CN114394202A - Unmanned ship control system - Google Patents
Unmanned ship control system Download PDFInfo
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- CN114394202A CN114394202A CN202111622854.XA CN202111622854A CN114394202A CN 114394202 A CN114394202 A CN 114394202A CN 202111622854 A CN202111622854 A CN 202111622854A CN 114394202 A CN114394202 A CN 114394202A
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- unmanned
- unmanned ship
- control system
- aerial vehicle
- communication module
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 23
- 238000007789 sealing Methods 0.000 claims description 5
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 108010066114 cabin-2 Proteins 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B69/00—Equipment for shipping not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2201/00—Signalling devices
- B63B2201/16—Radio
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
- B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned ship control system in the technical field of unmanned ship control, which comprises a lifting platform, wherein buoyancy cabins are fixedly arranged at the front end and the rear end of the lifting platform, two mounting frames are fixedly connected to the bottom wall of each buoyancy cabin, propellers are fixedly arranged on the mounting frames, an electric winder is fixedly arranged between the right sides of the two buoyancy cabins, the electric winder is connected with an underwater unmanned aerial vehicle through a retractable cable, a signal receiver is arranged at the bottom end of the lifting platform through a cable, and a signal transmitter matched with the signal receiver is fixedly arranged at the top end of the underwater unmanned aerial vehicle; according to the unmanned ship, the set propeller can effectively resist water flow in all directions, and meanwhile, the unmanned ship can be fixed in one longitude and latitude and the bow in one direction according to the GPS-RTK system and the electronic compass, so that the position of a dropped signal receiver can be fixed, the underwater unmanned ship and the overwater unmanned ship can be linked, and underwater accurate positioning, real-time video big data transmission and remote real-time control are realized.
Description
Technical Field
The invention relates to the technical field of unmanned ship control, in particular to an unmanned ship control system.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV.
At present, unmanned ship products are mature products and are widely applied to the industries of surveying and mapping, environmental monitoring, rescue and the like. The underwater unmanned aerial vehicle is gradually and widely used in fishery breeding, dam body detection, emergency rescue and other industries. The unmanned ship currently adopts a single propeller and two propellers to push the unmanned ship to move forward and backward, and carries a positioning technology for navigation. The unmanned ship can not run horizontally (move in parallel) in the existing application field, when the ship is positioned at a certain place and certain wind waves exist, the heading of the ship head cannot be kept by the two propellers at the tail part of the ship, and the ship can only be rotated in situ to keep the position. Unmanned aerial vehicle navigates by water under water, and the buoyancy cable that leans on the machine to take communicates through the remote control, needs the people to control and acquires real-time image data under water, and current no cable unmanned aerial vehicle under water can't pass through satellite transmission data from transmission position and image information under water in real time, can only float out of the water.
Therefore, the invention provides an unmanned ship control system to solve the problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned ship control system, which solves the problems.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an unmanned ship control system, includes lift platform, the equal fixed mounting in both ends has the buoyancy cabin around the lift platform, two mounting brackets of the equal fixedly connected with in buoyancy cabin diapire, equal fixed mounting has the propeller on the mounting bracket, and fixed mounting has electronic spooler between two buoyancy cabin right sides, electronic spooler is connected with unmanned aerial vehicle under water through receiving and releasing the hawser, signal receiver is installed through the cable to the lift platform bottom, unmanned aerial vehicle top fixed mounting under water has with signal receiver assorted signal transmitter, electronic spooler top fixed mounting has the control box.
Preferably, the controller is installed in the control box, controller signal connection has wireless communication module, wireless communication module signal connection has the distal end control cabinet, can transmit the picture that unmanned aerial vehicle shot under water that signal receiver received and unmanned aerial vehicle's real-time position under water to the distal end control cabinet through the wireless communication module who sets up.
Preferably, a GPS-RTK system and an electronic compass are further installed in the control box and used for measuring the orientation and the geographic position of the unmanned ship.
Preferably, the controller is in signal connection with the propeller, the electric winder, the signal receiver, the GPS-RTK system and the electronic compass.
Preferably, the wireless communication module is any one or a combination of more of a ZigBee module, a WIFI communication module, a LoRa communication module and a 5G communication module.
Preferably, the buoyancy cabin is used for providing buoyancy for the unmanned ship, the propeller is used for providing driving force for the unmanned ship, the lifting platform is used for retracting and releasing the underwater unmanned aerial vehicle, and the electric winder is used for controlling the retraction and release of the retracting and releasing mooring rope.
Preferably, the propellers are all inclined at 45 degrees, the propellers provide power support for the unmanned ship, the layout square ruler adopts a proper layout inclined at 45 degrees, water flow in all directions can be effectively resisted, according to the GPS-RTK system and the electronic compass, the unmanned ship can be fixed in one longitude and latitude and the bow is fixed in one direction, the position of a signal receiver falling and placed can be fixed, the system can acquire the position of the underwater unmanned ship through the USBL technology, and finally the actual geographic coordinate of the underwater unmanned ship is converted according to the longitude and latitude.
Preferably, the control box lateral wall rotates installs the chamber door, the chamber door is fixed with sealing rubber pad with the contact position of control box, and the chamber door that sets up is convenient for the maintenance and the change of each module in the control box, and the sealing rubber pad of setting is used for guaranteeing the leakproofness of control box, avoids intaking in the control box, leads to inside device to damage.
Advantageous effects
The invention provides an unmanned ship control system. Compared with the prior art, the method has the following beneficial effects:
(1) this unmanned ship control system can effectually keep out each direction's rivers through setting up 45 propellers of putting to one side, simultaneously according to GPS-RTK system and electron compass, can fix unmanned ship in a longitude and latitude while the fixed direction of bow, can make the position of the signal receiver who drops to fix, and the system can acquire unmanned aerial vehicle's position under water through USBL technique, converts into unmanned aerial vehicle's actual geographical coordinate under water according to self longitude and latitude at last.
(2) This unmanned ship control system, through the wireless communication module who sets up, can transmit the picture that unmanned aerial vehicle shot under water that signal receiver received and unmanned aerial vehicle's real-time position under water to the remote control platform, can link unmanned aerial vehicle and unmanned ship on water under water, realize accurate location under water, real-time video big data transmission and long-range real-time control.
Drawings
FIG. 1 is a perspective view of the external structure of the present invention;
fig. 2 is a block diagram of the system architecture of the present invention.
In the figure 1, a lifting platform; 2. a buoyancy compartment; 3. a mounting frame; 4. a propeller; 5. an electric winder; 6. an underwater unmanned aerial vehicle; 7. a signal receiver; 8. a signal transmitter; 9. a control box; 10. a controller; 11. a wireless communication module; 12. a remote console; 13. a GPS-RTK system; 14. an electronic compass.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
please refer to fig. 1-2, an unmanned ship control system, including lift platform 1, lift platform 1 front and back both ends equal fixed mounting has buoyancy cabin 2, 2 equal fixedly connected with two mounting brackets 3 of buoyancy cabin diapire, equal fixed mounting has propeller 4 on the mounting bracket 3, fixed mounting has electronic spooler 5 between 2 right sides in two buoyancy cabins, electronic spooler 5 is connected with unmanned aerial vehicle 6 under water through receiving and releasing hawser, lift platform 1 bottom is installed signal receiver 7 through the cable, 6 top fixed mounting of unmanned aerial vehicle under water has signal transmitter 8 with signal receiver 7 assorted, 5 top fixed mounting of electronic spooler possess control box 9 (not drawn in the picture).
Install controller 10 in the control box 9, controller 10 signal connection has wireless communication module 11, and wireless communication module 11 signal connection has distal end control cabinet 12, can transmit the picture that unmanned aerial vehicle 6 shot under water and unmanned aerial vehicle 6's real-time position under water to distal end control cabinet 12 with signal receiver 7 receipt through the wireless communication module 11 that sets up. The control box 9 is also internally provided with a GPS-RTK system 13 and an electronic compass 14, and the GPS-RTK system 13 and the electronic compass 14 are used for measuring the orientation and the geographic position of the unmanned ship. The controller 10 is in signal connection with the propeller 4, the electric winder 5, the signal receiver 7, the GPS-RTK system 13 and the electronic compass 14. The wireless communication module 11 is any one or combination of a ZigBee module, a WIFI communication module, a LoRa communication module and a 5G communication module.
Buoyancy cabin 2 is used for providing buoyancy for unmanned ship, and propeller 4 is used for providing drive power for unmanned ship, and lift platform 1 is used for receiving and releasing unmanned aerial vehicle 6 under water, and electronic spooler 5 is used for controlling receiving and releasing of receiving and releasing hawser. Propeller 4 all is 45 slopes to set up, propeller 4 provides power support for unmanned ship, the right amount overall arrangement that the overall arrangement square ruler adopted 45 to put to one side, can effectually keep out the rivers of all directions, according to GPS-RTK system 13 and electron compass 14, can fix unmanned ship in a longitude and latitude while the fixed direction of bow, can make the position of falling the signal receiver 7 of putting can fix, the system can acquire unmanned aerial vehicle 6's position under water through USBL technique, convert into unmanned aerial vehicle 6's actual geographical coordinate under water according to self longitude and latitude at last. The side wall of the control box 9 is rotatably provided with a box door, and a sealing rubber pad is fixed at the contact position of the box door and the control box 9. The chamber door that sets up is convenient for the maintenance and the change of each module in the control box 9, and the sealing rubber pad of setting is used for guaranteeing the leakproofness of control box 9, avoids intaking in the control box 9, leads to inside device to damage.
And those not described in detail in this specification are well within the skill of those in the art.
According to the invention, the propeller 4 which is obliquely arranged at 45 degrees can effectively resist water flow in all directions, meanwhile, according to the GPS-RTK system 13 and the electronic compass 14, the unmanned ship can be fixed in a longitude and latitude and the bow in one direction, the position of the dropped signal receiver 7 can be fixed, the system can obtain the position of the underwater unmanned aerial vehicle 6 through the USBL technology, and finally the actual geographic coordinate of the underwater unmanned aerial vehicle 6 is converted according to the longitude and latitude; through the wireless communication module 11 that sets up, can transmit the picture that unmanned aerial vehicle 6 shot under water and unmanned aerial vehicle 6's real-time position under water to distal end control cabinet 12 received with signal receiver 7, can link unmanned aerial vehicle 6 under water and unmanned ship on water, realize accurate location under water, real-time video big data transmission and long-range real-time control.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An unmanned ship control system, includes lift platform (1), its characterized in that: the utility model discloses a lift platform, including lift platform (1), buoyancy cabin (2) are all fixed mounting at both ends around lift platform (1), two mounting brackets (3) of the equal fixedly connected with of buoyancy cabin (2) diapire, equal fixed mounting has propeller (4) on mounting bracket (3), and fixed mounting has electronic spooler (5) between two buoyancy cabin (2) right sides, electronic spooler (5) are connected with unmanned aerial vehicle (6) under water through receiving and releasing hawser, signal receiver (7) are installed through the cable in lift platform (1) bottom, unmanned aerial vehicle (6) top fixed mounting under water have with signal receiver (7) assorted signal transmitter (8), electronic spooler (5) top fixed mounting possess control box (9).
2. The unmanned marine vessel control system according to claim 1, wherein: install controller (10) in control box (9), controller (10) signal connection has wireless communication module (11), wireless communication module (11) signal connection has distal end control cabinet (12).
3. The unmanned marine vessel control system according to claim 1, wherein: and a GPS-RTK system (13) and an electronic compass (14) are further installed in the control box (9), and the GPS-RTK system (13) and the electronic compass (14) are used for measuring the orientation and the geographic position of the unmanned ship.
4. The unmanned marine vessel control system according to claim 2, wherein: the controller (10) is in signal connection with the propeller (4), the electric winder (5), the signal receiver (7), the GPS-RTK system (13) and the electronic compass (14).
5. The unmanned marine vessel control system according to claim 2, wherein: the wireless communication module (11) is any one or combination of a ZigBee module, a WIFI communication module, a LoRa communication module and a 5G communication module.
6. The unmanned marine vessel control system according to claim 1, wherein: the buoyancy cabin (2) is used for providing buoyancy for the unmanned ship, the propeller (4) is used for providing driving force for the unmanned ship, the lifting platform (1) is used for retracting and releasing the underwater unmanned aerial vehicle (6), and the electric winder (5) is used for controlling the retraction and release of the retractable mooring rope.
7. The unmanned marine vessel control system according to claim 1, wherein: the propellers (4) are all arranged in an inclined manner at an angle of 45 degrees.
8. The unmanned marine vessel control system according to claim 1, wherein: and a box door is rotatably arranged on the side wall of the control box (9), and a sealing rubber pad is fixed at the contact position of the box door and the control box (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111622854.XA CN114394202A (en) | 2021-12-28 | 2021-12-28 | Unmanned ship control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111622854.XA CN114394202A (en) | 2021-12-28 | 2021-12-28 | Unmanned ship control system |
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| Publication Number | Publication Date |
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| CN114394202A true CN114394202A (en) | 2022-04-26 |
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| CN202111622854.XA Pending CN114394202A (en) | 2021-12-28 | 2021-12-28 | Unmanned ship control system |
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| CN109850081A (en) * | 2019-03-15 | 2019-06-07 | 中国海洋大学 | The more floating bodies of sail power-assisted link nobody carrying platform waterborne and control method |
| CN109991669A (en) * | 2019-04-11 | 2019-07-09 | 河海大学 | A kind of underwater magnetic method detection system of unmanned boat towing |
| CN110606180A (en) * | 2019-09-25 | 2019-12-24 | 杭州电子科技大学 | Power system of underwater small robot |
| CN111268071A (en) * | 2020-02-13 | 2020-06-12 | 重庆大学 | Split towing cable type water surface-underwater unmanned aircraft |
| CN111289304A (en) * | 2020-03-05 | 2020-06-16 | 集美大学 | Water quality sampling unmanned ship system with dynamic positioning function |
| CN112249280A (en) * | 2020-11-10 | 2021-01-22 | 深圳潜行创新科技有限公司 | Unmanned ship carrying underwater vehicle |
| CN112644646A (en) * | 2020-11-24 | 2021-04-13 | 浙江理工大学 | Underwater robot intelligent system for large-water-area fish resource investigation and working method |
| CN113086104A (en) * | 2021-03-24 | 2021-07-09 | 深圳市人工智能与机器人研究院 | Modularized omnidirectional unmanned ship capable of being spliced independently |
-
2021
- 2021-12-28 CN CN202111622854.XA patent/CN114394202A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
| CN109850081A (en) * | 2019-03-15 | 2019-06-07 | 中国海洋大学 | The more floating bodies of sail power-assisted link nobody carrying platform waterborne and control method |
| CN109991669A (en) * | 2019-04-11 | 2019-07-09 | 河海大学 | A kind of underwater magnetic method detection system of unmanned boat towing |
| CN110606180A (en) * | 2019-09-25 | 2019-12-24 | 杭州电子科技大学 | Power system of underwater small robot |
| CN111268071A (en) * | 2020-02-13 | 2020-06-12 | 重庆大学 | Split towing cable type water surface-underwater unmanned aircraft |
| CN111289304A (en) * | 2020-03-05 | 2020-06-16 | 集美大学 | Water quality sampling unmanned ship system with dynamic positioning function |
| CN112249280A (en) * | 2020-11-10 | 2021-01-22 | 深圳潜行创新科技有限公司 | Unmanned ship carrying underwater vehicle |
| CN112644646A (en) * | 2020-11-24 | 2021-04-13 | 浙江理工大学 | Underwater robot intelligent system for large-water-area fish resource investigation and working method |
| CN113086104A (en) * | 2021-03-24 | 2021-07-09 | 深圳市人工智能与机器人研究院 | Modularized omnidirectional unmanned ship capable of being spliced independently |
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Application publication date: 20220426 |