CN207817528U - A kind of autonomous cruise makes a return voyage formula unmanned boat - Google Patents
A kind of autonomous cruise makes a return voyage formula unmanned boat Download PDFInfo
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- CN207817528U CN207817528U CN201820227027.8U CN201820227027U CN207817528U CN 207817528 U CN207817528 U CN 207817528U CN 201820227027 U CN201820227027 U CN 201820227027U CN 207817528 U CN207817528 U CN 207817528U
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- unmanned boat
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- return voyage
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Abstract
It makes a return voyage formula unmanned boat the utility model discloses a kind of autonomous cruise, including unmanned boat ontology, the inside of unmanned boat ontology is equipped with as the control module of unmanned boat motion control core and is connected with the control module circuit for feeding back the obstacle avoidance module of unmanned boat surrounding signals, the GPS module for feeding back unmanned boat position signal, the gyro module for feeding back unmanned boat course angle signal and the communication module for realizing wireless telecommunications with host computer；The top of unmanned boat ontology is equipped with the power plant module being connected with control module for being equipped with function of being maked a return voyage by control module program control realization unmanned boat autonomous cruise for the lower part of all power modules for providing electric power with unit of force on unmanned boat, unmanned boat ontology.The utility model is simple for structure, control is accurate, and energy contexture by self avoidance is maked a return voyage, and is particularly adapted to city river, the unmanned boat water quality Collecting operation in lake uses.
Description
Technical field
The utility model belongs to the automatic control technology field of unmanned boat, especially has a kind of nothing of autonomous function of making a return voyage
People's ship, specifically a kind of autonomous cruise make a return voyage formula unmanned boat.
Background technology
With the fast development of national economy and urbanization process, the Situation of water resources very severe that China faces, water money
The problems such as source shortage, water pollution is serious, and ecological environment drastically deteriorates, becomes increasingly conspicuous.It is announced according to Chinese environmental bulletin in 2016
Data, in 112 important lakes, V classes and bad V classes water body account for 14%, major pollutants index be total phosphorus, COD and
Permanganate index.In the lake of 108 monitoring nutrition conditions, eutrophic lake accounting 24%, water environment pollution is seriously made
The economic development in the China Yue Zhe influences the daily life of resident.In recent years, China is gradually increased water resources management dynamics, in succession
Many laws and regulations are put into effect, such as No.1 Central File just clearly proposes the water management that will keep under strict control in next step, also achieves one
Determine effect.On December 11st, 2016, General Office of the CPC Central Committee, the General Office of the State Council announce《About river length system of carrying out in an all-round way
Opinion》, propose that establishing river length comprehensively to the end of the year 2018 makes, it is desirable to allow original unmanned hope to manage, be polluted wantonly by " growing system in river "
River effectively administered, and work as a normalization of functional government departments, work as Chinese " water crisis " is severe
Under, the clear bank of water of trying hard to keep is green, realizes that rivers, lake are green for a long time.
About the policy that water pollution is supervised and is administered in continuous propulsion and implementing, unmanned boat is quickly grown, but big for country
Part unmanned boat can only realize simple cruise, and limited amount coordinate pathway is stored by hardware and carries out simple path rule
It draws, not the autonomous path planning function and real time position detection function of long range, it can not be autonomous in the case of not enough power supply
It makes a return voyage, causes the loss of unmanned boat, bring about great losses.
Invention content
Technical problem to be solved in the utility model is present situation for the above-mentioned prior art, and provides reasonable design, control
System is accurate, and can a kind of autonomous cruise for making a return voyage of contexture by self avoidance make a return voyage formula unmanned boat.
To realize the above-mentioned technical purpose, the technical solution that the utility model is taken is：
A kind of autonomous cruise makes a return voyage formula unmanned boat, including unmanned boat ontology, and the inside of unmanned boat ontology is equipped with as nothing
The control module of people's ship motion control core and be connected with the control module circuit for feed back unmanned boat ambient enviroment letter
Number obstacle avoidance module, the GPS module for feeding back unmanned boat position signal, the gyroscope for feeding back unmanned boat course angle signal
Module and for host computer realize wireless telecommunications communication module；The top of unmanned boat ontology is equipped with to be connected with control module
It connects for for all power modules for providing electric power with unit of force on unmanned boat, the lower part of unmanned boat ontology to be equipped with controlled molding
The control of block program realizes that unmanned boat autonomous cruise makes a return voyage the power plant module of function.
To optimize above-mentioned technical proposal, the concrete measure taken further includes：
Above-mentioned control module is to possess multiple timers, 112 universaling I/O ports, 3 12 ADC and 1 12 DAC
STM32F103 central processing units, central processing unit includes multiple for sending the PWM interfaces of PWM wave.
Above-mentioned power module includes solar panels for converting solar energy into electrical energy and for storing solar energy
The accumulator of the electric energy of plate conversion.The accumulator is connected with control module circuit.
Above-mentioned power plant module is navigated using differential control to adjust unmanned boat for two under the program control of control module
Line direction realizes the D. C. motor that unmanned boat autonomous cruise can make a return voyage.
Above-mentioned communication module is that the 4G communication modules of 4G wireless communications are realized by Ali's cloud server and host computer.
Above-mentioned obstacle avoidance module includes for obtaining the video camera of video around unmanned boat and using ultrasonic wave into row distance
The sonac of detection.
Compared with prior art, the unmanned boat of the utility model include control module and obstacle avoidance module, GPS module,
Gyro module and communication module；Unmanned boat ontology is also equipped with power module and power plant module.Unmanned boat can pass through installation
Communication module is carried out wireless communication with host computer.The utility model carries out intelligent control by control module to unmanned boat, upper
Function assigns command signal by communication module to control module, be unmanned boat planning path by control module automatic program control
It executes, unmanned boat can complete autonomous cruise or task of making a return voyage according to the instruction ruleization of host computer under the control of control module.GPS
Module can position the position of unmanned boat, to prevent unmanned boat from losing coordinate, facilitate staff in setting coordinate points
Carry out unmanned boat recovery operation.
Description of the drawings
Fig. 1 is the operation principle schematic diagram of the utility model；
Fig. 2 is the overall plan schematic diagram that makes a return voyage of the utility model；
Fig. 3 is unmanned boat cruising manner schematic diagram.
Specific implementation mode
The embodiments of the present invention are described in further detail below in conjunction with attached drawing.
It makes a return voyage formula unmanned boat, including unmanned boat ontology the utility model discloses a kind of autonomous cruise, in order to make unmanned boat
Completion can be maked a return voyage to the collecting work of water quality in autonomous cruise under no worker monitor, the utility model is removed to be equipped with respectively on unmanned boat
Outside kind sensor, the inside of unmanned boat ontology, which is also equipped with to be connected with all the sensors circuit, is used as unmanned boat motion control core
Control module and obstacle avoidance module, GPS module, gyro module and communication module；Obstacle avoidance module, GPS module, gyroscope
Module and communication module are also connected with control module.The environmental signal around unmanned boat that obstacle avoidance module is used to obtain is anti-
It feeds control module, GPS module is used to the position signal of unmanned boat feeding back to control module, and gyro module is by the nothing of acquisition
People's ship course angle signal feeds back to control module, and control module obtains the water quality parameter signal and obstacle avoidance module that sensor obtains
The course angle signal of the environmental signal, the position signal that GPS module obtains and the gyro module acquisition that take is handled through internal arithmetic
After be packaged into data packet and give communication module, wireless telecommunications are realized by communication module and host computer.Host computer is windows platform
Ground monitoring station can be communicated using the transceiver module of host computer with unmanned boat, by the display screen of host computer to unmanned boat
Monitoring, real-time control in real time are carried out, and command signal is assigned to unmanned boat by the operation module of host computer, instruction letter here
Number include water quality acquisition signal, cruise signal and the signal that makes a return voyage.It is planned through communication module by host computer in the path of making a return voyage of unmanned boat
It is assigned to the execution of control module intelligent control.The top of the utility model unmanned boat ontology is equipped with the use that is connected with control module
All power modules that electric power is provided with unit of force on for unmanned boat, the lower part of unmanned boat ontology are equipped with by control module journey
Sequence control realizes that unmanned boat autonomous cruise makes a return voyage the power plant module of function.Power plant module can drive unmanned foot, steering etc. dynamic
Make.
Unmanned boat the ontology long 68cm, wide 49cm, high 25cm of the utility model, hull framing use 8 ~ 16mm laminate systems
At the superstructure of unmanned boat ontology uses ABS plastic hybrid glass Steel material.Hull mechanism is designed using trimaran, completely
Meet Ship Design specification, 5 ~ moderate gale can be resisted unrestrained.
In embodiment, the control module of the utility model be possess multiple timers, 112 universaling I/O ports, 3 12
The STM32F103 central processing units of ADC and 1 12 DAC, central processing unit include that multiple PWM for sending PWM wave connect
Mouthful.The control module of the utility model uses central processing unit of the STM32F103 chips as unmanned boat motion control, Neng Gouwei
Direct current generator efficiently sends PWM wave, possesses high performance 32 central processing units, and onboard clock chip possesses multiple timings
Device, 112 universaling I/O ports, the function that 3 12 ADC, 1 12 DAC fully meet each section in the design are realized.
In embodiment, the power module of the utility model include solar panels for converting solar energy into electrical energy and
Accumulator for the electric energy for storing solar panels conversion.Accumulator is connected with control module circuit.The nothing of the utility model
People's ship body top surface is equipped with two pieces of solar panels, and the size of every piece of solar panels is long 30cm wide 10cm, and accumulator is lithium electricity
Pond.Solar energy send out plate under weather good condition, can be lithium battery carry out energy supplement, with increase unmanned boat cruise duration and
Distance to go.
In embodiment, the power plant module of the utility model is two and utilizes differential control under the program control of control module
To adjust the D. C. motor that unmanned boat navigation direction realization unmanned boat autonomous cruise can make a return voyage.
In embodiment, communication module is to realize that the 4G of 4G wireless communications communicates mould with host computer by Ali's cloud server
Block.Communication module mainly uses 4G wireless communication techniques, unmanned boat that can send position coordinate to host computer in real time and carry out
Position shows that host computer can monitor in real time and control unmanned boat trend or carry out path planning.
4G communications use the terminal that Ali's Cloud Server is sent as data processing and data, may be implemented to unmanned boat
The real time monitoring in path and calculating, in the case that unmanned boat not enough power supply or artificial control can autonomous control unmanned boat returned
Boat, may be implemented ultra-distance communication, very notable in the good regional effect of the signals of communication such as city river.
In embodiment, obstacle avoidance module includes for obtaining the video camera of video around unmanned boat and using ultrasonic wave into line-spacing
Sonac from detection.It images function and video avoidance is provided, realized by using deep learning vision, sonac is
Obstacle avoidance aiding means are detected using ultrasonic sensor into row distance, when detecting that obstacle distance is equal to unmanned boat distance
When minimum guard value, unmanned boat takes corresponding actions.
The GPS module of the utility model is communicatively coupled by serial ports and control module, and gyro module is assisted by IIC
View is communicated to connect with control module, and gyro module facilitates carry out cruise control for adjusting unmanned boat course angle.
The above, only the preferred embodiments of the present invention, but scope of protection of the utility model is not limited thereto,
Any one skilled in the art within the technical scope disclosed by the utility model, the variation that can readily occur in or replaces
It changes, should all be covered by scope of protection of the utility model.
Claims (6)
- The formula unmanned boat 1. a kind of autonomous cruise makes a return voyage, including unmanned boat ontology, it is characterized in that：The inside of the unmanned boat ontology Control module as unmanned boat motion control core is installed and is connected for feeding back nobody with the control module circuit The obstacle avoidance module of ship surrounding signals, the GPS module for feeding back unmanned boat position signal, for feeding back unmanned boat course angle The gyro module of signal and for host computer realize wireless telecommunications communication module；Pacify on the top of the unmanned boat ontology Equipped with being connected with control module for for all power modules for providing electric power with unit of force, the unmanned boat on unmanned boat The lower part of ontology is equipped with the power plant module for function of being maked a return voyage by control module program control realization unmanned boat autonomous cruise.
- The formula unmanned boat 2. a kind of autonomous cruise according to claim 1 makes a return voyage, it is characterized in that：The control module is to gather around There are the STM32F103 central processing units of multiple timers, 112 universaling I/O ports, 3 12 ADC and 1 12 DAC, it is described Central processing unit include multiple for sending the PWM interfaces of PWM wave.
- The formula unmanned boat 3. a kind of autonomous cruise according to claim 1 makes a return voyage, it is characterized in that：The power module includes The accumulator of solar panels for converting solar energy into electrical energy and the electric energy for storing solar panels conversion；Described Accumulator is connected with control module circuit.
- The formula unmanned boat 4. a kind of autonomous cruise according to claim 1 makes a return voyage, it is characterized in that：The power plant module is two It is a to realize that unmanned boat autonomous cruise using differential control to adjust unmanned boat navigation direction under the program control of control module The D. C. motor to make a return voyage.
- The formula unmanned boat 5. a kind of autonomous cruise according to claim 1 makes a return voyage, it is characterized in that：The communication module is logical Cross the 4G communication modules that Ali's cloud server realizes 4G wireless communications with host computer.
- The formula unmanned boat 6. a kind of autonomous cruise according to claim 1 makes a return voyage, it is characterized in that：The obstacle avoidance module includes For obtaining the video camera of video and the sonac detected into row distance using ultrasonic wave around unmanned boat.
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| CN201820227027.8U CN207817528U (en) | 2018-02-08 | 2018-02-08 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
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| CN201820227027.8U CN207817528U (en) | 2018-02-08 | 2018-02-08 | A kind of autonomous cruise makes a return voyage formula unmanned boat |
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| CN207817528U true CN207817528U (en) | 2018-09-04 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850092A (en) * | 2019-01-10 | 2019-06-07 | 安徽天帆智能科技有限责任公司 | A kind of unmanned lifeboat makes a return voyage system automatically |
| 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 |
| CN110228566A (en) * | 2019-02-15 | 2019-09-13 | 南京帕维克新能源科技有限公司 | A kind of water surface robot having path tracing function |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN111949034A (en) * | 2020-08-21 | 2020-11-17 | 闽江学院 | Unmanned ship autonomous navigation system |
| CN112130575A (en) * | 2020-10-13 | 2020-12-25 | 江苏科技大学 | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof |
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN115616597A (en) * | 2022-09-14 | 2023-01-17 | 长春理工大学 | Unmanned ship fog-penetrating imaging obstacle avoidance device and using method thereof |
-
2018
- 2018-02-08 CN CN201820227027.8U patent/CN207817528U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850092A (en) * | 2019-01-10 | 2019-06-07 | 安徽天帆智能科技有限责任公司 | A kind of unmanned lifeboat makes a return voyage system automatically |
| CN110228566A (en) * | 2019-02-15 | 2019-09-13 | 南京帕维克新能源科技有限公司 | A kind of water surface robot having path tracing function |
| 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 |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN110583560B (en) * | 2019-09-18 | 2021-10-22 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN111949034A (en) * | 2020-08-21 | 2020-11-17 | 闽江学院 | Unmanned ship autonomous navigation system |
| CN111949034B (en) * | 2020-08-21 | 2022-05-03 | 闽江学院 | Unmanned ship autonomous navigation system |
| CN112130575A (en) * | 2020-10-13 | 2020-12-25 | 江苏科技大学 | Unmanned ship control system based on OneNET platform and autonomous obstacle avoidance method thereof |
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN115616597A (en) * | 2022-09-14 | 2023-01-17 | 长春理工大学 | Unmanned ship fog-penetrating imaging obstacle avoidance device and using method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180904 Termination date: 20200208 |