) * | 2012-06-03 | 2013-01-23 | 西北工业大学 | Unmanned powered ship model with positioning and obstacle avoiding functions |
| CN204229233U (en) * | 2014-10-21 | 2015-03-25 | 湖北省机电研究设计院股份公司 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
| CN206178469U (en) * | 2016-08-16 | 2017-05-17 | 北京中科涌泉科技发展有限公司 | Unmanned ship control system |
| CN106444811A (en) * | 2016-10-26 | 2017-02-22 | 徐州飞梦电子科技有限公司 | Control method of utilizing signal intensity switching to control plant protection unmanned aerial vehicle |
| CN107229276A (en) * | 2017-05-27 | 2017-10-03 | 浙江大学 | Intelligent unattended ship platform and its control method based on ARM Cortex M7 processors |
| CN107542073A (en) * | 2017-07-14 | 2018-01-05 | 浙江大学 | A kind of mixed dynamic water surface cleaning of intelligence based on Raspberry Pi and water monitoring device and method |
| CN107450546A (en) * | 2017-08-16 | 2017-12-08 | 北京克路德人工智能科技有限公司 | Obstacle Avoidance based on GPS and ultrasonic radar |
| CN108082404A (en) * | 2017-12-14 | 2018-05-29 | 缪宜霖 | A kind of clean device and method of river garbage |
| CN207972758U (en) * | 2018-01-12 | 2018-10-16 | 中国科学院合肥物质科学研究院 | A kind of hybrid power robot for water surface cleaner |
| CN208167684U (en) * | 2018-04-08 | 2018-11-30 | 南通安中水务科技有限公司 | A kind of unmanned cleaning boat refuse transport system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393165A (en) * | 2019-07-11 | 2019-11-01 | 浙江大学宁波理工学院 | A kind of off-lying sea cultivation net cage bait-throwing method based on Autoamtic bait putting ship |
| CN110294093A (en) * | 2019-07-12 | 2019-10-01 | 胡泽兵 | A kind of ship propulsion device that paddle is adjusted by rotation |
| CN113291427A (en) * | 2021-06-10 | 2021-08-24 | 丁鸿雨 | Ocean engineering ship is with preventing striking reef system based on thing networking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795629A (en) | A kind of unmanned cargo ship | |
| US10737749B2 (en) | Autonomous underwater vehicle for aiding a scuba diver | |
| US10421544B2 (en) | Systems and methods for positioning a hoist and hook | |
| US8964506B2 (en) | Networked sonar observation of selected seabed environments | |
| JP5241720B2 (en) | Steering and safety systems for vehicles or equipment | |
| KR101594044B1 (en) | Method and apparatus for detection and classification of a swimming object | |
| US20190120959A1 (en) | Event triggering and automatic waypoint generation | |
| US8830793B2 (en) | System and method for collision avoidance in underwater vehicles | |
| US10551498B2 (en) | Wireless sonar device | |
| JP2003276677A (en) | Departing/landing bridge support device for ship | |
| US10151829B2 (en) | Systems and associated methods for producing sonar image overlay | |
| US10365366B2 (en) | Adjustable range viewing of sonar imagery during trip replay | |
| US20180059230A1 (en) | Systems and Associated Methods for Generating a Fish Activity Report Based on Aggregated Marine Data | |
| US11249176B2 (en) | Systems and associated methods for monitoring vessel noise level | |
| KR101360759B1 (en) | Ship for fish feeding and method of fish feeding | |
| JP6895004B1 (en) | Navigation monitoring system and navigation monitoring method for construction vessels | |
| US20060067163A1 (en) | Device and method for sonar measurement of a swimming pool | |
| CA3065818C (en) | Event triggering and automatic waypoint generation | |
| JPH0214011B2 (en) | ||
| KR102468933B1 (en) | Successive building information management system based on drone | |
| JP7243319B2 (en) | Disappearance prevention device and disappearance prevention method | |
| Lovik et al. | Underwater protection system | |
| US20240067312A1 (en) | Ecological Aided Marine Navigation | |
| WO2023112348A1 (en) | Target monitoring device, target monitoring method, and program | |
| US20230380399A1 (en) | Livewell operation and control for a watercraft |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190524 |
|
| RJ01 | Rejection of invention patent application after publication |