CN206178469U - Unmanned ship control system - Google Patents
Unmanned ship control system Download PDFInfo
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- CN206178469U CN206178469U CN201620891924.XU CN201620891924U CN206178469U CN 206178469 U CN206178469 U CN 206178469U CN 201620891924 U CN201620891924 U CN 201620891924U CN 206178469 U CN206178469 U CN 206178469U
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- control system
- unmanned boat
- boat control
- dsc
- smp
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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the utility model discloses unmanned ship control system, include: the many coprocessor SMP of symmetry, digital signal controller DSC, attitude sensor, data radio station, orientation module and switching power supply. The navigation of SMP decision -making planning unmanned ship, and the complicated algorithm of operation, DSC carries out unmanned ship navigation control, SMP and DSC carry out data interchange, cooperation each other through bus connection, orientation module and attitude sensor can acquire position, attitude information, realize accurate navigation, data radio station realizes and the bank base communication, it can supply power for the equipment outside system self and the system to be equipped with switching power supply. The utility model discloses a solitary SMP and DSC for integrated, the expanded strong and operation ability superiority of this system height. In addition, this system has still reserved a large amount of unmanned ship control interface and communication interface, makes things convenient for load external sensor such as camera, bathymetric survey appearance, water quality testing appearance and install and use on various unmanned ship platforms on water under water, has wide application prospect.
Description
Technical field
This utility model embodiment is related to field of computer technology, and in particular to a kind of unmanned boat control system.
Background technology
Unmanned boat is a kind of intelligent measuring platform waterborne.It is mainly used in waters such as coastal waters, river, lake, reservoirs
The monitoring of the hydrology, water environment and Ecology and information gathering, and on the basis of real-time processing and analysis, communicate information to bank base
Receiving device.
The daily hydrology, water environment and Ecology observed pattern are still based on control section, sampling and ocean weather station observation, and observation is flat
Platform is also that traditional dragging is pulled or pull-type miniature self-service ship, hand sampling device and portable measurement apparatus, and operating process is time-consuming to take
Power, and the data volume that can be obtained is extremely limited.Unmanned boat waterborne be solve these problems effective tool, it have it is unmanned,
Intelligent, expansible and easy to operate the features such as.Unmanned boat control system is the core for ensureing unmanned boat normal work waterborne
Part.
During this utility model embodiment is realized, inventor has found existing unmanned boat control system disposal ability
Difference, extended capability is not enough, it is impossible to run complicated algorithm.
Utility model content
Because existing unmanned boat control system disposal ability is poor, extended capability is not enough, it is impossible to run asking for complicated algorithm
Topic, this utility model embodiment proposes a kind of unmanned boat control system.
This utility model embodiment proposes a kind of unmanned boat control system, including：SMP (symmetrical many coprocessors), DSC
(digital signal controller), attitude transducer, data radio station, locating module and Switching Power Supply；
The SMP is connected respectively with the DSC, the data radio station and the locating module；
The DSC is connected with the attitude transducer.
Preferably, the unmanned boat control system also includes：PWM functional interfaces；
The PWM functional interfaces are controlled in the DSC controllers for unmanned boat external hardware.
Preferably, the unmanned boat control system also includes：CAN, RS485, RS232, UART, SPI basic communication interface；
The CAN is located in the SMP, for extending Water depth measuring instrument, water quality testing meter with the basic communication interfaces of RS232
Deng external sensor equipment.
RS485, RS232, UART, SPI basic communication interface is located in the DSC, for extending unmanned boat hull
The sensor assembly of control.
Preferably, the unmanned boat control system also includes：USB, Ethernet, HDMI, MicroSD advanced interface；
USB, Ethernet, HDMI, MicroSD advanced interface is located in the SMP processors, for extending USB
Equipment, the network equipment, display device, storage card.
Preferably, the unmanned boat control system also includes：Web camera；
The web camera is connected by the Ethernet advanced interfaces with SMP.
Preferably, the unmanned boat control system also includes：Avoiding obstacles by supersonic wave module；
The avoiding obstacles by supersonic wave module is connected with the DSC, for obtaining obstacle distance.
Preferably, the unmanned boat control system also includes：Switching Power Supply；
The Switching Power Supply is respectively the SMP, the DSC, the attitude transducer, the data radio station and described fixed
Position module for power supply, while also reserving difference electric pressure interface, uses for outside expansion equipment.
Preferably, the SMP processors are the IMX6Q of four core Cortex-A9.
Preferably, the DSC controllers are digital signal controller STM32.
Preferably, the attitude transducer is the axle assembled gesture sensors of onboard MPU9250 nine.
As shown from the above technical solution, this utility model embodiment realizes unmanned boat by attitude transducer, locating module
Positioning, navigation；By ultrasonic wave module, unmanned boat avoidance is realized；By data radio station, realize and the communication of bank base platform；Using
Single symmetrical many coprocessors and digital signal controller so that unmanned boat control system is highly integrated, expansible strong and fortune
Calculation disposal ability is superior, a large amount of unmanned boat control interfaces and communication interface that system is reserved, and convenient loading underwater camera, the depth of water are surveyed
The external sensor equipment such as amount instrument, water quality testing meter are simultaneously used on various unmanned boat platforms waterborne, should with wide
Use prospect.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative work
Under, can be with according to these other accompanying drawings of figures acquisition.
A kind of structural representation of unmanned boat control system that Fig. 1 is provided for the embodiment of this utility model one；
The structural representation of another kind of unmanned boat control system that Fig. 2 is provided for the embodiment of this utility model one.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of utility model is further described.Following examples are only used for more
Plus the technical solution of the utility model is clearly demonstrated, and protection domain of the present utility model can not be limited with this.
Fig. 1 shows a kind of schematic flow sheet of unmanned boat control system that the present embodiment is provided, including：SMP processors
101st, DSC controllers 102, attitude transducer 103, data radio station 104, locating module 105 and Switching Power Supply 106；
The SMP processors 101 respectively with the DSC controllers 102, the data radio station 104 and the locating module
105 connections；
The DSC controllers 102 are connected with the attitude transducer 103.
Wherein, the SMP processors 101 are used to process the data in the unmanned boat control system.Using symmetrical many places
Reason device, can computing complicated algorithm, unmanned boat navigation can be controlled, it is also possible to light various process demands of reply video, can
For judging ambient conditions.
The DSC controllers 102 are used for controlled motor and gather the sensing data carried on unmanned boat.
Enter row data communication, Ke Yitong by spi bus between the SMP processors 101 and the DSC controllers 102
Cross MicroSD card data storage files.
The attitude transducer 103 is used for posture perception, and collection includes three-dimensional acceleration, angular velocity, magnetic biasing angular data.
The data radio station 104 can adopt high-performance, remote 433M frequency wireless radio station, transmission range to reach as high as
To 6KM.Radio set can transmitting real-time data to bank base PC end upper computer software system.Data radio station is mainly used in and bank base
Software system communicates, and uploads unmanned boat status information, receives the function of remote information.
The locating module 105 can be positioned using GPS or Big Dipper bimodulus, and band antenna (GPS/ Big Dipper bimodulus) leads to
Cross UART and STM32 and enter row data communication, compatible with GPS (L1), two kinds of alignment systems of the Big Dipper (B1), wherein, data renewal frequency
For 5Hz, positioning precision 3m, velocity accuracy 0.1m/s.According to location data, unmanned boat can voluntarily complete navigation according to path planning
Task.Be mainly used in obtaining the real time position of unmanned boat, and based on planning navigation algorithm, realize according to route programming result from
Main navigation feature.
The Switching Power Supply 106 can given using DC-DC circuit, band protection circuit, voltage sampling circuit, Switching Power Supply
While the system provides power supply, power interface is provided for external equipment, be easy to the extension of system.
The control software platform operation ubuntu operating systems of the unmanned boat control system, can greatly enhance function
Extensibility.
The present embodiment can be easy to unmanned boat control system to carry out by attitude transducer, data radio station and locating module
Attitude detection, data transfer and positioning；And by using single SMP processors and DSC controllers so that unmanned boat control system
Highly integrated, the expansible strong and calculation processing power of system is superior, convenient loading underwater camera, Water depth measuring instrument, water quality testing meter
Use Deng external sensor equipment and on various unmanned boat platforms waterborne, have broad application prospects.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：PWM functional interfaces；
The PWM functional interfaces are provided by the controller.
By the PWM functional interfaces for reserving control steering wheel and bi-motor, controlled motor, steering wheel signal, output can be used for
Control interface.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：CAN、RS485、
RS232, UART, SPI basic communication interface；
The CAN, the basic communication interfaces of part RS232 are provided by the SMP processors.
Part RS232, RS485, UART, SPI basic communication interface is provided by the DSC controllers.
By basic communication interfaces such as reserved CAN, RS485, RS232, UART, SPI, it is easy to the extension of system and secondary opens
Send out, such as load underwater camera, Water depth measuring instrument, water quality testing meter external sensor equipment.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：USB、Ethernet、
HDMI, MicroSD advanced interface；
USB, Ethernet, HDMI, MicroSD advanced interface is provided by the SMP processors.
Wherein, the transfer rate of the Ethernet advanced interfaces can be 100M/s.
By advanced interfaces such as reserved USB, Ethernet, HDMI, MicroSD, it is easy to the extension of system, such as USB interface
Equipment, the network equipment, display device, storage device；It is easy to be used with same-interface equipment carry simultaneously.
The hardware integration of the unmanned boat control system that the present embodiment is provided is applied to the hardware module of unmanned boat, also reserves base
This and advanced interface are available for secondary development, running software Ubuntu open source systems, system to increase income, along with system is also comprising fixed
Application is easy in position, attitude algorithm, control algolithm, and it is nothing developing that unmanned boat control system is around unmanned boat platform
People's ship provides service.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：Web camera；
The web camera is connected by the Ethernet advanced interfaces with SMP processors.
Wherein, the web camera can carry out high definition video collecting (720P@30fps), Video processing (Opencv),
(ffmpeg) and storage are recorded, in being possibly stored to SD card.
Video data can be in time obtained, processes and store by web camera.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：Avoiding obstacles by supersonic wave mould
Block；
The avoiding obstacles by supersonic wave module is connected with the processor communication.
Wherein, the avoiding obstacles by supersonic wave module can be potentially encountered reef or island, Overwater-floating during unmanned boat navigation
Float or ship etc. hinder the barrier of navigation, using the principle of reflection of ultrasound wave, can find out the barrier in 0-5m, it is ensured that boat
The safety of line, by data processing, selecting optimal route to avoid the barrier on navigation route.
By using the distance of the ultrasonic listening peripheral obstacle in avoiding obstacles by supersonic wave module, and coordinate obstacle avoidance algorithm,
Reach the purpose of avoiding barrier during unmanned boat navigation.
Further, on the basis of above-described embodiment, the unmanned boat control system also includes：Switching Power Supply；
The Switching Power Supply is respectively the SMP processors, the DSC controllers, the attitude transducer, the number and passes
Radio station and the locating module are powered.
Wherein, the Switching Power Supply adopts three groups of Switching Power Supplies (12V/3A, 2 × 5V/3A) band protection circuits, and battery
Voltage sampling circuit, three groups of Switching Power Supplies can provide power interface while power supply is provided to the system for external equipment,
It is easy to the extension of system.
Further, on the basis of above-described embodiment, the SMP processors are the IMX6Q of four core Cortex-A9.
By the way that using the core processors of Freescale latest generation technical grade I.MX6Q Cortex-A9 tetra-, frequency highest can
Up to 1.2GHz.High-performance GPU and VPU units are integrated with, have been provided and has been tried hard to keep with process and other complicated applications for video acquisition
Barrier.System operation ubuntu operating system, greatly enhances the extensibility of unmanned boat control system.
Further, on the basis of above-described embodiment, the DSC controllers are digital signal controller STM32.
By using STM32 high-performance, low-power consumption microcontroller, abundant peripheral hardware resource, can conveniently obtain a large amount of biography
Sense data, row data communication is entered between I.MX6Q and STM32 by spi bus, speed up to 5Mbps, with meet I.MX6Q and
The data communication demand of STM32 high speeds.
Further, on the basis of above-described embodiment, the attitude transducer is the axle assembled gestures of onboard MPU9250 nine
Sensor.
By using the axle assembled gesture sensors of MPU9250 nine, convenient collection attitude information, including three-dimensional acceleration, angle
Speed, magnetic declination.
Specifically, be illustrated in figure 2 the present embodiment offer a kind of unmanned boat control system, including SMP processors 201,
DSC controllers 202, data radio station 204, GPS/ Big Dippeves locating module 205, nine axle attitude transducers 203, battery electric quantity detection electricity
Road (not shown in Fig. 2), Switching Power Supply 206 and power input output interface, and SPI interface, RS232 interfaces, USART connect
Mouth, I/O mouths (not shown in Fig. 2), PWM, RS485, CAN and RS232 interface.By these spare interfaces, attachable outside
Accessory or instrument and equipment include lithium battery, steering wheel and bi-motor, USB device, SD storage cards, LCD display, radio antenna,
GPS/ Beidou antennas, and underwater camera, Water depth measuring instrument, water quality testing meter etc..
Wherein, the electric power detection of lithium battery is specially：12 AD in inside of the DSC controllers 202 are to battery electric quantity electricity
Pressure is acquired, and according to battery charging and discharging curve electricity can be calculated, so as to judge the remaining cruising time of unmanned boat.
The present embodiment utilizes the high-performance of polycaryon processor, and the existing unmanned boat control system disposal ability of solution is poor, extension
Scarce capacity, it is impossible to the problems such as running complicated algorithm.Unmanned boat multitasking, complicated algorithm computing capability is greatly improved.Profit
It is low in energy consumption with microcontroller, the characteristics of peripheral functionality is enriched, improve information collecting capacity, extensibility and the continuation of the journey of unmanned boat
Ability.
Device embodiment described above is only schematic, wherein the unit as separating component explanation can
To be or may not be physically separate, can be as the part that unit shows or may not be physics list
Unit, you can be located at a place, or be distributed in diverse location.Can select according to the actual needs part therein or
Whole modules are realizing the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying the situation of performing creative labour
Under, you can to understand and implement.
It should be noted that：Above example only to illustrate the technical solution of the utility model, rather than a limitation；Although
This utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, or equivalent is carried out to which part technical characteristic and replaced
Change；And these modifications or replacement, do not make each embodiment technical scheme of essence disengaging this utility model of appropriate technical solution
Spirit and scope.
Claims (10)
1. a kind of unmanned boat control system, it is characterised in that include：Symmetrical many coprocessor SMP, digital signal controller DSC,
Attitude transducer, data radio station, locating module and Switching Power Supply；
The SMP is connected respectively with the DSC, the data radio station and the locating module；
The DSC is connected with the attitude transducer.
2. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
PWM functional interfaces；
The PWM functional interfaces are in the DSC.
3. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
CAN, RS485, RS232, UART, SPI basic communication interface；
The CAN is with the basic communication interfaces of RS232 in the SMP；
RS485, RS232, UART, SPI basic communication interface is in the DSC.
4. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
USB, Ethernet, HDMI, MicroSD advanced interface；
USB, Ethernet, HDMI, MicroSD advanced interface is in the SMP.
5. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
Web camera；
The web camera is connected by Ethernet interfaces with SMP.
6. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
Avoiding obstacles by supersonic wave module；
The avoiding obstacles by supersonic wave module is connected with the DSC.
7. unmanned boat control system according to claim 1, it is characterised in that the unmanned boat control system also includes：
Switching Power Supply；
The Switching Power Supply is respectively the SMP, the DSC, the attitude transducer, the data radio station and the positioning mould
Block is powered, while also reserving difference electric pressure interface.
8. unmanned boat control system according to claim 1, it is characterised in that the SMP is four core Cortex-A9
IMX6Q。
9. unmanned boat control system according to claim 1, it is characterised in that the DSC is digital signal controller
STM32。
10. unmanned boat control system according to claim 1, it is characterised in that the attitude transducer is onboard
The axle assembled gesture sensors of MPU9250 nine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620891924.XU CN206178469U (en) | 2016-08-16 | 2016-08-16 | Unmanned ship control system |
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|---|---|---|---|
| CN201620891924.XU CN206178469U (en) | 2016-08-16 | 2016-08-16 | Unmanned ship control system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| CN108413944A (en) * | 2018-03-19 | 2018-08-17 | 厦门瀛寰电子科技有限公司 | A kind of wave measurement system and measurement method based on boat-carrying |
| CN108549395A (en) * | 2018-06-19 | 2018-09-18 | 西安特种飞行器工程研究院有限公司 | Underwater unmanned autonomous navigation device navigation control system and method |
| CN109029465A (en) * | 2018-08-24 | 2018-12-18 | 上海大学 | A kind of unmanned boat tracking and obstacle avoidance system based on millimetre-wave radar |
| CN109708862A (en) * | 2019-01-10 | 2019-05-03 | 深圳飞马机器人科技有限公司 | A kind of steering engine test macro |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110007672A (en) * | 2019-03-20 | 2019-07-12 | 中铁四局集团有限公司 | Unmanned survey ship suitable for shield constructs and passes through river construction monitoring |
| CN110068538A (en) * | 2019-06-10 | 2019-07-30 | 皖西学院 | Beidou positioning intelligent water quality detection robot |
| CN110672075A (en) * | 2019-09-26 | 2020-01-10 | 暨南大学 | Remote water area detection system and method based on three-dimensional stereo imaging |
| CN113625723A (en) * | 2021-08-22 | 2021-11-09 | 广东海洋大学 | Unmanned ship dynamic collision avoidance control system |
| CN114459437A (en) * | 2021-12-31 | 2022-05-10 | 广东省国土资源测绘院 | Method, equipment and medium for surveying and mapping oceans by cooperation of mother ship and multiple unmanned ships |
-
2016
- 2016-08-16 CN CN201620891924.XU patent/CN206178469U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| CN108413944A (en) * | 2018-03-19 | 2018-08-17 | 厦门瀛寰电子科技有限公司 | A kind of wave measurement system and measurement method based on boat-carrying |
| CN108549395A (en) * | 2018-06-19 | 2018-09-18 | 西安特种飞行器工程研究院有限公司 | Underwater unmanned autonomous navigation device navigation control system and method |
| CN109029465B (en) * | 2018-08-24 | 2020-09-18 | 上海大学 | Millimeter wave radar-based tracking and obstacle avoidance system for unmanned ship |
| CN109029465A (en) * | 2018-08-24 | 2018-12-18 | 上海大学 | A kind of unmanned boat tracking and obstacle avoidance system based on millimetre-wave radar |
| CN109708862A (en) * | 2019-01-10 | 2019-05-03 | 深圳飞马机器人科技有限公司 | A kind of steering engine test macro |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110007672A (en) * | 2019-03-20 | 2019-07-12 | 中铁四局集团有限公司 | Unmanned survey ship suitable for shield constructs and passes through river construction monitoring |
| CN110068538A (en) * | 2019-06-10 | 2019-07-30 | 皖西学院 | Beidou positioning intelligent water quality detection robot |
| CN110672075A (en) * | 2019-09-26 | 2020-01-10 | 暨南大学 | Remote water area detection system and method based on three-dimensional stereo imaging |
| CN113625723A (en) * | 2021-08-22 | 2021-11-09 | 广东海洋大学 | Unmanned ship dynamic collision avoidance control system |
| CN113625723B (en) * | 2021-08-22 | 2022-05-27 | 广东海洋大学 | Unmanned ship dynamic collision avoidance control system |
| CN114459437A (en) * | 2021-12-31 | 2022-05-10 | 广东省国土资源测绘院 | Method, equipment and medium for surveying and mapping oceans by cooperation of mother ship and multiple unmanned ships |
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