CN206584514U - A kind of unmanned boat control system under water - Google Patents

Abstract

The utility model discloses a kind of unmanned boat control system under water, including, controller, drive module, communication module, posture acquisition module, image collection module and sonar module, drive module, communication module, posture acquisition module and sonar module are connected with controller, the attitude data that the sailing instructions and/or posture acquisition module that the controller is received according to communication module are obtained, the navigation posture of unmanned boat is adjusted using drive module, described image acquisition module is connected with the communication module, the graphical information that image collection module is obtained is forwarded to control end waterborne by the communication module, the controller detects biological information and/or terrain information using sonar module.The detection of underwater environment can be carried out using sonar and camera, and the sonar information that sonar contact is obtained is presented to user by way of image, and the image information that image collection module is obtained shows user by display screen.

Description

A kind of unmanned boat control system under water

Technical field

The utility model belongs to underwater robot field, specifically, is related to a kind of unmanned boat control system under water.

Background technology

Underwater robot is also referred to as unmanned diving under water device, and it is a kind of under water people can be replaced to complete the dress of certain task Put, in shape more like a microminiature submarine, its own shape of underwater robot is designed according to underwater operation requirement, Underwater robot is to concentrate many technologies such as artificial intelligence, the fusion of detection identification information, intelligent control, the system integration to answer For same underwater carrier, in nobody's industry control system, or under artificial progress semiautomatic control, geology, landform etc. are completed Detection.

Current underwater robot can be realized takes photo by plane with landform, the detection of geology etc. under water, and the application of civilian aspect is also Very limited, at present in addition to the unmanned boat as recreational use, demand of the unmanned boat in commercial market for fishing is more next It is bigger, therefore propose higher and higher requirement for fishing unmanned boat.

How the detection of underwater environment is carried out using sonar and camera, and the sonar information that sonar contact is obtained is passed through The mode of image is presented to user, and the image information that camera is obtained shows user by display screen, as at present urgently Technical problem to be solved.

In view of this it is special to propose the utility model.

Utility model content

The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art that there is provided a kind of STOWAGE PLAN unmanned under water As control system, the detection of underwater environment, and the sonar information that sonar contact is obtained can be carried out using sonar and camera User is presented to by way of image, and the image information that camera is obtained shows user by display screen.

In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：

First aspect of the present utility model proposes a kind of unmanned boat control system under water, including, controller, driving mould Block, communication module, posture acquisition module, image collection module and sonar module, drive module, communication module, posture obtain mould Block and sonar module are connected with controller, and the sailing instructions and/or posture that the controller is received according to communication module are obtained Modulus block obtain attitude data, using drive module adjust unmanned boat navigation posture, described image acquisition module with it is described Communication module is connected, and the graphical information that image collection module is obtained is forwarded to control end waterborne, the control by the communication module Device processed detects biological information and/or terrain information using sonar module.

Preferably, the controller can utilize sonar module and/or image collection module, it is determined that the biological biology of detection Species, it is preferable that determine target organism according to the biological species that detection is biological, and control drive module to lock target organism It is fixed.

Preferably, the sonar module sends sound wave to specific direction, and receives the sound wave feedback signal fed back, excellent Selection of land, sound wave feedback signal is filtered and feeds back to controller with after A/D conversion process.

Preferably, sound wave feedback signal is forwarded to control end waterborne, control waterborne by the controller using communication module Hold according to residing for the feedback time of the sound wave feedback signal, decay intensity the determine unmanned boat under water depth of water in waters, the shoal of fish it is big The depth of water residing for the small, shoal of fish.

Preferably, the controller control sonar module carries out seeking fish, and determines target water, and profit according to fish result is sought With drive module driving, unmanned boat is navigated by water to target water under water；

Preferably, the controller controls the sonar module according to the sound wave of the hobby conversion different frequency of different fish Carry out fish gathering.

Preferably, described image acquisition module includes camera and illuminating lamp, and the camera sets unmanned boat under water Head, the illuminating lamp is arranged on around camera, and illumination condition is provided for camera；Preferably, the camera is energy The IP Camera for enough being shared to the image or video information of collection in internet by communication module.

Preferably, the posture acquisition module is set on circuit boards, including, the detection equilibrium criterion of unmanned boat under water Gyroscope, the magnetometer for detecting the accelerometer of the acceleration information of unmanned boat under water and detection bearing data.

The circuit board is provided with least two magnetometers, and at least two magnetometer is overlapped to stack and placed or with circuit Plate is that symmetrical plane is symmetricly set on circuit board both sides.

Preferably, the drive module includes, set under water in front of unmanned boat center of gravity adjustment unmanned boat under water it is vertical The vertical pusher of the motion in direction, it is separately positioned on the control of the unmanned boat two sides of tail under water advance of unmanned boat under water, retreats With the horizontal propeller of turning.

After adopting the above technical scheme, the utility model has the advantages that compared with prior art.

The detection of underwater environment can be carried out using sonar and camera, and the sonar information that sonar contact is obtained is passed through The mode of image is presented to user, and user is just it can be seen that the image or video information that are shot by unmanned boat under water, and And can lift the personal body of user by image collection module come the process of the fishing of live unmanned boat under water, fishing Test sense.

From image collection module photograph picture in determine target organism, or utilize sonar module detection sonar information, And handled sonar information, and corresponding image is drawn out, method is determined according to above-mentioned target organism, determines that target is given birth to Thing；Recycle sonar module to further determine that the positional information of target organism, driven according to the positional information using drive module Unmanned boat is locked or tracked to target organism under water, and such user need to only set the biological species for needing to follow the trail of or lock, Unmanned boat can be realized as the process of Automatic-searching and track and localization under water, and intuitively be presented to use using image capture module The process that family is entirely found and positioned, lifts Consumer's Experience.

The azimuth information of detection is calibrated by multiple magnetometers, then detected calibration result as magnetometer Final azimuth information result, and because circuit plate thickness is smaller, the deviation of the azimuth information of multiple magnetometer detections is smaller, enters And make the final azimuth information obtained after being calibrated by multiple magnetometers more accurate.

Embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.

Brief description of the drawings

Accompanying drawing is further understood from, this practicality as a part of the present utility model for providing to of the present utility model New schematic description and description is used to explain the utility model, but does not constitute to improper restriction of the present utility model. Obviously, drawings in the following description are only some embodiments, to those skilled in the art, are not paying creation Property work on the premise of, can also according to these accompanying drawings obtain other accompanying drawings.In the accompanying drawings：

Fig. 1 is the structured flowchart of one embodiment of the present utility model unmanned boat control system under water；

Fig. 2 is the structured flowchart of another embodiment of the present utility model unmanned boat control system under water；

Fig. 3 is the structured flowchart of another embodiment of the present utility model unmanned boat control system under water.

It should be noted that these accompanying drawings and word description are not intended as limits design of the present utility model in any way Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.

Embodiment

It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer Accompanying drawing in type embodiment, the technical scheme in embodiment is clearly and completely described, and following examples are used to illustrate this Utility model, but it is not limited to scope of the present utility model.

, it is necessary to explanation in description of the present utility model, term " on ", " under ", "front", "rear", "left", "right", The orientation or position relationship of the instruction such as " vertical ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to It is easy to description the utility model and simplifies description, rather than indicates or imply that the device or element of meaning there must be specifically side Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary. For the ordinary skill in the art, it can understand that specific in the utility model of above-mentioned term containing with concrete condition Justice.

In following embodiments, unmanned boat under water is designed to the similar density of averag density and water proximate seemingly, water Annular seal space is provided with lower unmanned boat, the annular seal space has waterproof effect, can protect each electricity consumption module in annular seal space will not Immersion, and then ensure the normal work of unmanned boat under water, and pass through the annular seal space and unmanned boat shell body and each portion under water Cooperation between part, to make under water, unmanned boat is reached with water proximate similar density seemingly, and then realizes in waters neutral buoyancy Effect, navigation direction and navigation posture can be preferably adjusted by the unmanned boat under water of neutral buoyancy, in addition, being driven in no power Unmanned boat static can be hovered in water under water in the case of dynamic.

Embodiment one

As shown in figure 1, the utility model embodiment proposes a kind of unmanned boat control system under water, including, controller 1, Drive module 2, communication module 3, posture acquisition module 4, image collection module 6 and sonar module 5, drive module 2, communication module 3rd, posture acquisition module 4 and sonar module 5 are connected with controller 1, the boat that the controller 1 is received according to communication module 3 The attitude data that line command and/or posture acquisition module 4 are obtained, the navigation posture of unmanned boat is adjusted using drive module 2, described Image collection module 6 is connected with the communication module 3, and the graphical information that the communication module 3 obtains image collection module 6 turns Control end 7 waterborne is sent to, the controller 1 detects biological information and/or terrain information using sonar module 5.

Wherein, the averag density of unmanned boat and the density of ambient water are identical under water, if not having dynamic driving, water so Lower unmanned boat can be suspended in water, so can enable under water unmanned boat preferably perform and take pictures, image accordingly, catching Fish, fishing, fish gathering, the task of fish finding.

The controller 1 control drive module 2 drive under water unmanned boat carry out fish gathering, and/or seek fish, and/or fishing, And/or observe the shoal of fish/underwater environment under water.Fish finding can be carried out using sonar, when detecting a certain position fish than comparatively dense, Will be driven using drive module 2 under water unmanned boat reach the position, then hovered in the position, and open fishing lamp and collected Fish, thus can using this under water unmanned boat gone fishing or fished, under water unmanned boat provided with fish finding, fish gathering and The device of fishing, user to communication module 3 can send corresponding control instruction by base station waterborne, utilize the control of controller 1 to drive Dynamic model block 2 come complete fish gathering, seek fish, fishing process, and the image information that can also be obtained by image collection module 6 come Observe the shoal of fish under water or environment under water.

The underwater picture information of acquisition is directly passed through communication module by image collection module 6 (for example, video camera, camera) 3 send to control end 7 waterborne, and are shown on image display panel, and such user is just it can be seen that pass through unmanned boat under water The image or video information of shooting, and can be by image collection module 6 come the mistake of the fishing of live unmanned boat under water, fishing Journey, can lift the sense that undergoes of user.

One fish hook is for example set on unmanned boat under water, fish food is put on fish hook, such user can just wait fish quietly To rise to the bait, user can be immediately seen the whole implementation process risen to the bait of fish by image collection module 6, and after a fish snapped at the bait Unmanned boat returns to bank under water for control, and user can just accept fish.In such manner, it is possible to the process for facilitating user to be gone fishing, Make whole fishing more interesting.

The controller 1 can utilize sonar module 5 and/or image collection module 6, it is determined that the biological biological species of detection Class, it is preferable that determine target organism according to the biological species that detection is biological, and control drive module 2 to lock target organism It is fixed.

In the above-mentioned technical solutions, after image collection module 6 photographs picture, by each biological image in picture Crawl out, constitute a set, then the set is compared with every kind of biological picture in database, it is then determined that should The biological species of the image of each crawl in set, and therefrom select the target organism kind that user wants to follow the trail of or lock Class, and it regard the biology in the image corresponding to the target organism species as target organism；

Or using the detection sonar information of sonar module 5, and sonar information is handled, and draw out corresponding figure Picture, determines method according to above-mentioned target organism, determines target organism；

Then, the positional information of target organism is further determined that using sonar module 5, driving is utilized according to the positional information Module 2 drive under water unmanned boat target organism is locked or tracked.

The sonar module 5 will be fed back after sending sound wave, acoustic wave touch to barrier to specific direction, the sound Module 5 receives the sound wave feedback signal fed back, and sound wave feedback signal is filtered and fed back with after A/D conversion process To controller 1.Can be according to the distance of the feedback time disturbance in judgement thing of the sound wave feedback signal, and then according to multiple distance After judgement, the shape of barrier is just can determine that, in addition to avoiding the interference of other sound waves of surrounding, it should by sound wave feedback letter Number filtering process is first carried out, follow-up processing work is then carried out again.

Sound wave feedback signal is forwarded to control end 7 waterborne, control end 7 waterborne by the controller 1 using communication module 3 The depth of water in waters, the size of the shoal of fish, fish residing for unmanned boat under water are determined according to the feedback time of the sound wave feedback signal, decay intensity The residing depth of water of group.Wherein, control end 7 waterborne includes, base station waterborne, remote control, mobile terminal (mobile phone, flat board, notebook etc.), Sound wave feedback signal is sent to base station waterborne by communication module 3 by wired mode, and base station waterborne is again by the sound wave feedback letter Number remote control and/or mobile terminal are wirelessly sent to, so, remote control and/or mobile terminal will be according to these The feedback time of sound wave feedback signal, decay intensity determine the depth of water in waters, the size of the shoal of fish, shoal of fish institute residing for unmanned boat under water Locate the depth of water, or base station waterborne water according to residing for the feedback time of the sound wave feedback signal, decay intensity determine unmanned boat under water After the depth of water in domain, the size of the shoal of fish, the depth of water residing for the shoal of fish, these information are wirelessly sent to remote control and/or mobile terminal, Shown on remote control and/or mobile terminal.

The control sonar of controller 1 module 5 carries out seeking fish, and determines target water according to fish result is sought, and utilizes drive Dynamic model block 2 drive under water unmanned boat navigate by water to target water.Sonar module 5 can judge that front is scanned according to sound wave feedback signal Scope in the shoal of fish in fish quantity and the size of fish, according to the quantity and size of each shoal of fish, unmanned boat is automatic under water Target water is determined, target water is arrived in automatic driving unmanned boat navigation under water, and opens fishing lamp progress fish gathering, and will carry fish The fish hook of food is released, the process that can be thus gone fishing using unmanned boat under water, and user can also be according to distant The sonar scan image information shown on control device and/or mobile terminal, selects oneself to want the target water of fishing, and control Unmanned boat goes to the target water to be gone fishing under water.

The sound wave that the controller 1 controls the sonar module 5 to convert different frequency according to the hobby of different fish is carried out Fish gathering.Sonar module 5 can send the sound wave of various different frequencies, because every kind of shoal of fish is different to the sensitive frequency of sound wave, because This user can select oneself to want the sensitive sound of that fish of fishing, and be sent by sonar module 5, to attract this A fish snapped at the bait for fish.

Preferably, sonar module 5 is made up of at least two transducers, different deep under water by least two transducer probes The sonar data conversion of degree detects 3-D view under water into two dimensional image, then by mobile at least two transducers, The display screen display 3-D view of control end waterborne；Unmanned boat sets one or more transducers under water, it is possible to use change Energy device converts different power to convert the detection range and scope of unmanned boat under water, and one can be obtained by multiple transducers The graph data of plane, then multiple transducers follow under water unmanned boat move, and then get motion scan scope The 3-D view in interior waters, can thus be presented to the image of one 3 D stereo of user, and then improve the experience of user.

The control end waterborne 7 is provided with pseudo- color element, and 3-D view can be divided into multiple images module by pseudo- color element, And judge the profile of each image module, what it is according to profile is not all that each profile assigns different colouring informations, by graphics As being depicted as coloured image.

Because the data that sonar module 5 is obtained are sonic data, it can only be drawn out according to sonic data in underwater environment Each barrier shapes and sizes, color can not be got, in order to preferably be experienced to user, in control end set Pseudo- color element, thus can be according to the graph outline in each image module and the profile information stored in database phase Match somebody with somebody, then the corresponding color of the profile information of storage is imparted on the graph outline of the image module, can be thus sound The 3-D view of detection assigns a variety of colors, and (graph outline for example got is the shape of fish, is just assigned for the shape of the fish The shape for giving the fish in yellow, such 3-D view is exactly yellow, when user wants the dynamic of observation fish, it is possible to only observed yellow Color part just can be with), so facilitate user more intuitively to be observed.

The controller 1 control driving unmanned boat of drive module 2 carry out fish gathering, and/or seek fish, and/or fishing, and/or Observe the shoal of fish/underwater environment under water.In the above-mentioned technical solutions, posture acquisition module 4 can send the attitude data of acquisition To controller 1, controller 1 can carry out the attitude data to utilize the Real-time Feedback of communication module 3 to control waterborne after calculating processing The navigation posture of unmanned boat under water can be shown to user in real time by end 7 processed, control end 7 waterborne provided with display module, for User is according to the underwater navigation of navigation gesture stability unmanned boat under water；

In addition, user can also be using remote control or mobile terminal with unmanned boat function under remote-controlled water controls water Navigation direction, the anglec of rotation or submerged depth of lower unmanned boat etc., for example, user observes unmanned boat under water on a display screen Also it is not reaching to user and wants the destination gone fishing, the forward speed of display screen display unmanned boat under water is slow, use Family just can accelerate to move ahead using remote control or mobile phone control unmanned boat progress under water, and user can also be according to the actual need of oneself Unmanned boat is controlled completing to turn, turns around, rises, dive, the change function of the navigation posture such as main body turning.

Described image acquisition module 6 includes camera and illuminating lamp, and the camera sets the head of unmanned boat, the photograph Bright lamp is arranged on around camera, and illumination condition is provided for camera.

In the above-mentioned technical solutions, illuminating lamp can be arranged on camera both sides or up and down, and necessity is provided for camera Lighting condition, because light scatters and disappears than very fast so general more than 10 meters of depth intensity of illumination under water is all without very under water It is good, in addition if if evening operation, if no camera of illuminating lamp can not normal work, therefore in order to ensure shooting Head normal work, it is necessary to for camera set illuminating lamp, using the illuminating lamp be camera carry out light filling, so ensure that Unmanned boat can carry out operation in the region below 10 meters under water.

Preferably, the camera is IP Camera, can be by communication module 3 by the image or video information of collection Share in internet.

The illuminating lamp is light sensation illuminating lamp, can carry out light filling automatically according to intensity of illumination current around unmanned boat, The electricity of the illumination consumption of illuminating lamp can be so saved, and when the light sensation illuminating lamp can be according to the illumination for detecting surrounding Intensity is automatically opened up and closed, without manual control, is user-friendly.

The posture acquisition module 4 is set on circuit boards, including, gyroscope 41, accelerometer 42 and magnetometer 43, institute Stating attitude data includes, the water that the equilibrium criterion for the unmanned boat under water that the gyroscope 41 is detected, the accelerometer 42 are detected The bearing data of acceleration information and magnetometer 43 detection of lower unmanned boat.

The center of gravity of unmanned boat is provided with two magnetometers 43 under water, and two magnetometers 43 are symmetrical by symmetrical plane of circuit board It is arranged on circuit board both sides.

So calibrated by the azimuth information of two magnetometers, 43 pairs of detections, then regard calibration result as magnetometer The final azimuth information result of 43 detections, and because circuit plate thickness is smaller, the azimuth information that two magnetometers 43 are detected Deviation is smaller, and then makes the final azimuth information obtained after being calibrated by two magnetometers 43 more accurate.And due to As long as two magnetometers 43 simply have the such controller 1 of deviation carrying out being directed to vertical direction when calibration is calculated in vertical direction Carry out it is corresponding calculate calibration just can be with, the amount of calculation of controller 1 can be reduced, and then accelerate computation rate, and can also Improve the accuracy of unmanned boat orientation detection under water.

Also, two magnetometers 43 can also be integrated into one, and then the deviation for detecting two magnetometers 43 enters one Step reduces, and enables whole calibration algorithm more accurate, can thus improve the service behaviour of unmanned boat under water.

More than two magnetometers 43 can also be on circuit boards set, the phase of multiple magnetometers 43 can be thus utilized Mutually calibrate to make the accuracy of unmanned boat orientation detection under water obtain significantly more efficient raising.

In addition, two accelerometers 42 can also be set on circuit boards, two accelerometers 42 can be thus utilized Carry out complementary correction, it is so corrected after obtained acceleration magnitude can be more accurate, and then improve the work of unmanned boat under water Make performance.

Zero correction partially is carried out to the gyroscope 41, the controller 1 obtains flat using the gyroscope 41 after zero partially correction Weigh data, and the acceleration information detected using the accelerometer 42 calculates luffing speed ＆ angular velocity in roll, and by equilibrium criterion The determination pitch attitude of unmanned boat and roll attitude under water are combined with luffing speed ＆ angular velocity in roll.

In the above-mentioned technical solutions, because gyroscope 41 can be by each structure or the shadow of component on unmanned boat under water Sound, or other situations, the equilibrium criterion that gyroscope 41 is detected have deviation, it is therefore desirable to which it is inclined that gyroscope 41 is carried out into zero first Correction, and then ensure the accuracy of detection of gyroscope 41, after the completion of zero corrects partially, gyroscope 41 will obtain corresponding balance number According to；

Then the luffing speed ＆ rolling speed that the equilibrium criterion is detected with accelerometer 42 is combined, it is determined that under water (that is, unmanned boat is inclined under water for the current pitch attitude of unmanned boat (that is, the posture in unmanned boat offset level face under water) and roll attitude Move), for example, can determine that unmanned boat navigates by water posture in the skew into front, back, left, right, up, down, upper and lower six orientation under water.

Zero correction and oval correction partially is carried out to the magnetometer 43, orientation number is obtained using the magnetometer 43 after correction According to bearing data, equilibrium criterion and luffing speed ＆ angular velocity in roll are combined determination unmanned boat under water by the controller 1 Current flight direction.

In the above-mentioned technical solutions, influenceed by environmental factor and the oneself factor of magnetometer 43, magnetometer 43 be commonly present compared with Big course angle error, in order to ensure the precision of magnetometer 43, first has to carry out magnetometer 43 zero correction and oval correction partially, Then recycle correction after magnetometer 43 obtain unmanned boat under water bearing data (that is, obtain under water unmanned boat east, south, Residing orientation in west, north four direction), and gyroscope 41 and accelerometer 42 will be utilized in the bearing data and such scheme The luffing speed ＆ angular velocity in roll of acquisition is combined, and can further determine that the current flight direction of unmanned boat under water outlet.

The accelerometer 42 carries out pose compensation, and the acceleration information removal gravity of acquisition is obtained into duplicate removal afterwards adds Speed data, is integrated to the duplicate removal acceleration information of three axles of acquisition, determines the current flight speed of unmanned boat under water.

The equilibrium criterion that gyroscope 41 is detected is unmanned boat reference frame and under water unmanned boat body coordinate system under water Spin matrix, the measured value of the accelerometer 42 is, based on unmanned boat body coordinate system under water, body coordinate system to be divided into Three reference axis are x-axis, y-axis, z-axis, measured value inherently three axles；

Then, corresponding 3-axis acceleration data are obtained using the accelerometer 42, pose compensation is exactly that three axles are accelerated Degrees of data is transformed into reference frame, due to having acceleration of gravity in the acceleration information of acquisition, accordingly, it would be desirable to by gravity Acceleration is removed, and finally the acceleration magnitude of three axles to being obtained after pose compensation and removal gravity is carried out respectively Integration, is known that the current flight speed of unmanned boat in three directions under water.

Wherein, the drive module 2 includes, the first motor driver, the second motor driver and the 3rd motor driver, First motor driver and the second motor driver are symmetrical arranged the two sides of tail of unmanned boat under water, pass through described first Motor driver and the second motor driver drive the displacement of the horizontal direction of unmanned boat under water, and the 3rd driver is arranged on Unmanned boat center of gravity drives the displacement of the vertical direction of unmanned boat under water under water.

The controller 1 sends the attitude data of reception to control end 7 waterborne by communication module 3, and utilizes waterborne Display screen in control end 7 is shown attitude data, it is preferable that in the mould of the display screen display unmanned boat under water Type, and attitude data is intuitively shown by the model of the unmanned boat under water.

Posture acquisition module 4 can obtain the navigation posture of unmanned boat currently under water, such as, headway (each axial direction, The headway of all directions), the current pose (be in horizontally or diagonally or the posture such as pitching) of unmanned boat under water, and by this A little navigation posture Real-time Feedbacks are to controller 1, and controller 1 is sent after these attitude datas are handled using communication module 3 Control end 7 waterborne (can be mobile phone, flat board, notebook, computer or remote control with display screen etc.) is given, when user starts After the control software of unmanned boat under water, the model of unmanned boat under water will be shown in the display screen on control terminal, under water The posture that unmanned boat is navigated by water under water can intuitively be presented to user by the model, and user can be seen under water by model The appearance that unmanned boat is navigated by water under water, and four orientation in the model and all directions can be coordinated, such user is just Navigation direction and residing posture of the unmanned boat in water, and then the experience of user can be improved under water can intuitively be seen.

Current flight direction and current flight speed are sent to control end waterborne by the controller 1 by communication module 3 7；Preferably, the sailing instructions that control end 7 waterborne is sent are sent to controller 1 by communication module 3, and the controller 1 ought Preceding navigation direction, current flight speed and sailing instructions are combined the navigation appearance that control drive module 2 adjusts unmanned boat under water State.In the above-mentioned technical solutions, the headway of unmanned boat under water can be fed back to control end 7 waterborne, numeral can be passed through Or the mode of figure is shown, such user just can be by headway and navigation of the above-mentioned unmanned boat under water in water Direction and residing posture are combined, and then allow users to make more accurate control command, control unmanned boat under water Navigation posture.

The offset of direction and goal headway, institute are navigated by water with target according to current flight direction and current flight speed State the navigation posture that controller 1 controls drive module 2 to correct unmanned boat under water automatically according to the offset.In above-mentioned technical proposal In, when user's control unmanned boat reach user need position, or in user need posture when, under water unmanned boat may It can be promoted by undercurrent under water, or the influence of shock of the shoal of fish and floating object etc. under water can deviate correct navigation posture (that is, target navigation posture), such unmanned boat can control drive module 2 to be corrected automatically, the unmanned boat under water that will deviate from It is corrected in correct navigation posture, and then ensures the poised state of unmanned boat under water.

Embodiment two

As shown in Fig. 2 on the basis of above-described embodiment, in addition to intelligence follows module 8, the intelligence follows module 8 It is connected with the controller 1, the controller 1 receives the following after order to mobile target of the transmission of communication module 3, obtains The positional information of mobile target, and follow the mobile target of 8 pairs of module to follow using intelligence.

In the above-mentioned technical solutions, when user is sent by remote control or mobile phone or other control ends to unmanned boat under water To following after order for certain movement target (can be fish, people, underwater submarine or other objects that can be moved), obtain first The positional information of mobile target, is locked to mobile target, is then started intelligence and is followed module 8, controls unmanned boat pair under water Mobile target is followed, wherein, mobile target can also be the shoal of fish.So, when user wants to observe some fish or the shoal of fish During animation, or when wanting to track some other underwater moving targets, it is possible to follow 8 pairs of movements of module using the intelligence Target follow, and then convenient for users to use.

The controller 1 obtains mobile target and the current distance of unmanned boat under water, and follows module 8 to keep using intelligence Current distance is tracked to mobile target；The intelligence follows module 8 to be connected with communication module 3, and the intelligence follows module 8 The key for receiving the transmission of communication module 3 is followed after order, and the nearest mobile biology of unmanned boat under water of adjusting the distance is followed.

As user in order to entertain, only wish to certain mobile object to surrounding and follow, user oneself does not have target again, A key can just be started and follow order, so intelligence follow module 8 will the detection range nearest mobile biology of unmanned boat under water, And followed movement biology as mobile target.

Embodiment three

As shown in figure 3, on the basis of the scheme of above-described embodiment, in addition to the global location mould being connected with controller 1 Block 9 can obtain the positional information of unmanned boat under water in real time.

The global positioning module 9 is GPS module or big dipper module, and the position of the unmanned boat under water can be so known in real time Put, can so be tracked positioning to unmanned boat under water, can also facilitate user to find unmanned boat under water, be brought just to user Profit.

Example IV

Embodiment of the present utility model proposes a kind of unmanned boat control method under water, and step includes：

S1, obtains the biological graphical information of each detection；

S2, determines the biological biological species of each detection, and determine target from all graphical informations according to graphical information It is biological；

S3, obtains the positional information of target organism, and target organism is tracked.

The step S1 is specifically included：

Picture is shot using camera, the biological graphical information of each detection is captured from picture；Or

Sonar information is obtained using sonar module, sonar information progress processing is depicted as with each detection biometric profile Image, the biological contour images of each detection of crawl, the graphical information for the contour images being used as each detection biological.

Step S3 includes：Obtain the positional information of target organism, the attitude data that posture acquisition module is obtained and target Biological positional information is combined, and using drive module driving, unmanned boat is tracked or locked to target organism under water.

Wherein, the attitude data includes：Gyroscope detection equilibrium criterion, accelerometer detection acceleration information, The bearing data of magnetometer detection；

Step S3 deployment step includes：

S31, the pitching data and rolling data of unmanned boat under water are determined according to equilibrium criterion and acceleration information；

S32, pitching data, rolling data and bearing data is combined the current flight side for determining unmanned boat under water To；

S33, offset is determined according to the position in current flight direction and target organism, and drive module is started according to offset The navigation direction of unmanned boat under water is adjusted, unmanned boat is tracked or locked to target organism under water for driving.

Therefore step S33 is specially：

Sa, calculates the pitching offset of pitching data-bias equilbrium position, when pitching offset is beyond setting pitching skew During threshold value, start the vertical pusher in drive module, equilbrium position will be adjusted to by unmanned boat under water.

Or, Sb calculates the rolling offset of rolling data-bias equilbrium position, when rolling offset is beyond setting rolling During offset threshold, equilbrium position will be adjusted to by unmanned boat under water using the vertical pusher and horizontal propeller in drive module.

Or, Sc, the azimuth deviation amount of computer azimuth data and target bearing, when azimuth deviation amount is inclined beyond setting orientation When moving threshold value, start the horizontal propeller in drive module, target bearing will be adjusted to by unmanned boat under water.

Above-mentioned equilbrium position and target bearing are determined by the position of target organism, and equilbrium position is target organism Residing depth plane, the target bearing is the distance of target organism and unmanned boat under water, and centered on unmanned boat under water The target water is located at unmanned boat orientation (East, West, South, North) angle under water.

Described above is only preferred embodiment of the present utility model, not makees any formal to the utility model Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, it is any to be familiar with The technical staff of this patent is not being departed from the range of technical solutions of the utility model, when the technology contents work using above-mentioned prompting Go out a little change or be modified to the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solutions of the utility model, Any simple modification, equivalent variations and the modification made according to technical spirit of the present utility model to above example, still belong to In the range of the utility model scheme.

Claims (10)

1. a kind of unmanned boat control system under water, it is characterised in that including controller, drive module, communication module, posture are obtained Modulus block, image collection module and sonar module, drive module, communication module, posture acquisition module and sonar module with control Device processed is connected, the posture number that the sailing instructions and/or posture acquisition module that the controller is received according to communication module are obtained According to, the navigation posture of unmanned boat is adjusted using drive module, described image acquisition module is connected with the communication module, it is described logical The graphical information that image collection module is obtained is forwarded to control end waterborne by letter module, and the controller is detected using sonar module Biological information and/or terrain information.

2. unmanned boat control system under water according to claim 1, it is characterised in that the controller can utilize sonar Module and/or image collection module, it is determined that the biological biological species of detection, determine that target is given birth to according to the biological biological species of detection Thing, and control drive module to lock target organism.

3. unmanned boat control system under water according to claim 1, it is characterised in that the sonar module is to specific direction Send sound wave, and receive the sound wave feedback signal that feeds back, by sound wave feedback signal be filtered with after A/D conversion process Feed back to controller.

4. unmanned boat control system under water according to claim 3, it is characterised in that the controller is by sound wave feedback letter Number it is forwarded to control end waterborne using communication module, control end waterborne is strong according to the feedback time of the sound wave feedback signal, decay Degree determines the depth of water in waters residing for unmanned boat, the size of the shoal of fish, the depth of water residing for the shoal of fish under water.

5. unmanned boat control system under water according to claim 1, it is characterised in that the controller controls sonar module Fish is sought in progress, and determines target water according to fish result is sought, and unmanned boat is navigated by water to target water under water using drive module driving Domain.

6. unmanned boat control system under water according to claim 1, it is characterised in that the sonar module is according to different fishes The sound wave of the hobby conversion different frequency of class carries out fish gathering.

7. unmanned boat control system under water according to claim 1, it is characterised in that described image acquisition module includes taking the photograph As head and illuminating lamp, the camera sets the head of unmanned boat under water, and the illuminating lamp is arranged on around camera, to take the photograph As head provides illumination condition.

8. unmanned boat control system under water according to claim 7, it is characterised in that the camera is can be by logical The IP Camera that letter module shares to the image or video information of collection in internet.

9. unmanned boat control system under water according to claim 1, it is characterised in that the posture acquisition module is arranged on On circuit board, including, detection under water the gyroscope of the equilibrium criterion of unmanned boat, detection under water the acceleration information of unmanned boat plus The magnetometer of speedometer and detection bearing data；

The circuit board is provided with least two magnetometers, at least two magnetometer overlap stack place or using circuit board as Symmetrical plane is symmetricly set on circuit board both sides.

10. unmanned boat control system under water according to claim 1, it is characterised in that the drive module includes, is set Under water in front of unmanned boat center of gravity adjustment under water the vertical pusher of the motion of the vertical direction of unmanned boat, be separately positioned under water The unmanned boat two sides of tail control advance of unmanned boat under water, the horizontal propeller for retreating and turning.