CN117452956A - Underwater robot with electronic fence emergency system - Google Patents
Underwater robot with electronic fence emergency system Download PDFInfo
- Publication number
- CN117452956A CN117452956A CN202311799175.9A CN202311799175A CN117452956A CN 117452956 A CN117452956 A CN 117452956A CN 202311799175 A CN202311799175 A CN 202311799175A CN 117452956 A CN117452956 A CN 117452956A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- electronic fence
- module
- emergency system
- emergency
- 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
- 238000004891 communication Methods 0.000 claims abstract description 35
- 230000003993 interaction Effects 0.000 claims abstract description 11
- 238000013500 data storage Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 12
- 230000009191 jumping Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 239000013307 optical fiber Substances 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000007726 management method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses an underwater robot with an electronic fence emergency system, which relates to the field of underwater robots and comprises an upper computer system, a main control module, a communication positioning module, an energy module and a power module, wherein the main control module, the communication positioning module, the energy module and the power module are arranged in the underwater robot, the upper computer system is in wireless interaction with the communication positioning module, the main control module is respectively connected with the communication positioning module, the energy module and the power module through a CAN bus, the main control module comprises an automatic driving unit, a sensor data processing unit, an emergency unit, a navigation data storage unit and a data interaction unit, the electronic fence emergency system is arranged in the emergency unit, and the electronic fence emergency system is used for judging whether the underwater robot is positioned in an electronic fence. The underwater robot with the electronic fence emergency system can effectively reduce the possibility of safety threat and even loss caused by the deviation of the underwater robot from the route.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater robot with an electronic fence emergency system.
Background
Underwater robots have received widespread attention worldwide as an important interest in exploring the ocean. Underwater robots are also facing great hazards and challenges while exploring the underwater world. The richness of the functions of the underwater robot, the stability and the safety of the equipment influence the effect of completing tasks of the underwater robot, and even determine whether the underwater robot is lost or not. Problems can occur in various parts of the underwater robot at present, so that the underwater robot deviates from a route and cannot return, and the safety of the underwater robot is greatly influenced. Meanwhile, due to the complexity and uncertainty of the underwater environment, the underwater robot may face some potential risks such as collision, damage, etc. when performing tasks. Therefore, in order to protect the safety of the underwater robot and to improve the task execution efficiency, it is very necessary to develop an underwater robot having an electronic fence emergency system.
Disclosure of Invention
The invention aims to provide an underwater robot with an electronic fence emergency system, which can effectively limit the operation range of the underwater robot and greatly improve the safety of the underwater robot.
In order to achieve the above-mentioned purpose, an underwater robot with electronic fence emergency system, including host computer system and set up main control module, communication orientation module, energy module, power module in the underwater robot, host computer system is wireless mutual with communication orientation module, main control module is connected through the CAN bus respectively with communication orientation module, energy module, power module, be provided with electronic fence emergency system in the main control module, host computer system sets up the boundary point and the quantity of electronic fence through wireless communication, electronic fence boundary point is arranged clockwise or anticlockwise, electronic fence emergency system is arranged in order to judge whether underwater robot is arranged in the electronic fence, concrete steps are as follows:
step 1: firstly, establishing a coordinate system, taking an origin of longitude and latitude of the earth as the origin of the coordinate system, taking east-west longitude number as an x coordinate value, wherein the east-west longitude number is positive, and the west longitude number is negative; taking the north and south latitude degrees as y coordinates to take values, wherein the north latitude degrees are positive and the south latitude degrees are negative;
obtaining a current value: coordinates of underwater robot，/>，/>Number of boundary points of electronic fencen,/>Coordinates of the electronic boundary points ∈ ->；
Step 2: taking the variableNumber of intersections->；
Step 3: judging whether or notIf yes, continuing to execute the step 4, and if no, jumping to the step 9;
step 4: judgingWhether or not to be at the side->If yes, assigning the number of intersections P=1, and jumping to the step 9; if not, continuing to execute the step 5;
step 5: let's assume a point of originTo virtual point->Emitting a horizontal ray, < > and>or->The horizontal ray is parallel to the x-axis, and the horizontal ray and the side are judged>If the intersection point exists, continuing to execute the step 6; if not, jumping to the step 8;
step 6: judgment of the basisEmitted horizontal rays and edges->Whether the vertex is intersected or not, if so, continuing to execute the step 7; if no, the number of intersections +.>And jumps to step 8;
step 7: judgingAnd->Whether or not to distribute on both sides of the horizontal ray, +.>When (I)>Get->；/>When (I)>Taking 0, if yes, the number of crossing points +.>And jumps to step 8; if not, directly executing the step 8;
step 8: proceeding withOperating, and then jumping to the step 3;
step 9: judging whether the number P of intersections is an odd number or not, if so, judging that the position of the underwater robot is in the electronic fence; if not, judging that the underwater robot is not in the electronic fence, stopping the operation of the power module, carrying out emergency floating, sending a position through the satellite communication device after floating, and waiting for rescue or a new instruction.
Preferably, in step 4, it is judged thatWhether or not to be at the side->The method comprises the following steps:
calculation pointAnd (2) with the side->Whether the slope formula of the straight line fits or not, and the fit meets the requirement，/>Decision Point->At the side->And otherwise, not.
Preferably, in step 5, the determination of the from pointTo virtual point->Emitted horizontal rays and edges->The method for judging whether the intersection point exists comprises the following steps:
step 5.1: if it isAnd->The larger number of which is smaller than +.>And->If the number is smaller, the two lines have no intersection point, otherwise, the step 5.2 is continued;
step 5.2: if it isLess than->And->If the number is smaller, the two lines have no intersection point, otherwise, the step 5.3 is continued;
step 5.3: if it isAnd->The larger number of which is smaller than +.>And->If the two lines have no intersection point, if the two lines have smaller numbers, the step is continuedStep 5.4;
step 5.4: if it isAnd->The larger number of which is smaller than +.>If the two lines have no intersection point, otherwise, continuing to step 5.5;
step 5.5: if vectorAnd->Cross product and vector->And->Cross product result of (a) is different from sign, namely: />Indicating point->And (4) point->Not distributed in vector->I.e. the two lines have no intersection point, otherwise, continuing to step 5.6;
step 5.6: if vectorAnd->Cross product and vector->And->Cross product result of (a) is different from sign, namely: />Indicate dot->And->Is not distributed in->I.e. the two lines have no intersection point, otherwise there is an intersection point.
Preferably, in step 6, the judgment is made byEmitted horizontal rays and edges->The method for judging whether the vertex is intersected or not is as follows:
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex;
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex.
Preferably, in step 7, it is judged thatAnd->The method for judging whether the horizontal rays are distributed on two sides of the horizontal rays is as follows: if it meets->And->Then->And->Distributed on both sides of the horizontal ray, otherwise not on both sides.
Preferably, the main control module includes:
the automatic driving unit is used for controlling the underwater robot to complete a sailing task;
the sensor data processing unit is used for receiving the sensor information;
the emergency unit is internally provided with an electronic fence emergency system;
navigation data storage unit for storing navigation information;
and the data interaction unit is used for carrying out data interaction among the modules.
Preferably, the main control module is connected with an optical fiber inertial navigation device, a Doppler tester, a depth gauge, a water leakage detection device, a throwing device, a stroboscopic lamp and a altimeter, the optical fiber inertial navigation device and the Doppler tester are combined to provide underwater position information for the underwater robot, and the depth gauge provides depth information for the underwater robot.
Preferably, the communication positioning module is connected with a WIFI device, a satellite communication device, a GPS device and a radio device, and the WIFI device is used for extracting internal task data of the underwater robot; the satellite communication device is used for maintaining the water surface communication of the underwater robot; the GPS device provides water surface position information for the underwater robot; the radio device is used for short-range control of the underwater robot.
Preferably, the energy module is connected with the battery management system, the vacuum sensor and the temperature and humidity sensor, and the power module is connected with the propeller device and the steering engine device.
Therefore, the underwater robot with the electronic fence emergency system has the advantages that the position and the motion state of the underwater robot are monitored by setting a certain electronic fence range, and the possible collision risk is timely detected. Once the underwater robot approaches the boundary of the range of the electronic fence, the system can give an alarm in time to remind operators to take action, so that potential accidents are avoided, and the possibility that safety threat or even loss is caused by the fact that the underwater robot deviates from the air line can be effectively reduced. The underwater robot contacts with the shore-based control console through satellite communication after floating, so that a guarantee is provided for subsequent rescue.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a system architecture diagram of an embodiment of an underwater robot with an electronic fence emergency system of the present invention;
FIG. 2 is a schematic diagram of a master control module according to an embodiment of the present invention;
fig. 3 is a flowchart of determining a position of an underwater robot according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Examples
As shown in fig. 1, the underwater robot with the electronic fence emergency system comprises an upper computer system, a main control module, a communication positioning module, an energy module and a power module, wherein the main control module, the communication positioning module, the energy module and the power module are arranged in the underwater robot, the upper computer system is in wireless interaction with the communication positioning module, the main control module is connected with the communication positioning module, the energy module and the power module through a CAN bus respectively, and the CAN bus executes the communication function among the modules.
As shown in fig. 2, the main control module comprises an automatic driving unit, a sensor data processing unit, an emergency unit, a navigation data storage unit and a data interaction unit, wherein an electronic fence emergency system and other emergency systems are arranged in the emergency unit, and the electronic fence emergency system is used for judging whether the underwater robot is located in the electronic fence or not and guaranteeing the safety of the underwater robot. The automatic driving unit controls the underwater robot to complete a sailing task; the sensor data processing unit receives the sensor information; the navigation data storage unit stores navigation information; the data interaction unit performs data interaction among the modules.
One end of the main control module is connected with the CAN bus, and the other end of the main control module is connected with an optical fiber inertial navigation, doppler tester (Doppler Velocity Log, DVL), a depth gauge, a water leakage detection device, a load rejection device, a stroboscopic lamp and an altimeter, and the optical fiber inertial navigation and Doppler tester are combined to calculate the underwater position, so that the accuracy of the position is ensured; the depth gauge provides depth information for the underwater robot. The load rejection device and the strobe light are used in emergency situations. One end of the communication positioning module is connected with the CAN bus, and the other end is connected with the WIFI device, the satellite communication device, the GPS device (global positioning system ) and the radio device. The WIFI device is used for extracting internal task data of the underwater robot; the satellite communication device is used for maintaining the water surface communication of the underwater robot and ensuring that the underwater robot can communicate at any position on the water surface; the GPS device provides water surface position information for the underwater robot; the radio device is used for short-range control of the underwater robot.
The energy module is connected with a battery management system (Battery Management System, BMS), a vacuum degree sensor and a temperature and humidity sensor, and the BMS provides various information of the battery; the vacuum degree sensor and the temperature and humidity sensor can provide cabin environment information of the underwater robot. The power module is connected with the propeller device and the steering engine device and provides power for the underwater robot. And transmitting data of sensors such as optical fiber inertial navigation, DVL, depth gauge, water leakage detection device, altimeter, vacuum sensor, temperature and humidity sensor and the like to a sensor data processing unit for processing.
An application of an underwater robot with an electronic fence emergency system is characterized in that an upper computer system interacts with a communication module, electronic fence boundary points and the number of the electronic fence boundary points are set through wireless communication, and the electronic fence boundary points are arranged clockwise or anticlockwise.
The electronic fence emergency system judges whether the underwater robot is positioned in the electronic fence, as shown in fig. 3, and specifically comprises the following steps:
step 1: firstly, establishing a coordinate system, taking an origin of longitude and latitude of the earth as the origin of the coordinate system, taking east-west longitude number as an x coordinate value, wherein the east-west longitude number is positive, and the west longitude number is negative; taking the north and south latitude degrees as y coordinates to take values, wherein the north latitude degrees are positive and the south latitude degrees are negative; obtaining a current value: coordinates of underwater robot，/>，/>Number of boundary points of electronic fencen,/>Seating of electronic boundary pointsMark->；
Step 2: taking the variableNumber of intersections->；
Step 3: judging whether or notIf yes, continuing to execute the step 4, and if no, jumping to the step 9;
step 4: judgingWhether or not to be at the side->If yes, assigning the number of intersections P=1, and jumping to the step 9; if not, continuing to execute the step 5;
the judgment method is a calculation pointAnd (2) with the side->Whether the slope formula of the line is fit and whether +.>，/>. The purpose of this step is to determine the coincidence of the underwater robot with the boundary of the electronic fence, when the point +.>At the side->The underwater robot is considered to be in electricityIn the sub-fence, the step 9 can be directly skipped and the loop is ended, and the subsequent judgment is not needed.
Step 5: let's assume a point of originTo virtual point->Emitting a horizontal ray, < > and>or->The horizontal ray is parallel to the x-axis, and the horizontal ray and the side are judged>If the intersection point exists, continuing to execute the step 6; if not, jumping to the step 8;
the judging method comprises the following steps:
step 5.1: if it isAnd->The larger number of which is smaller than +.>And->If the number is smaller, the two lines have no intersection point, otherwise, the step 5.2 is continued;
step 5.2: if it isLess than->And->Middle comparisonIf the number is small, the two lines have no intersection point, otherwise, the step 5.3 is continued;
step 5.3: if it isAnd->The larger number of which is smaller than +.>And->If the two lines have no intersection point, otherwise, continuing to step 5.4;
step 5.4: if it isAnd->The larger number of which is smaller than +.>If the two lines have no intersection point, otherwise, continuing to step 5.5;
step 5.5: if it isIf the two lines have no intersection point, otherwise, continuing to step 5.6;
step 5.6: if it isThe two lines have no intersection or else there is an intersection.
Step 6: judgment of the basisEmitted horizontal rays and edges->Whether intersecting on the vertex, the judging method is as follows:
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex;
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex.
Step 7: judgingAnd->Whether or not to distribute on both sides of the horizontal ray, +.>When (I)>Get->；/>Time->Taking 0, and judging the method as follows: if it meets->And->Then->And->Distributed on both sides of the horizontal ray, otherwise not on both sides. If so, the number of intersections +.>And jumps to step 8; if not, step 8 is directly performed.
At a known point by calculationAnd (4) point->Horizontal rays and edges of the composition>Intersecting, and in the case of the vertex, if two end point coordinates adjacent to the intersection +.>And->Distributed on both sides of the horizontal ray, the point +.>The horizontal line of the electronic fence passes through the polygon of the electronic fence, and the same intersection point is +.>And->Only one of the two determinations of +.>And->The condition of the two ends of the horizontal ray is distributed, so that the intersection point number P is counted as an odd number; if->And->Distributed on the same side of the horizontal ray, then the expression point +.>And (4) point->Forming a horizontal ray with only one vertex of the electronic fenceCrossing at this point +.>The number of the intersections is not accumulated when the electronic fence is not arranged.
Step 8: proceeding withOperation then jump to stepAnd step 3.
Step 9: judging whether the number P of intersections is an odd number or not, if so, judging that the position of the underwater robot is in the electronic fence; if not, judging that the underwater robot is not in the electronic fence, stopping the operation of the power module, carrying out emergency floating, sending a position through the satellite communication device after floating, and waiting for rescue or a new instruction.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (9)
1. The utility model provides an underwater robot with electronic fence emergency system, includes host computer system and sets up main control module, communication positioning module, energy module, the power module in underwater robot, host computer system and communication positioning module wireless interaction, and main control module is connected its characterized in that through CAN bus respectively with communication positioning module, energy module, power module: the main control module is provided with an electronic fence emergency system, the upper computer system sets boundary points and quantity of the electronic fences through wireless communication, the boundary points of the electronic fences are arranged clockwise or anticlockwise, and the electronic fence emergency system is used for judging whether an underwater robot is located in the electronic fence or not, and the specific steps are as follows:
step 1: firstly, establishing a coordinate system, taking an origin of longitude and latitude of the earth as the origin of the coordinate system, taking east-west longitude number as an x coordinate value, wherein the east-west longitude number is positive, and the west longitude number is negative; taking the north and south latitude degrees as y coordinates to take values, wherein the north latitude degrees are positive and the south latitude degrees are negative;
obtaining a current value: coordinates of underwater robot，/>，/>Number of boundary points of electronic fencen,/>Coordinates of the electronic boundary points ∈ ->；
Step 2: taking the variableNumber of intersections->；
Step 3: judging whether or notIf yes, continuing to execute the step 4, and if no, jumping to the step 9;
step 4: judgingWhether or not to be at the side->If yes, assigning the number of intersections P=1, and jumping to the step 9; if not, continuing to execute the step 5;
step 5: let's assume a point of originTo virtual point->Emitting a horizontal ray, < > and>or->The horizontal ray is parallel to the x-axis, and the horizontal ray and the side are judged>If the intersection point exists, continuing to execute the step 6; if not, jumping to the step 8;
step 6: judgment of the basisEmitted horizontal rays and edges->Whether the vertex is intersected or not, if so, continuing to execute the step 7; if no, the number of intersections +.>And jumps to step 8;
step 7: judgingAnd->Whether or not to distribute on both sides of the horizontal ray, +.>When (I)>Get->；Time->Taking 0, if yes, the number of crossing points +.>And jumps to step 8; if not, directly executing the step 8;
step 8: proceeding withOperating, and then jumping to the step 3;
step 9: judging whether the number P of intersections is an odd number or not, if so, judging that the position of the underwater robot is in the electronic fence; if not, judging that the underwater robot is not in the electronic fence, stopping the operation of the power module, carrying out emergency floating, sending a position through the satellite communication device after floating, and waiting for rescue or a new instruction.
2. An underwater robot having an electronic fence emergency system as set forth in claim 1 wherein: in step 4, judgeWhether or not to be at the side->The method comprises the following steps:
calculation pointAnd (2) with the side->Whether the slope formula of the straight line fits, fits and satisfies +.>，Decision Point->At the side->And otherwise, not.
3. An underwater robot having an electronic fence emergency system as set forth in claim 1 wherein: in step 5, the determination of the from pointTo virtual point->Emitted horizontal rays and edges->The method for judging whether the intersection point exists comprises the following steps:
step 5.1: if it isAnd->The larger number of which is smaller than +.>And->If the number is smaller, the two lines have no intersection point, otherwise, the step 5.2 is continued;
step 5.2: if it isLess than->And->If the number is smaller, the two lines have no intersection point, otherwise, the step 5.3 is continued;
step 5.3: if it isAnd->The larger number of which is smaller than +.>And->If the two lines have no intersection point, otherwise, continuing to step 5.4;
step 5.4: if it isAnd->The larger number of which is smaller than +.>If the two lines have no intersection point, otherwise, continuing to step 5.5;
step 5.5: if it isIf the two lines have no intersection point, otherwise, continuing to step 5.6;
step 5.6: if it isThe two lines have no intersection or else there is an intersection.
4. An underwater robot having an electronic fence emergency system as set forth in claim 1 wherein: in step 6, the judgment is made byEmitted horizontal rays and edges->The method for judging whether the vertex is intersected or not is as follows:
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex;
if the point is>Satisfy->And->Or satisfy->And->When the vertex is not satisfied, the vertex is not intersected with the vertex.
5. An underwater robot having an electronic fence emergency system as set forth in claim 1 wherein: in step 7, judgeAnd->The method for judging whether the horizontal rays are distributed on two sides of the horizontal rays is as follows: if it meetsAnd->Then->And->Distributed on both sides of the horizontal ray, otherwise not on both sides.
6. An underwater robot having an electronic fence emergency system as set forth in claim 1 wherein: the main control module comprises:
the automatic driving unit is used for controlling the underwater robot to complete a sailing task;
the sensor data processing unit is used for receiving the sensor information;
the emergency unit is internally provided with an electronic fence emergency system;
navigation data storage unit for storing navigation information;
and the data interaction unit is used for carrying out data interaction among the modules.
7. An underwater robot having an electronic fence emergency system as set forth in claim 6 wherein: the main control module is connected with the optical fiber inertial navigation device, the Doppler tester, the depth gauge, the water leakage detection device, the throwing device, the stroboscopic lamp and the altimeter, the optical fiber inertial navigation device and the Doppler tester are combined to provide underwater position information for the underwater robot, and the depth gauge provides depth information for the underwater robot.
8. An underwater robot having an electronic fence emergency system as set forth in claim 7 wherein: the communication positioning module is connected with the WIFI device, the satellite communication device, the GPS device and the radio device, and the WIFI device is used for extracting internal task data of the underwater robot; the satellite communication device is used for maintaining the water surface communication of the underwater robot; the GPS device provides water surface position information for the underwater robot; the radio device is used for short-range control of the underwater robot.
9. An underwater robot having an electronic fence emergency system as set forth in claim 8 wherein: the energy module is connected with the battery management system, the vacuum degree sensor and the temperature and humidity sensor, and the power module is connected with the propeller device and the steering engine device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311799175.9A CN117452956A (en) | 2023-12-26 | 2023-12-26 | Underwater robot with electronic fence emergency system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311799175.9A CN117452956A (en) | 2023-12-26 | 2023-12-26 | Underwater robot with electronic fence emergency system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117452956A true CN117452956A (en) | 2024-01-26 |
Family
ID=89584141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311799175.9A Pending CN117452956A (en) | 2023-12-26 | 2023-12-26 | Underwater robot with electronic fence emergency system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117452956A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170262732A1 (en) * | 2014-08-01 | 2017-09-14 | Shenzhen Cimc-Tianda Airport Support Ltd. | System and method for aircraft docking guidance and aircraft type identification |
| CN107505441A (en) * | 2017-07-14 | 2017-12-22 | 武汉飞令机器人科技有限公司 | A kind of Biomimetic Fish device that Water quality monitoring and analysis is carried out by internet |
| CN113867244A (en) * | 2021-08-27 | 2021-12-31 | 山东大学 | Beidou-based electronic fence non-road vehicle monitoring platform system and working method thereof |
| CN114895569A (en) * | 2022-06-06 | 2022-08-12 | 天津瀚海蓝帆海洋科技有限公司 | AUV quantization feedback sliding mode trajectory tracking control method based on nonlinear disturbance observer |
| CN117214935A (en) * | 2023-08-17 | 2023-12-12 | 武汉依迅北斗时空技术股份有限公司 | Position monitoring method and device based on satellite positioning |
-
2023
- 2023-12-26 CN CN202311799175.9A patent/CN117452956A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170262732A1 (en) * | 2014-08-01 | 2017-09-14 | Shenzhen Cimc-Tianda Airport Support Ltd. | System and method for aircraft docking guidance and aircraft type identification |
| CN107505441A (en) * | 2017-07-14 | 2017-12-22 | 武汉飞令机器人科技有限公司 | A kind of Biomimetic Fish device that Water quality monitoring and analysis is carried out by internet |
| CN113867244A (en) * | 2021-08-27 | 2021-12-31 | 山东大学 | Beidou-based electronic fence non-road vehicle monitoring platform system and working method thereof |
| CN114895569A (en) * | 2022-06-06 | 2022-08-12 | 天津瀚海蓝帆海洋科技有限公司 | AUV quantization feedback sliding mode trajectory tracking control method based on nonlinear disturbance observer |
| CN117214935A (en) * | 2023-08-17 | 2023-12-12 | 武汉依迅北斗时空技术股份有限公司 | Position monitoring method and device based on satellite positioning |
Non-Patent Citations (1)
| Title |
|---|
| 顾国昌等: "一种用于移动机器人路径规划的凸区划分算法", 中国人工智能学会智能机器人专业委员会首届学术研讨会论文集, 31 July 1993 (1993-07-31), pages 155 - 161 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102013175B (en) | Mid-term air traffic conflict detection method based on 4D flight path and radar data | |
| CN104808682B (en) | Small-sized rotor wing unmanned aerial vehicle automatic obstacle avoiding flight control method | |
| TWI714040B (en) | A vessel navigation system and navigation method thereof | |
| JP7222879B2 (en) | Transportation hazard early warning methods, devices, equipment and media | |
| CN110069071A (en) | Navigation of Pilotless Aircraft method and apparatus, storage medium, electronic equipment | |
| CN110134143A (en) | A kind of electric inspection process method, system and electronic equipment and storage medium | |
| CN106646557A (en) | Beidou satellite based augmentation system and short message function-based marine monitoring buoy | |
| CN102163060B (en) | Early warning method for collision avoidance of helicopter in training flight | |
| CN104820429A (en) | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof | |
| CN102541066A (en) | Automatic height fixing control method for unmanned spacecraft operation | |
| CN102506872B (en) | Method for judging flight route deviation | |
| CN106093992A (en) | A kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid | |
| Xinchi et al. | A research on intelligent obstacle avoidance for unmanned surface vehicles | |
| CN113602265A (en) | Processing cooperative lane changing method and system based on vehicle-to-vehicle communication | |
| CN116540784A (en) | Unmanned system air-ground collaborative navigation and obstacle avoidance method based on vision | |
| CN108181905A (en) | A kind of obstacle avoidance method and system of pilotless automobile | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| JP2011138900A (en) | Apparatus for control of solar cell panel | |
| CN117452956A (en) | Underwater robot with electronic fence emergency system | |
| Senthilkumar et al. | Vehicle accident management and control system using MQTT | |
| CN111443019A (en) | Group mist detection device and group mist movement direction determination method | |
| CN116453378A (en) | Unmanned aerial vehicle navigation section handover switching method and device | |
| CN202641742U (en) | Anti-collision system for large railway maintenance locomotives | |
| CN114047514A (en) | Unmanned ship navigation method based on millimeter wave radar | |
| JP2006277538A (en) | Inter-vehicle communication 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 |