CN206470602U - The intelligence control system of sample detecting unmanned boat - Google Patents
The intelligence control system of sample detecting unmanned boat Download PDFInfo
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- CN206470602U CN206470602U CN201621477560.7U CN201621477560U CN206470602U CN 206470602 U CN206470602 U CN 206470602U CN 201621477560 U CN201621477560 U CN 201621477560U CN 206470602 U CN206470602 U CN 206470602U
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Abstract
The utility model discloses the intelligence control system of sample detecting unmanned boat, the PMU that is connected including boat-carrying controller and respectively with boat-carrying controller, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit, servos control unit, control centre, control centre is connected with boat-carrying controller telecommunication, and PMU embeds electricity Intelligent management module；The boat-carrying controller includes the control chip being sequentially connected, mode switch module, performing module, and control chip is also sequentially connected with data processing module, remote communication module；The mode switch module include mode selector switch and be connected to output end be automatically brought into operation module, manual operation module, the input of mode selector switch is connected with control chip, is automatically brought into operation module, the output end of manual operation module and is connected respectively with performing module.The utility model makes unmanned boat accurate, efficient, safety in the task of execution.
Description
Technical field
The utility model is related to unmanned boat technical field, specifically refers to the intelligence control system of sample detecting unmanned boat.
Background technology
Sample detecting unmanned boat is mainly used in the water quality monitoring of river,lake and reservior.It there may be the environment of poisonous harmful substance
Under, unmanned boat is without live driver's manipulation is with regard to energy autonomous navigation and carries out water quality sampling, on the one hand it is possible to prevente effectively from poisonous
Harmful substance is to the invasive of driver or sample collector, the small volume of the manned ship of volume ratio of another aspect unmanned boat
Ingeniously, light and flexible, also with advantages such as the small, energy-saving and emission-reduction of noise.But in face of complex environment, sample detecting unmanned boat is being held
Running status may be needed constantly to adjust during row task so as to the completion task of safety.The control of existing sample detecting unmanned boat
System can not in complex environment perform task unmanned boat fast and effectively be adjusted so that existing sample detecting nobody
Ship stability in the task of execution is poor, inefficiency.
Utility model content
The purpose of this utility model is the intelligence control system for providing sample detecting unmanned boat, by automatically controlling and far
Operation of the mode that the artificial control of journey is combined to unmanned boat is efficiently managed, and makes sample detecting unmanned boat in execution task
Shi Gengjia is stable, efficient, safety.
The intelligence control system of sample detecting unmanned boat, including boat-carrying controller and the electricity that is connected respectively with boat-carrying controller
Source control unit, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit, servos control list
Member, control centre, control centre are connected with boat-carrying controller telecommunication, and PMU embeds electricity intelligent management mould
Block；The boat-carrying controller include be sequentially connected control chip, mode switch module, performing module, control chip also with number
It is sequentially connected according to processing module, remote communication module；The mode switch module includes mode selector switch and is connected to
Output end is automatically brought into operation module, manual operation module, and the input of mode selector switch is connected with control chip, is automatically brought into operation
Module, the output end of manual operation module are connected with performing module respectively.
The boat-carrying controller, PMU, route planning unit, service data collecting unit, environment detection list
Member, electric-motor drive unit, servos control unit are arranged on the hull of unmanned boat, and unmanned boat passes through boat-carrying controller and control
The telecommunication connection at center carries out data transmission.The boat-carrying controller is the core component of intelligence control system, is connect simultaneously
Receive the artificial control instruction for automatically controlling instruction and control centre's transmission that route planning unit is sent.The control chip passes through
Mode switch module selection execution automatically controls instruction or artificial control instruction, then by performing module by corresponding execute instruction
Send to execution unit and acted.The utility model realizes the intelligent control of unmanned boat by said structure, improves unmanned boat
Stability, the security of operation, it is ensured that unmanned boat more efficiently performs task.
The input of the mode selector switch is connected with control chip, an output end of mode selector switch with it is automatic
Control module is connected, and No. two output ends of mode selector switch are connected with artificial control module, the output mould of mode selector switch
Formula only has two kinds：The first is connection automatic control module and disconnects artificial control module；Second is the artificial control mould of connection
Block and disconnection automatic control module.Mode selector switch carries out cutting for output mode by the instruction of control chip mission control center
Change, if mode selector switch is using connection automatic control module and the output mode of the artificial control module of disconnection, performing module
Only perform the transmission of route planning unit automatically controls instruction, and the transport condition of unmanned boat is automatically controlled；Ruo Moshiqie
Change switch and use the output mode for connecting artificial control module and disconnecting automatic control module, then performing module is only performed in control
The artificial control instruction that the heart is sent, is manually controlled the transport condition of unmanned boat.Using above-mentioned mode switch module not only
Can be adjusted by the navigation automatically controlled with long-range artificial control two ways to unmanned boat can also avoid automatically
The situation of instruction interference occurs when being carried out with artificial control simultaneously for control, further improves security when unmanned boat performs task
And improve operating efficiency.
Further, the route planning unit includes the GPS navigation module of embedded differential system；The service data is adopted
Collection unit includes locator, speed detector and the electronic gyroscope being connected respectively with GPS navigation module.
The pre-set data such as itinerary of voyage, course, travel speed that include that are stored with the GPS navigation module are believed
The projected route information of breath, performing command adapted thereto by boat-carrying controller makes electric-motor drive unit or servos control cell operation,
Realize that unmanned boat is travelled by projected route information.The locator gathers the positional information of unmanned boat in real time.The speed
Detector gathers the velocity information of unmanned boat in real time.The electronic gyroscope gathers the course information of unmanned boat in real time.Institute's rheme
Confidence breath, velocity information, course information are unified to be sent to GPS navigation module and the data processing module of boat-carrying controller.GPS is led
Model plane block is compared by embedded differential system to projected route information and the every terms of information gathered in real time, and according to comparing
As a result generation includes erection rate, corrects the automatic revision directive in course, realizes that unmanned boat corrects the function in course line automatically.
Further, the speed detector is the main photoelectric encoder being made up of grating disc and photoelectric detection system.
The photoelectric encoder is a kind of the geometry of machinery displacement on output shaft to be converted into pulse by opto-electronic conversion
Or the sensor of digital quantity, photoelectric encoder is made up of grating disc and photoelectric detection system, when grating disc starts rotation, through luminous
The detection means of the electronic components such as diode composition detects some pulse signals, by calculating photoelectric encoder in certain time
The number of output pulse can just reflect current speed.
Further, the environment detection unit includes sonar sounding set, radar detector and mainly observed by the water surface to take the photograph
The visual observation device constituted as head, underwater observation camera.
The sonar sounding set, radar detector, water surface observation camera, underwater observation camera are installed in unmanned boat
Hull on.The sonar sounding set is detected to sub-marine situations by sound wave and forms image, can if detecting barrier
The distance between unmanned boat and barrier is obtained, radar detector can also obtain the travel speed of unmanned boat.The radar detection
Instrument is detected to the barrier in investigative range by electromagnetic wave and obtains the distance between unmanned boat and barrier, radar detection
Instrument can also obtain the travel speed of unmanned boat.The data that sonar sounding set or radar detector are obtained are sent to data processing
Module, on the one hand, the data that sonar sounding set or radar detector are obtained are supplied to GPS navigation mould by data processing module
Block, provides reference data to GPS navigation module, is easy to whether GPS navigation module decision-making plans travel route again；The opposing party
The data that face, sonar sounding set or radar detector are obtained are sent to control by data processing module by remote communication module
Transferred in real time for the technical staff of control centre at center.
The water surface observation camera is arranged at the top of unmanned boat, the situation for observing the unmanned boat Its Adjacent Waters water surface.
The image data that water surface observation camera is shot is sent to control centre, in control by the remote communication module of boat-carrying controller
The technical staff of the heart can watch the water surface situation of Its Adjacent Waters during unmanned boat traveling in real time.The water surface observes camera
The water surface near unmanned boat can also be carried out by the way of multiple cameras are circumferentially distributed using 360 ° of rotating cameras
Comprehensive visualization image collection.The underwater observation camera is arranged on unmanned boat bottom, for observing near unmanned boat
The situation of waters under water.The underwater observation camera can be distributed in the surrounding of unmanned boat bottom, to feelings under water near unmanned boat
Condition carries out comprehensive visualization image collection.
The technical staff of control centre is observed camera, underwater observation and taken the photograph by sonar sounding set, radar detector, the water surface
Continue the level of security that travels or the hazards that are likely to occur as head obtains ambient conditions near unmanned boat and analyzes unmanned boat,
Refuse bag, the pasture and water of floating, the submerged reef under water of the barrier especially occurred on unmanned boat travel route, such as water surface
Deng.Service data collecting unit and the data of environment detection unit collection be combined with each other, at the same send to route planning unit and
Control centre.Route planning unit is analyzed by setup program, then decides whether to carry out certainly the running situation of unmanned boat
Dynamic regulation simultaneously automatically adjusts instruction to the transmission of boat-carrying controller.The technical staff of control centre determines after analyzing every aggregation of data
It is fixed whether to be carried out by manual adjustment and artificial regulating command is sent to boat-carrying controller for the running situation of unmanned boat.Boat-carrying controller
In performing module according to the working condition of mode switch module perform automatically adjust instruction or manual adjustment instruct.Said structure
Setting can improve unmanned boat travel process security.
Further, the electric-motor drive unit includes double circuit switching switch and switched with double circuit switching respectively to be connected
Advance circuit, retreat circuit.
The double circuit switching switch is provided with the input and advance circuit being connected with the performing module of boat-carrying controller
First output end of connection, the 3rd output end being connected with retrogressing circuit and empty the second output end connect.The motor driving is single
The first output end that member switches switch by double circuit connects advance circuit and realizes nobody to control total motor to rotate forward
The advance of ship, the 3rd output end connection for switching switch by double circuit retreats circuit to control total motor to rotate backward reality
Existing unmanned sternway, the 3rd output end sky for switching switch by double circuit connects real to control total motor to stop operating
The hovering of existing unmanned boat.
Further, the servos control unit includes servo driving motor and the respectively rudder with servo driving motor connection
Machine control circuit, rudder for ship transfer；The rudder for ship transfer includes the planetary gear set set with servo driving motor coaxle,
Planetary gear set is main by being coaxially arranged and intermeshing inner gear planetary, external tooth planetary gear set are into inner gear planetary is sculled with ship
It is connected to one.
Further, in addition to boat-carrying controller the control unit of removing obstacles being connected；It is described remove obstacles control unit include with
Performing module connection drive circuit of removing obstacles, by remove obstacles drive circuit control remove obstacles motor and with motor of removing obstacles
The arm of removing obstacles of connection.
The control unit of removing obstacles is used for the instruction of removing obstacles that mission control center sends.The performing module passes through drive of removing obstacles
Dynamic circuit control removes obstacles motor action and drives arm of removing obstacles to be operated.
Further, the arm of removing obstacles includes being located at the support frame and peace in front of unmanned boat and being fixed on unmanned boat hull
By the cutting wheel for motor driving of removing obstacles on support frame.
The motor driving cutting wheel of removing obstacles is rotated to obstacles such as the pasture and water in front of unmanned boat, tree branches and leaves, refuse bags
Thing is cut or excluded.
Further, in addition to boat-carrying controller the SOS unit being connected；The SOS unit includes nothing
Line wave transceiver and stroboscopic signal lamp.
The SOS unit is sent by radio wave transceiver and stroboscopic signal lamp and asked in case of emergency
Signal is rescued, in order to which rescue personnel quickly positions the position of unmanned boat and implements rescue, loss is reduced.
The utility model compared with prior art, with advantages below and beneficial effect：Sampling described in the utility model
The intelligence control system of unmanned boat is detected, automatically controlling the fortune by way of long-range artificial control is combined to unmanned boat
Row is efficiently managed, and makes sample detecting unmanned boat more stable, efficient, safety in the task of execution.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of rudder for ship transfer.
Wherein, 1-servo driving motor, 2-outer gear planetary wheel, 3-inner gear planetary, 4-ship is sculled.
Embodiment
The utility model is described in further detail with reference to embodiment, but embodiment of the present utility model is not
It is limited to this.In addition, in order to better illustrate the utility model, given in embodiment below numerous specific thin
Section.It will be understood by those skilled in the art that without these details, the utility model can equally be implemented.It is real in other
In example, it is not described in detail for known method, flow, element and circuit, in order to highlight master of the present utility model
Purport.
Embodiment 1：
The intelligence control system of the sample detecting unmanned boat of the present embodiment, as shown in figure 1, mainly passing through following technical sides
Case is realized：The intelligence control system of sample detecting unmanned boat, including boat-carrying controller and the electricity that is connected respectively with boat-carrying controller
Source control unit, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit, servos control list
Member, control unit of removing obstacles, SOS unit, control centre, control centre are connected with boat-carrying controller telecommunication, power supply pipe
Manage unit and embed electricity Intelligent management module；The boat-carrying controller include be sequentially connected control chip, mode switch module,
Performing module, control chip is also sequentially connected with data processing module, remote communication module；The mode switch module includes mould
Formula switching switch and be connected to output end be automatically brought into operation module, manual operation module, the input of mode selector switch
It is connected with control chip, is automatically brought into operation module, the output end of manual operation module and is connected respectively with performing module.The route rule
Drawing unit includes the GPS navigation module of embedded differential system；The service data collecting unit include respectively with GPS navigation module
Locator, speed detector and the electronic gyroscope of connection.The speed detector is filled to be main by grating disc and Photoelectric Detection
Put the photoelectric encoder of composition.The environment detection unit includes sonar sounding set, radar detector and mainly observed by the water surface
The visual observation device of camera, underwater observation camera composition.The electric-motor drive unit includes double circuit and switches switch
Switch advance circuit, retrogressing circuit that switch is connected with double circuit respectively.The servos control unit includes servo driving electricity
Machine and helm control circuit, rudder for ship transfer respectively with servo driving motor connection；The rudder for ship transfer include with
Servo driving motor coaxle set planetary gear set, planetary gear set mainly by be coaxially arranged and intermeshing inner gear planetary,
External tooth planetary gear set is into inner gear planetary is sculled with ship and is connected to one.The control unit of removing obstacles includes and performing module
The drive circuit of removing obstacles of connection, by drive circuit of removing obstacles control remove obstacles motor and be connected with motor of removing obstacles it is clear
Hinder arm.The arm of removing obstacles includes the support frame for being located at unmanned boat front and being fixed on unmanned boat hull and on support frame
By the cutting wheel for motor driving of removing obstacles.The SOS unit includes radio wave transceiver and stroboscopic signal lamp.
Embodiment 2：
The intelligence control system of sample detecting unmanned boat, as shown in figure 1, including boat-carrying controller and respectively with boat-carrying control
Device connection PMU, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit,
Servos control unit, control centre, control centre are connected with boat-carrying controller telecommunication, and PMU embeds electricity intelligence
Can management module；The boat-carrying controller includes the control chip being sequentially connected, mode switch module, performing module, controls core
Piece is also sequentially connected with data processing module, remote communication module；The mode switch module includes mode selector switch and divided
Be not connected to output end is automatically brought into operation module, manual operation module, and the input of mode selector switch is connected with control chip,
Module, the output end of manual operation module is automatically brought into operation to be connected with performing module respectively.
Embodiment 3：
The intelligence control system of sample detecting unmanned boat, as shown in figure 1, including boat-carrying controller and respectively with boat-carrying control
Device connection PMU, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit,
Servos control unit, control unit of removing obstacles, SOS unit, control centre, control centre and boat-carrying controller telecommunication
Connection, PMU embeds electricity Intelligent management module；The boat-carrying controller includes control chip, the mould being sequentially connected
Formula handover module, performing module, control chip are also sequentially connected with data processing module, remote communication module；The pattern is cut
Mold changing block include mode selector switch and be connected to output end be automatically brought into operation module, manual operation module, pattern switching
The input of switch is connected with control chip, is automatically brought into operation module, the output end of manual operation module and is connected respectively with performing module
Connect.
Embodiment 4：
The present embodiment does further optimization on the basis of embodiment 3, further, it is described remove obstacles control unit include with
Performing module connection drive circuit of removing obstacles, by remove obstacles drive circuit control remove obstacles motor and with motor of removing obstacles
The arm of removing obstacles of connection.The arm of removing obstacles includes being located at the support frame in front of unmanned boat and being fixed on unmanned boat hull and is arranged on
By the cutting wheel for motor driving of removing obstacles on support frame.The other parts of the present embodiment are same as Example 3, therefore no longer go to live in the household of one's in-laws on getting married
State.
Embodiment 5：
The present embodiment does further optimization on the basis of embodiment 3, further, and the SOS unit includes nothing
Line wave transceiver and stroboscopic signal lamp.The other parts of the present embodiment are same as Example 3, therefore repeat no more.
Embodiment 6：
The present embodiment does further optimization on the basis of embodiment any one of 2-5, further, the route planning list
Member includes the GPS navigation module of embedded differential system；The service data collecting unit includes being connected with GPS navigation module respectively
Locator, speed detector and electronic gyroscope.The other parts of the present embodiment are identical with any one of embodiment 2-5, therefore not
Repeat again.
Embodiment 7：
The present embodiment does further optimization on the basis of embodiment 6, further, the speed detector for it is main by
The photoelectric encoder of grating disc and photoelectric detection system composition.The other parts of the present embodiment are same as Example 6, therefore no longer go to live in the household of one's in-laws on getting married
State.
Embodiment 8：
The present embodiment does further optimization on the basis of embodiment any one of 2-7, further, the environment detection list
Member includes sonar sounding set, radar detector and the main visualization being made up of water surface observation camera, underwater observation camera
Observe device.The other parts of the present embodiment are identical with any one of embodiment 2-7, therefore repeat no more.
Embodiment 9：
The present embodiment does further optimization on the basis of embodiment any one of 2-8, further, and the motor driving is single
Member switches the advance circuit for switching and switching respectively with double circuit switch and be connected including double circuit, retreats circuit.The present embodiment
Other parts are identical with any one of embodiment 2-8, therefore repeat no more.
Embodiment 10：
The present embodiment does further optimization on the basis of embodiment any one of 2-9, as shown in Fig. 2 further, it is described
Servos control unit includes servo driving motor 1 and the helm control circuit being connected respectively with servo driving motor 1, rudder for ship are turned to
Device；The rudder for ship transfer includes the planetary gear set being coaxially disposed with servo driving motor 1, and planetary gear set is mainly by coaxial
It is arranged and intermeshing inner gear planetary 2, outer gear planetary wheel 3 is constituted, inner gear planetary 3 is connected to one with ship big shield 4.
The other parts of the present embodiment are identical with any one of embodiment 2-9, therefore repeat no more.
It is described above, only it is preferred embodiment of the present utility model, any formal limit is not done to the utility model
System, every any simple modification made according to technical spirit of the present utility model to above example, equivalent variations are each fallen within
Within protection domain of the present utility model.
Claims (9)
1. the intelligence control system of sample detecting unmanned boat, it is characterised in that：Including boat-carrying controller and respectively with boat-carrying control
Device connection PMU, route planning unit, service data collecting unit, environment detection unit, electric-motor drive unit,
Servos control unit, control centre, control centre are connected with boat-carrying controller telecommunication, and PMU embeds electricity intelligence
Can management module；The boat-carrying controller includes the control chip being sequentially connected, mode switch module, performing module, controls core
Piece is also sequentially connected with data processing module, remote communication module；The mode switch module includes mode selector switch and divided
Be not connected to output end is automatically brought into operation module, manual operation module, and the input of mode selector switch is connected with control chip,
Module, the output end of manual operation module is automatically brought into operation to be connected with performing module respectively.
2. the intelligence control system of sample detecting unmanned boat according to claim 1, it is characterised in that：The route planning
Unit includes the GPS navigation module of embedded differential system；The service data collecting unit includes with GPS navigation module connecting respectively
Locator, speed detector and the electronic gyroscope connect.
3. the intelligence control system of sample detecting unmanned boat according to claim 2, it is characterised in that：The velocity measuring
Instrument is the main photoelectric encoder being made up of grating disc and photoelectric detection system.
4. the intelligence control system of sample detecting unmanned boat according to claim 1, it is characterised in that：The environment detection
Unit include sonar sounding set, radar detector and it is main by the water surface observes camera, that underwater observation camera is constituted is visual
Change observation device.
5. the intelligence control system of sample detecting unmanned boat according to claim 1, it is characterised in that：The motor driving
Unit includes double circuit and switches switch and the advance circuit being connected respectively with double circuit switching switch, retreats circuit.
6. the intelligence control system of sample detecting unmanned boat according to claim 1, it is characterised in that：The servos control
Unit includes servo driving motor（1）Respectively with servo driving motor（1）Helm control circuit, the rudder for ship of connection turn to dress
Put；The rudder for ship transfer includes and servo driving motor（1）The planetary gear set being coaxially disposed, planetary gear set is mainly by coaxial
It is arranged and intermeshing inner gear planetary（2）, outer gear planetary wheel（3）Composition, inner gear planetary（3）Sculled with ship（4）It is fixed to connect
It is connected in one.
7. the intelligence control system of the sample detecting unmanned boat according to claim any one of 1-6, it is characterised in that：Also wrap
Include the control unit of removing obstacles being connected with boat-carrying controller；The control unit of removing obstacles includes the driving of removing obstacles being connected with performing module
Circuit, remove obstacles motor and the arm of removing obstacles that is connected with motor of removing obstacles controlled by drive circuit of removing obstacles.
8. the intelligence control system of sample detecting unmanned boat according to claim 7, it is characterised in that：The arm bag of removing obstacles
Include the support frame that in front of the unmanned boat and is fixed on unmanned boat hull and driven on support frame by motor of removing obstacles
Dynamic cutting wheel.
9. the intelligence control system of the sample detecting unmanned boat according to claim any one of 1-6, it is characterised in that：Also wrap
Include the SOS unit being connected with boat-carrying controller；The SOS unit includes radio wave transceiver and strobe signal
Lamp.
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| CN201621477560.7U CN206470602U (en) | 2016-12-30 | 2016-12-30 | The intelligence control system of sample detecting unmanned boat |
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| CN201621477560.7U CN206470602U (en) | 2016-12-30 | 2016-12-30 | The intelligence control system of sample detecting unmanned boat |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640294A (en) * | 2017-09-28 | 2018-01-30 | 镇江和瑞环境技术有限公司 | A kind of unmanned ship of solar energy being automatically positioned |
| CN108181908A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of unmanned boat system for inland river environmental monitoring |
| CN109850080A (en) * | 2019-03-14 | 2019-06-07 | 佛山市智阳能源有限公司 | A kind of automatic cruising method, system and the lifeboat of lifeboat |
| CN110456013A (en) * | 2019-06-05 | 2019-11-15 | 中山大学 | A kind of river water quality monitoring system and method |
| CN110632924A (en) * | 2019-09-09 | 2019-12-31 | 安徽大学 | Unmanned ship control system for remote control monitoring and sampling |
| CN113313923A (en) * | 2021-04-30 | 2021-08-27 | 苏州优世达智能科技有限公司 | STM32F 103-based intelligent remote controller control system for unmanned ship |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| CN113848879A (en) * | 2021-08-27 | 2021-12-28 | 北京航天控制仪器研究所 | Rapid unmanned reconstruction system for manned ship control system |
| WO2023226485A1 (en) * | 2022-05-26 | 2023-11-30 | 江苏科技大学 | Autonomous navigation control system for unmanned ship |
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2016
- 2016-12-30 CN CN201621477560.7U patent/CN206470602U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640294A (en) * | 2017-09-28 | 2018-01-30 | 镇江和瑞环境技术有限公司 | A kind of unmanned ship of solar energy being automatically positioned |
| CN108181908A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of unmanned boat system for inland river environmental monitoring |
| CN109850080A (en) * | 2019-03-14 | 2019-06-07 | 佛山市智阳能源有限公司 | A kind of automatic cruising method, system and the lifeboat of lifeboat |
| CN110456013A (en) * | 2019-06-05 | 2019-11-15 | 中山大学 | A kind of river water quality monitoring system and method |
| CN110632924A (en) * | 2019-09-09 | 2019-12-31 | 安徽大学 | Unmanned ship control system for remote control monitoring and sampling |
| CN113313923A (en) * | 2021-04-30 | 2021-08-27 | 苏州优世达智能科技有限公司 | STM32F 103-based intelligent remote controller control system for unmanned ship |
| CN113848879A (en) * | 2021-08-27 | 2021-12-28 | 北京航天控制仪器研究所 | Rapid unmanned reconstruction system for manned ship control system |
| CN113848879B (en) * | 2021-08-27 | 2023-06-06 | 航天时代(青岛)海洋装备科技发展有限公司 | Unmanned transformation system of unmanned ship control system |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| CN113552892B (en) * | 2021-09-18 | 2021-12-17 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| WO2023226485A1 (en) * | 2022-05-26 | 2023-11-30 | 江苏科技大学 | Autonomous navigation control system for unmanned ship |
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