CN112130575A - Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof - Google Patents
Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof Download PDFInfo
- Publication number
- CN112130575A CN112130575A CN202011090941.0A CN202011090941A CN112130575A CN 112130575 A CN112130575 A CN 112130575A CN 202011090941 A CN202011090941 A CN 202011090941A CN 112130575 A CN112130575 A CN 112130575A
- Authority
- CN
- China
- Prior art keywords
- unmanned ship
- module
- shipborne
- onenet platform
- onenet
- 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
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
The invention discloses an unmanned ship control system based on an OneNET platform and an autonomous obstacle avoidance method thereof, wherein the control system comprises a shipborne end, the OneNET platform and a shore-based monitoring interface; the shipborne end comprises a microprocessor, a 4G communication module, a navigation positioning module, a six-axis sensor module, a laser ranging module, a direct current motor driver, a direct current motor, a steering engine and a power supply module; the microprocessor is used for collecting real-time data of the unmanned ship in real time and uploading the data to the OneNet platform through the 4G communication module; the power supply module supplies power to each module of the shipborne end; the OneNet platform is used for forwarding and storing a control instruction issued by the shore-based monitoring interface and real-time data uploaded by the shipborne end; the shore-based monitoring interface acquires sensor data from the shipborne end from the OneNet platform through the OneNet API, and monitors the working state of the shipborne end in real time.
Description
Technical Field
The invention relates to the technical field of unmanned ship control, in particular to an unmanned ship control system based on a OneNET platform and an autonomous obstacle avoidance method thereof.
Background
The unmanned ship has the characteristics of intellectualization, small volume, low cost and the like, can be widely applied to a plurality of fields such as weather, water quality sampling, hydrology exploration, marine rescue and the like, and provides a safe way for replacing manpower to operate under dangerous conditions for marine development and shipping development. Therefore, it is of great significance to develop research on unmanned ships.
OneNET is a PaaS internet of things open platform created by china mobile. The platform can help developers easily realize equipment access and equipment connection, quickly complete product development and deployment, and provide a perfect Internet of things solution for intelligent hardware and intelligent household products.
Aiming at the problems that the current unmanned ship control system mainly adopts a point-to-point wireless communication technology, so that only simple control data can be transmitted, the real-time performance is poor and the data transmission distance is limited, the unmanned ship cloud control system is designed based on the OneNet platform, and a 4G technology is adopted as a communication technology between a shipborne end and a shore-based monitoring interface, so that the navigation control of the unmanned ship and the real-time monitoring of the working state of the unmanned ship are realized.
Disclosure of Invention
The invention aims to provide an unmanned ship control system based on an OneNET platform and an autonomous obstacle avoidance method thereof, aiming at the problems that the current unmanned ship control system mainly adopts a point-to-point wireless communication technology, so that only simple control data can be transmitted, the instantaneity is poor, the data transmission distance is limited, the safety of manual operation is low and the like.
In order to achieve the aim, the technical scheme adopted by the invention for achieving the aim is as follows:
an unmanned ship control system based on a OneNET platform comprises a shipborne end, the OneNET platform and a shore-based monitoring interface; the shipborne end comprises a microprocessor, a 4G communication module, a navigation positioning module, a six-axis sensor module, a laser ranging module, a direct current motor driver, a direct current motor, a steering engine and a power supply module; the shipborne end is connected with the OneNet platform through the 4G communication module; and the OneNet platform performs data interaction with a shore-based monitoring interface through an OneNet API.
The invention further improves that the microprocessor is directly connected with the 4G communication module, the navigation positioning module, the six-axis sensor module, the laser ranging module, the direct current motor driver, the steering engine and the power supply module.
The invention further improves that the 4G communication module is connected with the microprocessor through a UART serial port and is accessed to the OneNET platform through an MQTT/HTTP protocol; the microprocessor carries out remote wireless communication with the OneNET platform in the mode.
The invention is further improved, the navigation positioning module is connected with the microprocessor through a UART/IIC communication interface to acquire the position information of the unmanned ship; the six-axis sensor module is connected with the microprocessor through a UART/IIC/SPI communication interface to acquire the hull attitude data and the navigational speed and course data of the unmanned ship; the laser ranging module is connected with the microprocessor through a common IO port to acquire the obstacle information around the unmanned ship.
The invention is further improved, the input end of the direct current motor driver is connected with the microprocessor through a common IO port, and the output end is connected with the direct current motor to control the movement of the direct current motor; the steering engine is connected with the microprocessor through a common IO port to control the steering of the unmanned ship.
According to the further improvement of the invention, the power supply module comprises a hydrogen fuel cell module, a shipborne solar cell panel, a lithium battery and a DC-DC conversion circuit, wherein the hydrogen fuel cell module and the shipborne solar cell panel are connected with the input end of the lithium battery, and the lithium battery supplies power to each module at the shipborne end through the DC-DC conversion circuit.
The invention is further improved, a shore-based monitoring interface is PC-end monitoring software, and can display longitude and latitude coordinate data, navigational speed and course data, hull attitude data, distance data from a front obstacle, rudder angle data, motor rotating speed data, power supply electric quantity and a motion trail diagram of the unmanned ship.
The invention also discloses an unmanned ship autonomous obstacle avoidance method based on the OneNET platform, which comprises the following steps:
the method comprises the following steps: before starting, a shore-based monitoring interface acquires marine environment information according to real-time data from a shipborne end acquired from an OneNet platform and an electronic chart, constructs an unmanned ship autonomous navigation environment model, and plans a global optimal path on the environment model according to actual requirements;
step two: the unmanned ship navigates according to a global optimal path planned in advance in the navigation process;
step three: when meeting obstacles (dynamic ships, dynamic and static air barriers), local collision avoidance is carried out according to a corresponding local path planning algorithm; when the barriers are too dense to plan the local path, starting reactive collision avoidance;
step four: after the local collision avoidance is finished, judging whether the re-navigation condition is met; if so, the unmanned ship returns
Navigating, gradually returning to the global optimal path for navigating; otherwise, the unmanned ship may be currently in a special area and cannot be rewound, or the mission is changed, so that the unmanned ship needs to perform global path re-planning and then sail to a target point according to a new global optimal path.
The invention has the beneficial effects that: the invention provides an unmanned ship control system based on an OneNET platform and an autonomous obstacle avoidance method thereof. The unmanned ship can acquire various data information of the shipborne end in real time, remotely monitor the operation state of the unmanned ship, improve the intelligent degree of the unmanned ship and reduce the labor cost.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a block diagram of the system of the present invention.
FIG. 3 is a control flow chart of the present invention.
In the figure: the system comprises a 1-shore-based monitoring interface, a 2-OneNET platform, a 3-microprocessor, a 4-4G communication module, a 5-navigation positioning module, a 6-steering engine, a 7-direct current motor, an 8-direct current motor driver, a 9-six-axis sensor module, a 10-laser ranging module, an 11-power supply module, a 111-lithium battery, a 112-hydrogen fuel cell module, a 113-shipborne solar cell panel, a 114-DC-DC conversion circuit and a 12-4G base station.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Example (b): as shown in fig. 1 and 2, an unmanned ship control system based on OneNET platform comprises a shipborne terminal, a OneNET platform 2 and a shore-based monitoring interface 1; the shipborne end comprises a microprocessor 3, a 4G communication module 4, a navigation positioning module 5, a six-axis sensor module 9, a laser ranging module 10, a direct current motor driver 8, a direct current motor 7, a steering engine 6 and a power supply module 11; the shipborne end is connected with the OneNet platform 2 through the 4G communication module 4; and the OneNet platform 2 performs data interaction with the shore-based monitoring interface 1 through an OneNet API.
The microprocessor 3 adopts an i.MX6ULL chip of an NXP company, and is loaded with a Linux 4.9.88 kernel, and the 4G communication module 4, the navigation positioning module 5, the six-axis sensor module 9, the laser ranging module 10, the direct current motor driver 8, the steering engine 6 and the power supply module 11 are all connected with the microprocessor 3; the microprocessor 3 is used for acquiring longitude and latitude coordinate data, hull attitude data, speed and course data, obstacle distance data, motor rotating speed data, rudder angle data and power supply electric quantity in real time, and uploading the data to the OneNET platform 2 through the 4G communication module 4; the microprocessor 3 is burned with a path planning algorithm, the microprocessor 3 collects and analyzes sensor data in real time, if the front part is judged to have an obstacle, a local path planning algorithm is operated to avoid the obstacle, and if the front part is not provided with the obstacle, a global path planning algorithm is operated to move to a target position.
The 4G communication module 4 adopts an ML302 module which is introduced by China Mobile Internet of things and belongs to a low-rate CAT1 module, so that the cost price is more advantageous compared with that of LTE CAT4, and the use of CAT1 is sufficient for general products; the 4G communication module 4 is connected with the microprocessor 3 through a UART serial port and is accessed to the OneNET platform 2 through an MQTT protocol; the microprocessor 3 carries out remote wireless communication with the OneNet platform 2 in the above mode.
The navigation positioning module 5 adopts an ATK1218-BD big dipper/GPS dual-mode positioning module and is connected with the microprocessor 3 through a UART communication interface to acquire the position information of the unmanned ship; the six-axis sensor module 9 adopts a JY61P six-axis motion attitude gyroscope sensor of Shenzhen Weite Intelligent science and technology Limited, can be used for attitude measurement, inclination measurement and vibration measurement, and is connected with the microprocessor 3 through an IIC communication interface to obtain hull attitude data and navigational speed and course data of the unmanned ship; the laser ranging module 10 adopts a KY-008 laser sensor and is connected with the microprocessor 3 through a common IO port to acquire the obstacle information around the unmanned ship.
The DC motor driver 8 adopts an AQMH2407ND DC motor driving module, and the input end of the DC motor driver 8 is connected with the microprocessor 3 through a common IO port; the direct current motor 7 adopts a 12428 plus 0121 direct current motor, and the 12428 plus 0121 direct current motor is connected with the output end of the AQMH2407ND direct current motor driving module so as to control the movement of the direct current motor 7; the steering engine 6 adopts an MG995 large torsion steering engine, is connected with the microprocessor 3 through a common IO port to control the steering of the unmanned ship, and the rotating angle of the steering engine 6 is adjusted by adjusting the duty ratio of a PWM pulse width modulation signal.
The power supply module 11 comprises a hydrogen fuel cell module 112, a ship-mounted solar cell panel 113, a lithium battery 111 and a DC-DC conversion circuit 114, wherein the hydrogen fuel cell module 112 and the ship-mounted solar cell panel 113 are connected with the input end of the lithium battery 111, and the lithium battery 111 supplies power to each module at the ship-mounted end through the DC-DC conversion circuit 114.
The shore-based monitoring interface 1 is PC-end monitoring software, is compiled by QT, and can display longitude and latitude coordinate data, navigational speed and course data, hull attitude data, distance data from a front obstacle, rudder angle data, motor rotating speed data, power supply electric quantity and a motion trail diagram of the unmanned ship.
As shown in fig. 3, an unmanned ship autonomous obstacle avoidance method based on OneNET platform includes the following steps:
the method comprises the following steps: before starting, the shore-based monitoring interface 1 acquires marine environment information according to real-time data and an electronic chart from a shipborne end downloaded from the OneNet platform 2, constructs an autonomous navigation environment model of the unmanned ship, and plans a global optimal path on the environment model according to actual requirements;
step two: the unmanned ship navigates according to a global optimal path planned in advance in the navigation process;
step three: when a dynamic ship and a dynamic and static air barrier meet the obstacle, local collision avoidance is carried out according to a corresponding local path planning algorithm; when the barriers are too dense to plan the local path, starting reactive collision avoidance;
step four: and after the local collision avoidance is finished, judging whether the re-navigation condition is met. If so, the unmanned ship is re-navigated and gradually returns to the global optimal path for navigation; otherwise, the unmanned ship may be currently in a special area and cannot be rewound, or the mission is changed, so that the unmanned ship needs to perform global path re-planning and then sail to a target point according to a new global optimal path.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An unmanned ship control system based on a OneNET platform is characterized by comprising a shipborne end, the OneNET platform and a shore-based monitoring interface; the shipborne end comprises a microprocessor, a 4G communication module, a navigation positioning module, a six-axis sensor module, a laser ranging module, a direct current motor driver, a direct current motor, a steering engine and a power supply module; the shipborne end is connected with the OneNet platform through a 4G communication module; and the OneNet platform performs data interaction with the shore-based monitoring interface through an OneNet API.
2. The unmanned ship control system based on OneNET platform of claim 1, wherein the microprocessor at the shipborne end is directly connected with the 4G communication module, the navigation positioning module, the six-axis sensor module, the laser ranging module, the direct current motor driver, the steering engine and the power supply module.
3. The unmanned ship control system based on OneNET platform of claim 2, wherein the 4G communication module of the shipborne terminal is connected with the microprocessor through a UART serial port and is accessed to the OneNET platform through MQTT/HTTP protocol; the microprocessor communicates with the 4G communication module through a UART serial port, and the 4G communication module is accessed to the OneNET platform through an MQTT/HTTP communication protocol.
4. The drone controlling system based on OneNET platform according to claim 3, wherein the navigation positioning module of the shipborne terminal is connected with the microprocessor through UART/IIC communication interface to obtain the position information of the drone; the six-axis sensor module is connected with the microprocessor through a UART/IIC/SPI communication interface to acquire the hull attitude data and the navigational speed and course data of the unmanned ship; and the laser ranging module is connected with the microprocessor through a common IO port to acquire the information of the obstacles around the unmanned ship.
5. The OneNet platform based unmanned ship control system of claim 4, wherein the input end of the DC motor driver of the shipborne end is connected with the microprocessor through an IO port, and the output end is connected with the DC motor to control the motion of the DC motor; the steering engine is connected with the microprocessor through the IO port to control the steering of the unmanned ship.
6. The OneNET platform-based unmanned ship control system according to claim 5, wherein the power supply module at the shipborne end comprises a hydrogen fuel cell module, a shipborne solar cell panel, a lithium battery and a DC-DC conversion circuit, the hydrogen fuel cell module and the shipborne solar cell panel are connected with the input end of the lithium battery, and the lithium battery supplies power to each module at the shipborne end through the DC-DC conversion circuit.
7. The OneNET platform-based unmanned ship control system of claim 6, wherein the shore-based monitoring interface is PC-side monitoring software for displaying longitude and latitude coordinate data of the unmanned ship, navigational speed and heading data, hull attitude data, distance data from a front obstacle, rudder angle data, motor speed data, power supply capacity, unmanned ship motion trajectory map.
8. An unmanned ship autonomous obstacle avoidance method based on a OneNet platform, characterized in that the unmanned ship control system based on the OneET platform as claimed in claim 7 is used, and comprises the following steps:
the method comprises the following steps: constructing an autonomous navigation environment model of the unmanned ship;
step two: planning an autonomous navigation global path of the unmanned ship;
step three: designing a dynamic collision avoidance algorithm in autonomous navigation of the unmanned ship;
step four: and 3, autonomous navigation of the unmanned ship, dynamic collision avoidance, and then re-navigation/path re-planning.
9. The unmanned ship autonomous obstacle avoidance method based on the OneNET platform as claimed in claim 8, wherein the first step: constructing an autonomous navigation environment model of the unmanned ship: before starting, a shore-based monitoring interface acquires marine environment information according to real-time data from a shipborne end acquired from an OneNet platform and an electronic chart, constructs an unmanned ship autonomous navigation environment model, and plans a global optimal path on the environment model according to actual requirements; step two: planning an autonomous navigation global path of the unmanned ship, and navigating according to a global optimal path planned in advance; step three: the design of a dynamic collision avoidance algorithm in autonomous navigation of the unmanned ship is characterized in that when an obstacle is encountered, local collision avoidance is carried out according to a corresponding local path planning algorithm, and when the obstacle is denser and is not as time to carry out local path planning, reactive collision avoidance is started; step four: after the unmanned ship automatically navigates and dynamically avoids collision, after local collision avoidance is completed, whether a re-navigation condition is met or not is judged, if yes, the unmanned ship re-navigates and gradually returns to the global optimal path navigation, otherwise, the unmanned ship is currently located in a special area and cannot re-navigate or the task is changed, the unmanned ship carries out global path re-planning, and then navigates to a target point according to a new global optimal path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090941.0A CN112130575A (en) | 2020-10-13 | 2020-10-13 | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011090941.0A CN112130575A (en) | 2020-10-13 | 2020-10-13 | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112130575A true CN112130575A (en) | 2020-12-25 |
Family
ID=73852881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011090941.0A Pending CN112130575A (en) | 2020-10-13 | 2020-10-13 | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112130575A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN112964844A (en) * | 2021-02-01 | 2021-06-15 | 中国船舶科学研究中心 | Urban water removes on-line monitoring system |
| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
| CN113238556A (en) * | 2021-05-14 | 2021-08-10 | 西北工业大学 | Water surface unmanned ship control system and method based on virtual reality |
| CN114597443A (en) * | 2022-01-27 | 2022-06-07 | 安徽伯华氢能源科技有限公司 | Ship and fuel cell power system structure thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2475410C1 (en) * | 2011-09-13 | 2013-02-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Мурманский государственный технический университет" (ФГБОУВПО "МГТУ") | Method of ship control in mooring to partner shipboard |
| 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 |
| CN107748561A (en) * | 2017-09-25 | 2018-03-02 | 华南理工大学 | A kind of unmanned boat part obstacle avoidance system and method based on more parameter sensings |
| CN108469817A (en) * | 2018-03-09 | 2018-08-31 | 武汉理工大学 | The unmanned boat obstruction-avoiding control system merged based on FPGA and information |
| CN207817528U (en) * | 2018-02-08 | 2018-09-04 | 南京信息工程大学 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
| CN110083159A (en) * | 2019-05-14 | 2019-08-02 | 江苏科技大学 | The autonomous dynamic collision prevention method of unmanned boat constrained based on SBG and dynamic window |
| CN110780666A (en) * | 2018-07-29 | 2020-02-11 | 南京癸酸科技有限公司 | Unmanned ship control system |
-
2020
- 2020-10-13 CN CN202011090941.0A patent/CN112130575A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2475410C1 (en) * | 2011-09-13 | 2013-02-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Мурманский государственный технический университет" (ФГБОУВПО "МГТУ") | Method of ship control in mooring to partner shipboard |
| 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 |
| CN107748561A (en) * | 2017-09-25 | 2018-03-02 | 华南理工大学 | A kind of unmanned boat part obstacle avoidance system and method based on more parameter sensings |
| CN207817528U (en) * | 2018-02-08 | 2018-09-04 | 南京信息工程大学 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
| CN108469817A (en) * | 2018-03-09 | 2018-08-31 | 武汉理工大学 | The unmanned boat obstruction-avoiding control system merged based on FPGA and information |
| CN110780666A (en) * | 2018-07-29 | 2020-02-11 | 南京癸酸科技有限公司 | Unmanned ship control system |
| CN110083159A (en) * | 2019-05-14 | 2019-08-02 | 江苏科技大学 | The autonomous dynamic collision prevention method of unmanned boat constrained based on SBG and dynamic window |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN112964844A (en) * | 2021-02-01 | 2021-06-15 | 中国船舶科学研究中心 | Urban water removes on-line monitoring system |
| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
| CN113238556A (en) * | 2021-05-14 | 2021-08-10 | 西北工业大学 | Water surface unmanned ship control system and method based on virtual reality |
| CN114597443A (en) * | 2022-01-27 | 2022-06-07 | 安徽伯华氢能源科技有限公司 | Ship and fuel cell power system structure thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112130575A (en) | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof | |
| CN107167141B (en) | Robot autonomous navigation system based on double laser radars | |
| US20180102058A1 (en) | High-precision autonomous obstacle-avoidance flying method for unmanned aerial vehicle | |
| CN107229276A (en) | Intelligent unattended ship platform and its control method based on ARM Cortex M7 processors | |
| CN205581642U (en) | Unmanned ship self -adaptation steering engine control system based on STM32 | |
| CN110716549A (en) | Autonomous navigation robot system for map-free area patrol and navigation method thereof | |
| CN105388913A (en) | Intelligent parking lot based on four-axis aircraft and navigation method | |
| CN106444767B (en) | A kind of linkage combination independent navigation unmanned boat control system based on APM and I7 intelligent chip | |
| CN111459172A (en) | Autonomous navigation system of boundary security unmanned patrol car | |
| CN114355914B (en) | Autonomous cruise system and control method for unmanned ship | |
| CN112960078A (en) | Unmanned sailing boat automatic driving system and method thereof | |
| CN115047868A (en) | Unmanned ship autonomous navigation system and method thereof | |
| CN114281083A (en) | Unmanned ship water quality monitoring Internet of things control system and method based on hybrid path planning autonomous navigation | |
| CN112631283A (en) | Control system and control method for water-air amphibious unmanned aircraft | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| Ryu | Prototyping a low-cost open-source autonomous unmanned surface vehicle for real-time water quality monitoring and visualization | |
| Yang et al. | Generic and flexible unmanned sailboat for innovative education and world robotic sailing championship | |
| Li et al. | Design and implementation of a new jet-boat based unmanned surface vehicle | |
| WO2023226485A1 (en) | Autonomous navigation control system for unmanned ship | |
| CN116700299A (en) | AUV cluster control system and method based on digital twin | |
| CN112230639A (en) | Remote recovery control system and method for autonomously remotely controlling underwater robot | |
| CN114815859A (en) | Portable autonomous underwater robot system and control system thereof | |
| CN214150420U (en) | Unmanned aerial vehicle unmanned ship is water installation in coordination | |
| CN212082961U (en) | Water quality sampling monitoring system based on unmanned ship | |
| CN113311849A (en) | Self-propelled model navigation operation control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |