CN208915380U - A kind of unmanned boat control system and unmanned boat - Google Patents
A kind of unmanned boat control system and unmanned boat Download PDFInfo
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- CN208915380U CN208915380U CN201821020059.7U CN201821020059U CN208915380U CN 208915380 U CN208915380 U CN 208915380U CN 201821020059 U CN201821020059 U CN 201821020059U CN 208915380 U CN208915380 U CN 208915380U
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Abstract
This application involves unmanned boat field waterborne more particularly to a kind of unmanned boat control system and unmanned boats.For in existing unmanned boat or fish finding system, after fish deteclor fish finding, it will obtain after shoal of fish data are handled, the Data Transport Protocol that fish deteclor uses and the Data Transport Protocol that main control unit uses are different, cause data between fish deteclor and main control unit that can not be transmitted, there is great difficulty in communication, the application provides a kind of unmanned boat control system, and the unmanned boat control system of the application includes sequentially connected fish deteclor, protocol converter and main control unit.The agreement that protocol converter can identify the fish finding protocol conversion that fish deteclor uses at main control unit, so that data are able to carry out transmission between the fish deteclor and main control unit of different manufacturers.The application also provides a kind of unmanned boat simultaneously.
Description
Technical field
This application involves unmanned boat field waterborne more particularly to a kind of unmanned boat control system and unmanned boats.
Background technique
All the time, water body will guarantee maximum economic benefit by keeping reasonable fish culture density in fishery.
Fish culture density is excessively high or too low can all have an impact to economic benefit.However, being lauched from seedling to the adult fish that grows up, fish is supported
Grow the parameter that density is a variation.The method of traditional statistics fish culture density is the quantity of off line statistics fish.This method needs
It manually to sail and off line in different places.It is time-consuming and laborious in this way, it is dangerous and at high cost.Due to always with
Carry out cultivation density all none simple and reliable statistical methods of fish, so more on fishery cultivating breed fish fry by rule of thumb, by
This is likely to result in that fish density in water body is too large or too small, and economic benefit can not maximize.
Chinese patent, publication number CN206932316U, publication date 2018.01.26, it discloses a kind of fish finding system and nothings
People's ship.It includes shell, and the shell includes upper housing and lower case, and sonar unit, shooting list are equipped in the chamber of lower case
Member, lighting unit, attracting unit, control unit；It is equipped with power supply device in the chamber of upper housing and is carried out with external equipment wireless
The wireless communication unit of communication.It has the disadvantage that the data of sonar unit (seed type for being equivalent to fish deteclor) acquisition
When carrying out data transmission with control unit, when sonar unit carries out data transmission with control unit, since different manufacturers produce
Sonar unit (seed type for being equivalent to fish deteclor) use Data Transport Protocol and control unit use data transmit
Agreement is different, so can not be communicated.
To sum up, it in existing unmanned boat or fish finding system, after fish deteclor fish finding, will obtain after shoal of fish data are handled,
The Data Transport Protocol that the fish deteclor of different manufacturers production uses and the Data Transport Protocol that main control unit uses are different, lead
Cause data between fish deteclor and main control unit that can not be transmitted, there are great difficulties for communication.
Summary of the invention
1, it to solve the problems, such as
For in existing unmanned boat or fish finding system, after fish deteclor fish finding, will obtain after shoal of fish data are handled, no
The Data Transport Protocol used with Data Transport Protocol and main control unit that the fish deteclor of producer's production uses is different, causes
Data can not be transmitted between fish deteclor and main control unit, and communication has great difficulty, and the application provides one kind
Unmanned boat control system, the unmanned boat control system of the application include sequentially connected fish deteclor, protocol converter and main control
Unit.The agreement that protocol converter can identify the fish finding protocol conversion that fish deteclor uses at main control unit, thus
So that data are able to carry out transmission between fish deteclor and main control unit.The application also provides a kind of unmanned boat simultaneously.
2, technical solution
To solve the above problems, the application adopts the following technical scheme that.
A kind of unmanned boat control system, the unmanned boat control system include: sequentially connected fish deteclor, protocol converter
And main control unit.
Preferably, the unmanned boat control system further include sequentially connected first data radio station, the second data radio station and
Terminal, the main control unit are connect with first data radio station.
Preferably, first data radio station is located in unmanned boat, and second data radio station is located on the bank, and described first
Data radio station is connect with second data radio station.
Preferably, the unmanned boat control system further includes GPS/ BEI-DOU position system, the GPS/ BEI-DOU position system
It is connect with the main control unit.
Preferably, the unmanned boat control system further includes hand-held remote controller, the hand-held remote controller and the main control
Unit connection.
Preferably, the unmanned boat control system further includes motor, and the motor provides power for the unmanned boat, described
Motor is connect with the main control unit.
Preferably, the unmanned boat control system further includes battery, and the battery is first data radio station, described the
Two data radio stations and fish deteclor power supply.
Preferably, the battery is 3S-6S lithium battery, and the 3S-6S lithium battery is first data radio station, described the
Two data radio stations and fish deteclor power supply.
A kind of unmanned boat, including above-mentioned unmanned boat control system.
Preferably, the unmanned boat includes upper hull and pontoon, and the upper hull lid closes on pontoon.
3, beneficial effect
Compared with the prior art, the application has the beneficial effect that
(1) the unmanned boat control system of the application includes sequentially connected fish deteclor, protocol converter and main control unit.
The agreement that protocol converter can identify the fish finding protocol conversion that fish deteclor uses at main control unit, so that visiting
Data are able to carry out transmission between fish device and main control unit；
(2) in the application, by the way that the first data radio station, the second data radio station is arranged, the remote transmission of data is met
It is required that while the first radio station be arranged on unmanned boat, the second radio station be arranged on the coast, be provided separately, unmanned boat can be reduced
Volume；
(3) the unmanned boat control system in the application, by the way that the first data radio station, the second data radio station and terminal is arranged,
The information such as shoal of fish size, fish density, fish depth in the real time monitoring waters that can be convenient；
(4) the application is by setting GPS/ BEI-DOU position system, hand-held remote controller, to realize the certainly leading of unmanned boat
Boat and manual navigation.
Detailed description of the invention
Fig. 1 is the preferred unmanned boat control system schematic diagram of the application.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings..
Embodiment 1
Present embodiments provide a kind of unmanned boat control system, as shown in Figure 1, the unmanned boat control system include: according to
Fish deteclor, protocol converter and the main control unit of secondary connection.
When specific implementation, fish deteclor emits pulse signal, and electronic pulse signal is through ovennodulation, after boosting, through fish finding
Device is converted to high-power acoustic signals and is transmitted in water, and acoustic signals are reflected into fish deteclor through water-bed or object in water, fish finding
Device will reflect back into the acoustic signals come and be converted to electric signal, and electric signal amplifies by signal with after filtering, be sent to protocol conversion
In device, protocol converter is common in the market singlechip chip and electronic component composition.For example use can be used
Atmega2560 singlechip chip, peripheral circuit include crystal oscillating circuit: a 16M crystal oscillator, 2 22PF capacitors, serial ports 1 with
Fish deteclor is connected directly, and receives fish deteclor data, serial ports 2 is connected directly with main control unit, after fish deteclor protocol conversion
Data are sent on main control unit.It can will be converted into main control unit in fish deteclor with the electric signal that fish finding agreement is transmitted
Can identify with agreement transmission electric signal, be then sent to main control unit.Main control unit is by reflecting
Acoustic signals analyzed, the information such as available shoal of fish size, fish density, fish present position.
By the way that protocol converter is arranged between fish deteclor and main control unit, protocol converter can use fish deteclor
The agreement that can be identified at main control unit of fish finding protocol conversion so that the fish deteclor and main control unit of different manufacturers
Between data be able to carry out transmission.
The master chip of the protocol converter of the present embodiment can be the single-chip microcontroller of AVR company.The main control list of the present embodiment
Member by singlechip group at.
In the present embodiment, fish deteclor is made of electroacoustic transducer and fish finding host.Electroacoustic transducer is connect with fish finding host,
Fish finding host is connected with protocol converter.Electroacoustic transducer emits pulse signal, and electronic pulse signal is through ovennodulation, after boosting,
It is converted to high-power acoustic signals through electroacoustic transducer to be transmitted in water, acoustic signals are reflected into electroacoustic through water-bed or object in water
In energy converter, fish deteclor will reflect back into the acoustic signals come and be converted to electric signal, and electric signal amplifies with after filtering by signal, sends out
It is sent in fish finding host, fish finding host issues protocol converter after receiving signal.Protocol converter can by fish deteclor with
The electric signal of fish finding agreement transmission is converted into the electric signal of the agreement that can be identified with main control unit transmission, is then sent to master
Control unit.
In the present embodiment, fish deteclor is mounted on the bottom of pontoon, protrudes into water, protocol converter and main control unit peace
In upper hull.Upper hull lid closes on pontoon, and pontoon is contacted with water, and upper hull floats on the surface.
Embodiment 2
As shown in Figure 1, the present embodiment and embodiment 1 are essentially identical, the difference is that:
The unmanned boat control system further includes sequentially connected first data radio station, the second data radio station and terminal, institute
Main control unit is stated to connect with first data radio station.
When specific implementation, the first data radio station is arranged on upper hull, and the setting of the second data radio station is suitable on the coast
Position, terminal be with display equipment device, as tablet computer, mobile phone, desktop computer and laptop are ok.Master control
The electric signal of the agreement transmission for capable of identifying with main control unit of receiving is sent the first data radio station by unit processed, and first
Data radio station re-sends to the second data radio station, and the second data radio station is re-send in terminal, shows shoal of fish size, fish in terminal
The information such as density, fish present position.
Communication module is provided separately, greatly by unmanned boat control system by setting the first data radio station, the second data radio station
Reduce the volume of communication module greatly, so as to reduce the volume of unmanned boat, while passing through between two data radio stations
After communication, to realize the remote advantage of communication distance.
Embodiment 3
As shown in Figure 1, the present embodiment and embodiment 2 are essentially identical, and the difference is that: the unmanned boat control system is also
Including GPS/ BEI-DOU position system, the GPS/ BEI-DOU position system is connect with the main control unit.
When specific implementation, main control unit receives the latitude and longitude information that GPS/ BEI-DOU position system is sent, with master
The course information of preset configuration is compared in control unit, thus by the physical location of current unmanned boat, unmanned boat fore side
To, unmanned boat speed compared with pre-set navigation route, route speed, deviation is calculated, according to deviation, master control
Unit processed sends the second control instruction to power plant module, and the power plant module includes motor, rudder, propeller and protective cover, is passed through
Motor, rudder, propeller are controlled to adjust position, speed, the course of unmanned boat, to realize the independent navigation of unmanned boat.
In this preferred technical solution, motor can use DC brush or brushless motor for motor, can be using double
Motor differential propulsion mode or single motor+mono- rudder propulsion mode promote.Rudder controls the direction of unmanned boat navigation, direct current generator peace
In the pontoon of unmanned boat, pontoon is stretched out into water by axis, is connected on propeller, has protective cover outside propeller,
It prevents from winding sundries in upper water on propeller power plant module is caused to damage.Rudder is mounted on the tail portion of pontoon, propeller installation
In the tail portion of pontoon.
As the further preferred technical solution of the present embodiment, the unmanned boat control system further includes hand-held remote control
Device, the hand-held remote controller are connect with the main control unit.
Specific implementation when, unmanned boat operator observe on the coast the position of unmanned boat, unmanned boat speed and
Fore direction emits the first control instruction to main control unit by hand-held remote controller when observing unmanned boat off-course
In, after main control unit receives the first control instruction of hand-held remote controller transmitting, adjusted by control motor, rudder, propeller
Position, speed, the course of whole unmanned boat, to realize manually controlling for unmanned boat.When specific implementation, unmanned boat operation
Personnel start to execute self-navigation traveling after setting the information such as the navigation route of unmanned boat, unmanned boat speed on the coast, work as nothing
When people's ship detects that it deviates prearranged heading, after the unmanned boat real time status information detected is received by main control unit,
It is parsed, is compared in real time with pre-stored course information, thus by the physical location of current unmanned boat, unmanned boat ship
Head direction, unmanned boat speed with pre-set navigation route, route speed compared with, calculating deviation, according to deviation,
Main control unit sends adjustment signal to motor, and position, the speed, boat of unmanned boat are adjusted by control motor, rudder, propeller
To realize the self-navigation of unmanned boat.Hand-held remote controller can also directly transmit adjustment signal to motor, pass through control electricity
Machine, rudder, propeller adjust position, speed, the course of unmanned boat, directly manually control hull from reaching and advance, retreat, turn to
Deng movement, position, speed, the course of unmanned boat are rapidly corrected in time.
The independent navigation and manual navigation of unmanned boat may be implemented by GPS/ BEI-DOU position system, hand-held remote controller.
On the other hand, in the present embodiment, unmanned boat control system has fail-safe mechanisms, when main control unit and terminal
Signal connection disconnect for a long time, unmanned boat can be triggered and independently maked a return voyage behavior, that is, starting point is returned to, to prevent unmanned boat from losing
It loses.Fail-safe mechanisms detailed process are as follows:
When normal connection, the heartbeat message of transmission in every 1 second between terminal and main control unit, when disconnecting is more than one
It is provided that when fixing time, in the present embodiment 15 seconds, when connection was disconnected more than 15 seconds namely the main control unit of unmanned boat does not have
There are heartbeat message 15 seconds received from terminal, decides that signal is disconnected, then main control unit is according in advance in master
The return route of control unit storage, transmitting make a return voyage instruction to motor, after motor receives signal, by controlling motor, rudder, spiral shell
Paddle is revolved to adjust position, speed, the course of unmanned boat, to realize the independent navigation of unmanned boat.Independently making a return voyage can be by nearest
Distance is maked a return voyage, i.e., straight line makes a return voyage, and can also be returned by former distance, be prevented from bumping against the barrier in water, it is broad that straight line, which makes a return voyage,
Waters in use, save electric power.Backtracking is used under complex environment, avoids bumping against thing.
As the preferred technical solution of the present embodiment, unmanned boat control system further include: battery；
The battery is first data radio station, second data radio station, the main control unit and the fish finding
Device power supply.
In this preferred embodiment, battery can be 3S-6S lithium battery, will not pollute to water body.
Embodiment 4
As shown in Figure 1,
The unmanned boat of the present embodiment can be made of glass reinforced plastic or ABS plastic, and ship length is preferably 1 meter hereinafter, dividing
For pontoon, upper hull, hull has positive buoyancy, in water general work.First data radio station, main control list are housed in upper hull
Member, protocol translation device, GPS/ BEI-DOU position system are equipped with battery in pontoon, and the tail portion of fish deteclor, pontoon is equipped with motor,
Rudder, propeller.
The unmanned boat of the present embodiment can on the water surface independent navigation or manually control unmanned ship's head, underway position,
Route speed, unmanned boat can obtain the information such as shoal of fish size, fish density, fish depth in water, to provide for fishery cultivating
With reference to and personal recreational fishing fish finding play nest use.
Claims (10)
1. a kind of unmanned boat control system, which is characterized in that the unmanned boat control system include: sequentially connected fish deteclor,
Protocol converter and main control unit.
2. unmanned boat control system according to claim 1, which is characterized in that the unmanned boat control system further include according to
The first data radio station, the second data radio station and the terminal of secondary connection, the main control unit are connect with first data radio station.
3. unmanned boat control system according to claim 2, which is characterized in that first data radio station is located at unmanned boat
In, second data radio station is located on the bank, and first data radio station is connect with second data radio station.
4. unmanned boat control system according to claim 1, which is characterized in that the unmanned boat control system further includes
GPS/ BEI-DOU position system, the GPS/ BEI-DOU position system are connect with the main control unit.
5. unmanned boat control system according to claim 1 or 2, which is characterized in that the unmanned boat control system is also wrapped
Hand-held remote controller is included, the hand-held remote controller is connect with the main control unit.
6. unmanned boat control system according to claim 5, which is characterized in that the unmanned boat control system further includes moving
Power module, the power plant module provide power for the unmanned boat, and the power plant module is connect with the main control unit.
7. unmanned boat control system according to claim 2, which is characterized in that the unmanned boat control system further includes electricity
Pond, the battery are that first data radio station, second data radio station, the main control unit and the fish deteclor supply
Electricity.
8. unmanned boat control system according to claim 7, which is characterized in that the battery is 3S-6S lithium battery, described
3S-6S lithium battery is first data radio station, second data radio station and fish deteclor power supply.
9. a kind of unmanned boat, which is characterized in that including unmanned boat control system described in claim 1-8 any one.
10. unmanned boat according to claim 9, which is characterized in that the unmanned boat includes upper hull and pontoon, described
Upper hull lid closes on pontoon.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821020059.7U CN208915380U (en) | 2018-06-29 | 2018-06-29 | A kind of unmanned boat control system and unmanned boat |
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| CN201821020059.7U CN208915380U (en) | 2018-06-29 | 2018-06-29 | A kind of unmanned boat control system and unmanned boat |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244723A (en) * | 2019-06-10 | 2019-09-17 | 华东师范大学 | Unmanned ship autonomous return control method and unmanned ship |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244723A (en) * | 2019-06-10 | 2019-09-17 | 华东师范大学 | Unmanned ship autonomous return control method and unmanned ship |
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