CN207067796U - Unmanned operation intelligence boat equipment - Google Patents
Unmanned operation intelligence boat equipment Download PDFInfo
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- CN207067796U CN207067796U CN201720455633.0U CN201720455633U CN207067796U CN 207067796 U CN207067796 U CN 207067796U CN 201720455633 U CN201720455633 U CN 201720455633U CN 207067796 U CN207067796 U CN 207067796U
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- intelligent ship
- unmanned operation
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Abstract
The utility model discloses a kind of unmanned operation intelligence boat equipment, including intelligent ship body, intelligent ship body is provided with main control module, main control module is connected with navigation system, water quality detection system and data transmission module, the water quality detection system includes the sensor assembly for being arranged at intelligent ship body lower part, navigation system includes the Big Dipper and GPS dual-mode locating module, and compass module, the main control module is also associated with executing agency, range finder module, and power testing system, the data transfer communicates with Intelligent terminal data, the control system APP for controlling intelligent ship is provided with the intelligent terminal.Autonomous cruise can be achieved, automatic obstacle-avoiding, automatically recharge, it can be communicated with intelligent terminal, the intelligent ship of unmanned operation can be controlled according to the data of collection in worksite, while for convenience of to intelligent ship and waters monitoring management, there is provided intelligent foot track, hull state of charge can be checked at any time, culture zone water quality parameter, intelligent boatman is controlled to make.
Description
Technical field
A kind of automation equipment of unmanned operation is the utility model is related to, more particularly to a kind of nobody based on Internet of Things
Operation intelligence boat equipment.
Background technology
Unmanned boat is supervised as a kind of intelligent, automation, unmanned, networking surface vehicles in ecology of water
Control, operation at sea etc. have played extremely important effect.With the development of industrialization and the enhancing of unmanned boat purpose, bag
Include avoidance, according to gathered data intelligent operation and to possess the practical problems such as certain self-test capability urgently to be resolved hurrily.In addition, along with
The development of Internet technology, upgrading is carried out to original producer and way to manage using computer technology, network technology etc. and changed
Making also turns into a big Innovation Demand.
Chinese patent literature CN 205785296 discloses a kind of Intelligent unattended water area monitoring platform, including hull, hull
On APM self-drivings navigation system, GPS positioning system, camera system, image delivering system, OSD video overlapping systems, 3DR data
Transmission system, power supply etc., the propulsion plant of control system and setting above deck.The platform can realize that course line is driven automatically
Sail, GPS positioning system satellite fix and make a return voyage automatically, pass through the monitoring of 3DR wireless system for transmitting data real-time Transmission and navigation number
Video monitoring end can be back to by Wireless Image Transmission Systems according to, the video and picture that imaging sensor photographs, and by ground
Manage information position, supply voltage current information and other collection information in the lump superposed transmission on display screen.The Intelligent unattended
Water area monitoring platform is only used for Monitoring Data, and intelligence degree is not high, can only be according to the route running of setting, controlling party
Formula is single.
Utility model content
In order to overcome above-mentioned technical problem, the utility model provides a kind of unmanned operation intelligence boat equipment, can be achieved certainly
Main cruise, automatic obstacle-avoiding, is recharged automatically, can be communicated with intelligent terminal, can control unmanned operation according to the data of collection in worksite
Intelligent ship, while for convenience of to intelligent ship and waters monitoring management, there is provided intelligent foot track, hull electricity can be checked at any time
Amount state, culture zone water quality parameter, intelligent boatman is controlled to make.
The technical solution of the utility model is：A kind of unmanned operation intelligence boat equipment, including intelligent ship body, the intelligence
Ship body is provided with main control module, and the main control module is connected with navigation system, water quality detection system and data transfer mould
Block, the water quality detection system include the sensor assembly for being arranged at intelligent ship body lower part, and the navigation system includes the Big Dipper
With GPS dual-mode locating module and compass module, the main control module is also associated with executing agency, range finder module and electricity
Detecting system.
Preferably, the executing agency comprises at least device for feeding, oxygen increasing equipment.
Preferably, the device for feeding is arranged on intelligent ship body by base support, including upper cavity and lower chamber,
The upper cavity top side is provided with a discharging opening, and the upper cavity sets limited location thumb wheel, the cavity of resorption close to discharging opening
Body is provided with motor, and the motor connects rotate gear group by rotating shaft, and the rotate gear group driving upper cavity rotates, described
Upper cavity bottom is provided with spacing preiection, and the limit switch coordinated with spacing preiection is provided with the lower chamber inwall, described
Spacing preiection is oppositely arranged with limit switch.
Preferably, the intelligent ship body is provided with the first wireless transport module, and first wireless transport module is with setting
The second wireless transport module put in executing agency is communicated, the work of control executing agency.
Preferably, the main control module is also connected with recharging docking system, and the top of the intelligent ship body, which is provided with, to be filled
Electricity waterproof port, both sides are provided with infrared receiving device, and the infrared receiving device, which is used to receive, is arranged on charge node
The infrared signal of infrared launcher transmitting, the docking system that recharges are used to position the position of charging contacts and carry out charging control
System.
The invention also discloses a kind of control system of unmanned operation intelligence boat equipment, used by data transmission module
Communicated in by real-time data transmission to remote server, the remote server with Intelligent terminal data, in the intelligent terminal
It is provided with for controlling the control system APP, the control system APP of intelligent ship to be used for the driving trace for showing unmanned operation ship
And water quality parameter；Control command is sent, includes the course line of setting unmanned boat automatic running, controls unmanned ship's head, setting is filled
Electricity puts data threshold and the time of geographical latitude coordinates and setting automatic job.
Compared with prior art, the utility model has the advantages that：
1st, intelligent ship of the present utility model has barrier avoiding function, can autonomous cruise, and can be joined according to the water quality of collection in worksite
Number carries out automated job.It can recharge with automatic detection battery status and automatically to charging economize on electricity charging.
, can be looked into remote server, user by the control system APP installed in intelligent terminal by GPRS transmission
See that the driving trace of intelligent ship, intelligent ship are presently in position, water quality parameter, and unmanned operation ship can remotely be controlled by APP
System, include the course line of the intelligent ship automatic running of setting, control unmanned ship's head, set charge point geography latitude coordinates and setting
The data threshold of unmanned boat automatic job and time etc..
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment is further described to the utility model：
Fig. 1 is a kind of structured flowchart of the control system of unmanned operation intelligence boat equipment of the utility model；
Fig. 2 is a kind of circuit theory diagrams of unmanned operation intelligence boat equipment of the utility model；
Fig. 3 is a kind of pid stream journey figure of unmanned operation intelligence boat equipment of the utility model；
Fig. 4 is the utility model avoidance flow chart；
Fig. 5 is the control principle block diagram of the utility model aerator and device for feeding；
Fig. 6 is the utility model device for feeding structural representation；
Fig. 7 is the utility model device for feeding workflow diagram；
Fig. 8 is the control principle block diagram that the utility model recharges system；
Fig. 9 is schematic diagram calculation when the utility model recharges positioning；
Figure 10 is the utility model control system APP functional block diagram；
Figure 11 is the utility model data communication flow journey figure.
Embodiment
To make the purpose of this utility model, technical scheme and advantage of greater clarity, with reference to embodiment
And referring to the drawings, the utility model is further described.It should be understood that these descriptions are merely illustrative, and do not really want
Limit the scope of the utility model.In addition, in the following description, the description to known features and technology is eliminated, to avoid not
Necessarily obscure concept of the present utility model.
Embodiment：
This patent is described further with reference to the drawings and specific embodiments：
As shown in figure 1, a kind of unmanned operation intelligence ship control system, is mainly made up of four parts：Unmanned operation intelligence ship,
Executing agency, charging economize on electricity, intelligent terminal.
As shown in Fig. 2 unmanned operation intelligence ship includes main control module, navigation system, GPRS data transport module, motor
Drive module, water quality detection system, ultrasonic distance measuring module, device for feeding, Si4432 wireless transport modules, electricity self-checking circuit
Module and infrared receiver instrument.
Main control module is STM32 single-chip microcomputers, processing and control for data.
Main control module control navigation system carries out automatic cruising, and automatic cruising algorithm is designed based on PID control principle, control
System is simple, precision is high, and pid algorithm flow chart is as shown in Figure 3.Navigation system includes the Big Dipper and d GPS locating module, guide needle mould
Block, single-chip microcomputer is instructed by AT and communicated with guidance system data, and would know that the warp residing for current hull by protocol analysis
Latitude information, the longitude and latitude and target point longitude and latitude are carried out to contrast the angle with direct north that can be calculated needed for ship,
Communicated to obtain the actual angle of ship and direct north with GY-273 compass modules by I2C communication protocols again, will be actual
Angle and theoretical angle subtract each other to obtain error amount and are multiplied by the integration of current error value, the differential of error amount and error amount pair respectively
The coefficient answered obtains two required motor speed deviations, adjusts fore direction by changing two motor speeds, makes actual angle
It is identical with theoretical angle, finally realize automatic cruising.
As shown in figure 4, ultrasonic distance measuring module uses HC-SR04 sensors, the sensor is per 200ms to the module
Trig signal pins maintain a high level signal for being no less than 10us, and module automatic cycle sends 8 40KHz pulse, then
The high level output time of echoing of module Echo pins is proportional to detecting distance.High level by account for reverberation pin is defeated
Go out the time, you can calculate the distance between hull and barrier.If the distance calculated is less than the safe distance value of setting,
The automatic obstacle-avoiding program of pilot ship can be started, the opposite direction arrived to barrier is turned round.
Module is SIM808 modules, and single-chip microcomputer is communicated soon by serial ports with the mould, by protocol analysis, is realized and long-range clothes
The data interaction of business device, water quality parameter data, longitude and latitude degrees of data, battery electric quantity letter can be sent to remote server by the module
Breath, can also receive the data command from APP clients, then input in single-chip microcomputer order data and held for single-chip microcomputer parsing
OK.
Water quality detection system includes water quality parameter sensor, and water quality parameter sensor can include dissolved oxygen sensor, water
Temperature sensor, pH sensors etc..
Dissolved oxygen sensor is DOB-300 sensors in the present embodiment, and single-chip microcomputer passes through 485 communication interfaces and the sensor
Communication would know that the content of current oxygen in water.
Cooling-water temperature sensor is DS18B20 sensors, and single-chip microcomputer sends reading data command to the sensor by I/O port and can obtained
Know current water temperature.
Sensor is industrial pH/ ORP testers, and single-chip microcomputer is communicated by 485 communication interfaces with the sensor would know that and work as
PH content in preceding water.
Sensor in ultrasonic distance measuring module interrogates water proof type compatibility HC-SR04 ultrasonic sensors for generation, and single-chip microcomputer leads to
Cross to input trigger signal to the sensor and detect the level time that echoes and can calculate distance with front obstacle, distance work
The regulation of automatic obstacle-avoiding is participated in for necessary avoidance obstacle parameter.
Main control module is communicated by Si4432 wireless transport modules with executing agency, and single-chip microcomputer is communicated by SPI data
Agreement can be with the module transceiving data bag, and the module is as the data hair to the Si4432 receiving modules in executing agency
The side of sending, communicated the job control that can be achieved to executing agency by the module with the data of recipient.Executing agency can be to throw
Eat apparatus module or oxygen increasing equipment etc..
As shown in figure 5, oxygen-increasing device, device for feeding are mainly made up of three parts：51 main control singlechips, Si4432 data connect
Receive module, oxygenation and feeding equipment；Si443 data reception modules are received on intelligent ship under the control of 51 single-chip microcomputers
Data, when it is to be turned on and off oxygenation or the order of feeding equipment that single-chip microcomputer, which parses the data, pass through control relay
Realize to oxygenation and the control of feeding equipment.
Motor drive module can receive the PWM outputs from main control module, and drive intelligent ship with corresponding frequencies two
The rotating speed of individual direct current generator.
Device for feeding can be mounted on intelligent ship, and device for feeding is connected by relay with single-chip microcomputer, by single-chip microcomputer
Control relay and then the open and close for controlling device for feeding, single-chip microcomputer can be automated according to the water quality parameter surveyed
Intelligent control, when a certain parameter in water quality parameter is less than given threshold, a certain mechanism in device for feeding is controlled to enter action
Make, respective substance is put into water, when the parameter is higher than given threshold, stopping action.
The structure construction of device for feeding is installed by base support 6 as shown in fig. 6, device for feeding uses cylindrical structure
On intelligent ship body, device for feeding includes upper cavity 1 and lower chamber 2, and the top side of upper cavity 1 is provided with a discharging opening 3, on
Cavity 1 sets limited location thumb wheel 9 close to discharging opening 3, and lower chamber 2 is provided with motor 8, and motor 8 connects rotate gear by rotating shaft
Group 4, rotate gear group 4 drive upper cavity 1 to rotate, and the bottom of upper cavity 1 is provided with spacing preiection 7, is provided with the inwall of lower chamber 2
The limit switch 5 coordinated with spacing preiection 7, spacing preiection 7 are oppositely arranged with limit switch 5.Motor driven cylinder feeding fills
Put rotation so that discharging opening carries out rotating unrestrained medicine from bottom to top, when the discharging opening of cylindrical device for feeding is gone to towards upper
When putting, spacing preiection, which will trigger limit switch, makes device for feeding stop operating, and stops dispensing process.The calculation of device for feeding operating
Method flow chart is as shown in Figure 7.
Power testing system includes electricity self-checking circuit module, and electricity self-checking circuit module is using inspection leakage resistance and amplifier
Hull cell voltage and electric current are obtained, integral operation is carried out to obtained current parameters with certain sampling period, to monitor ship in real time
Body battery electric quantity is simultaneously checked information about power by GPRS transmission to remote server for APP clients.
Main control module connects back to charging system, when power testing system detects that electricity is less than given threshold, controls back
Charging system works, and the system that recharges is used to position the position of charging contacts and carries out charge control.
Infrared receiver instrument is provided with the both sides of intelligent ship body, infrared receiver instrument is used as essence when intelligent ship recharges automatically
True location navigation, the geographical latitude and longitude coordinates for the charge node that intelligent bow is first set according to user are driven near charge point,
The infrared signal that the infrared transmission instrument that then infrared receiver instrument detection is placed in charge node is sent, by calculating infrared hair
Charge point can be reached automatically by sending the particular location of instrument.
As shown in figure 8, charging economize on electricity includes charging socket and infrared transmission instrument, the top of intelligent hull is provided with charging
With waterproof port, both sides two infrared receiver instrument are installed receive sent by the infrared transmission instrument on charging socket it is red
External signal carries out recharging positioning, when intelligent ship is connected on charging socket, recharges system control charging.It specifically recharges positioning
When pinpoint schematic diagram calculation as shown in figure 9, with infrared one received in instrument of two on hull for origin
Establish rectangular coordinate system, using P1 as origin in figure, then coordinate where infrared transmission instrument is Q (xq, yq, zq), on hull
It is two infrared receive instrument coordinate difference P1 (x1, y1, z1) and P2 (x2, y2, z2), calculating in real time is two infrared receive instrument with it is red
The outer drift angle for sending instrument, determines the infrared transmission instrument i.e. particular location of charging plug.
As shown in Figure 10, client end AP P be intelligent ship each water area monitoring to data message dynamically monitored
Monitoring, including water quality parameter, hull running orbit, hull battery electric quantity etc., and Baidu map API figure layers are utilized by the knot of monitoring
Fruit is visual to be showed, so as to accomplish browsing, inquire about and managing for the information such as the position to intelligent ship, state, APP client
Also there is setting control action at end to unmanned operation ship's head, course, the water quality threshold of automatic job and working time.
As shown in figure 11, the API technologies that APP client terminals are opened using Baidu map are tracked positioning, including right
Calling of BMAP class functions etc., data storage and reading are carried out using SQL Server databases, is opened by Google
Android api interfaces are realized and communicated with the data transmit-receive of server.
Unmanned operation ship can utilize the Big Dipper, GPS bimodulus positioning and the orientating function of digital compass to be set according to user
Course line Automatic Track Finding traveling, and the water quality parameter of collection is included into the water quality parameters such as PH, dissolved oxygen, temperature on the way and passes through GPRS
Remote server is transferred to, user can check the driving trace of unmanned operation ship, nothing at any time by the APP on mobile phone
People's ship is presently in position, water quality parameter, and can be automatic to unmanned operation ship remote control, including setting unmanned boat by APP
The course line of traveling, control unmanned ship's head, setting charge point geography latitude coordinates and the data for setting unmanned boat automatic job
Threshold value and time etc..Water quality parameter threshold value that intelligent ship can be set according to user, the parameter such as time carry out automatic job, once
Water quality parameter is detected beyond the threshold value of user's setting and meets the working time, you can is opened by Si4432 wireless transport modules
Or aerator and device for feeding are closed, it also can automatically turn on or close the device for feeding being mounted on hull.Intelligent ship is travelling
Detected during if front just like the barrier such as water plant, other operation ships when also can automatic obstacle-avoiding, when intelligent ship
Self-checking system detects when battery electric quantity is too low that intelligence ship can automatically return to charge node and charged.
It should be appreciated that above-mentioned embodiment of the present utility model is used only for exemplary illustration or explains this reality
With new principle, without forming to limitation of the present utility model.Therefore, without departing from spirit and scope of the present utility model
In the case of any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the utility model.In addition,
The appended claims for the utility model are intended to fall into scope and border or this scope and border
Whole in equivalents changes and modifications example.
Claims (5)
1. a kind of unmanned operation intelligence boat equipment, including intelligent ship body, the intelligent ship body is provided with main control module, institute
State main control module and be connected with navigation system, water quality detection system and data transmission module, it is characterised in that the water quality detection
System includes being arranged at the sensor assembly of intelligent ship body lower part, and the navigation system includes the Big Dipper and GPS dual-mode positioning mould
Block and compass module, the main control module are also associated with executing agency, range finder module and power testing system.
2. unmanned operation intelligence boat equipment according to claim 1, it is characterised in that the executing agency, which comprises at least, feeds
Eat device, oxygen increasing equipment.
3. unmanned operation intelligence boat equipment according to claim 2, it is characterised in that the device for feeding passes through base branch
Frame is arranged on intelligent ship body, including upper cavity and lower chamber, and the upper cavity top side is provided with a discharging opening, described
Upper cavity sets limited location thumb wheel close to discharging opening, and the lower chamber is provided with motor, and the motor is connected by rotating shaft and rotated
Gear train, rotate gear group driving upper cavity rotate, and the upper cavity bottom is provided with spacing preiection, in the lower chamber
The limit switch coordinated with spacing preiection is provided with wall, the spacing preiection is oppositely arranged with limit switch.
4. unmanned operation intelligence boat equipment according to claim 1, it is characterised in that the intelligent ship body is provided with
One wireless transport module, first wireless transport module are led to the second wireless transport module being arranged in executing agency
Letter, the work of control executing agency.
5. unmanned operation intelligence boat equipment according to claim 1, it is characterised in that the main control module is also connected with back
Docking system is filled, the top of the intelligent ship body is provided with charging waterproof port, and both sides are provided with infrared receiving device, institute
State infrared receiving device be used for receive be arranged on charge node infrared launcher launch infrared signal, it is described to recharge docking
System is used to position the position of charging contacts and carries out charge control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455633.0U CN207067796U (en) | 2017-04-27 | 2017-04-27 | Unmanned operation intelligence boat equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455633.0U CN207067796U (en) | 2017-04-27 | 2017-04-27 | Unmanned operation intelligence boat equipment |
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| Publication Number | Publication Date |
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| CN207067796U true CN207067796U (en) | 2018-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720455633.0U Expired - Fee Related CN207067796U (en) | 2017-04-27 | 2017-04-27 | Unmanned operation intelligence boat equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN109606188A (en) * | 2018-12-19 | 2019-04-12 | 上海交通大学 | A kind of Chargeable ship, unmanned boat collaboration charging system and collaboration charging method |
| CN110837261A (en) * | 2019-11-19 | 2020-02-25 | 深圳市人工智能与机器人研究院 | Unmanned ship autonomous energy supply system and method |
-
2017
- 2017-04-27 CN CN201720455633.0U patent/CN207067796U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN109606188A (en) * | 2018-12-19 | 2019-04-12 | 上海交通大学 | A kind of Chargeable ship, unmanned boat collaboration charging system and collaboration charging method |
| CN109606188B (en) * | 2018-12-19 | 2022-01-04 | 上海交通大学 | Charging ship, unmanned ship cooperative charging system and cooperative charging method |
| CN110837261A (en) * | 2019-11-19 | 2020-02-25 | 深圳市人工智能与机器人研究院 | Unmanned ship autonomous energy supply system and method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20190427 |
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| CF01 | Termination of patent right due to non-payment of annual fee |