WO2017140096A1 - Navire sans pilote et système - Google Patents

Navire sans pilote et système Download PDF

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Publication number
WO2017140096A1
WO2017140096A1 PCT/CN2016/093121 CN2016093121W WO2017140096A1 WO 2017140096 A1 WO2017140096 A1 WO 2017140096A1 CN 2016093121 W CN2016093121 W CN 2016093121W WO 2017140096 A1 WO2017140096 A1 WO 2017140096A1
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WO
WIPO (PCT)
Prior art keywords
module
unmanned ship
unmanned
cable
image
Prior art date
Application number
PCT/CN2016/093121
Other languages
English (en)
Chinese (zh)
Inventor
郑卫锋
何志雄
郑迪
吴海亮
Original Assignee
北京臻迪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610091376.7A external-priority patent/CN107092019A/zh
Priority claimed from CN201610454324.1A external-priority patent/CN106240774B/zh
Application filed by 北京臻迪科技股份有限公司 filed Critical 北京臻迪科技股份有限公司
Priority to CN201690000206.7U priority Critical patent/CN208360444U/zh
Publication of WO2017140096A1 publication Critical patent/WO2017140096A1/fr
Priority to US15/847,880 priority patent/US10661867B2/en
Priority to US16/843,870 priority patent/US11008081B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/14—Fishing vessels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management

Definitions

  • the present invention relates to an unmanned ship; in particular, an unmanned ship that can dive and float.
  • the existing fishing unmanned rigs have the following functions:
  • the Chinese patent of the application No. 201320333558.2 discloses a remotely positioned and positioned bait boat, including a remote control and receiving device, a hull, a power supply and a control and decoding circuit, and the hull is provided with a plurality of bilge independent tilting to the hatch Cabin; the door is provided with magnetic steel, and an electromagnet is arranged on the hull corresponding to the magnet of the door; the electromagnet is connected to the receiving device through a control and decoding circuit; the independent cabin is provided with four, which are arranged on both sides of the hull .
  • the unmanned ship disclosed in the patent can be used for positioning bait and fish hooks at a long distance and multi-point positioning, and can play the role of gathering fish.
  • Chinese Patent Application No. 201520499153.5 discloses a hybrid wireless remote-controlled aquaculture monitoring vessel.
  • the patent can also detect the number of underwater fish and the size of the fish through sonar. Judging whether the culture is too dense and whether it can be fished is beneficial to the next operation of the farmers. It can only detect the approximate position and approximate quantity of the object based on the sonar signal. The user needs to judge the type, specific location and specific quantity of the detected object according to his own experience, but cannot be sure. Cut to know the type, size and geographical location of the object being detected. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group.
  • Chinese Patent Application No. 201010300353.5 discloses a wireless remote control fishing boat, which integrates a GPS satellite positioning system and a fish detector into the fishing boat to prevent the yaw of the ship during driving.
  • a wireless remote control fishing boat which integrates a GPS satellite positioning system and a fish detector into the fishing boat to prevent the yaw of the ship during driving.
  • the riverbed landform, water depth, water temperature and fish condition of the fishing spot and use GPS to determine and store the position of the nest, repeat the exact automatic location and return to the starting place for fishing and nesting.
  • This patent enables storage of dimples, fixed-point nesting and automatic navigation.
  • the existing fishing unmanned ship has the functions of nesting, underwater sonar detection and GSP positioning navigation.
  • detailed information on the underwater is not available, especially for underwater images of a certain depth.
  • the existing fishing unmanned boat does not have an underwater camera, and the patent of application number 201520499153.5 has a camera, but is not disposed underwater but on the water surface.
  • an underwater camera is installed on an existing fishing unmanned ship, detailed underwater fish school information cannot be obtained.
  • the existing fishing unmanned ships can not achieve the dive, do not dive to a certain depth, can not be close enough to the fish, can not get the image information of the fish, can not verify the information of the sonar detection. This will greatly affect the fishing effect.
  • the data detected by the sonar is wrong, it cannot be found in time. For example, the underwater seaweed or water grass group is recognized as a fish school, and the fisherman will waste time and bait without knowing it.
  • the autonomous mode is mostly used on the cableless robot.
  • the robot performs underwater operation according to the preset setting or according to the command of the upper computer received from time to time, so that the underwater information and the control robot cannot be acquired in real time; and the cable mode is the robot.
  • the umbilical cable connected to the surface mother ship is powered and communicates with the host computer on the mother ship for data transmission and human-computer interaction. It can realize real-time control of the robot, but its activities are restricted by the umbilical cable, especially the complex underwater environment. It is easy to cause entanglement accidents and the flexibility is not enough.
  • the existing underwater detecting device for example, an underwater submersible using sonar detection technology, can only detect the approximate position and the approximate number of objects according to the sonar signal, and the user needs to judge the type and specific position of the detected object according to his own experience. And the specific quantity, and the type, size and geographical location of the detected object cannot be known exactly. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group.
  • an object of the present invention is to provide a sonar that can detect underwater object information, and can dive a certain depth to realize long-distance underwater maritime wireless communication, acquire underwater image information in real time, and transmit it to an external terminal in real time. Unmanned boat.
  • An unmanned ship comprising: an image acquisition module, a sonar detection module, a communication module, and a central controller, wherein:
  • the image acquisition module is configured to record and capture underwater images
  • the sonar detection module is configured to detect an underwater environment and a location and depth of the fish group
  • the communication module is configured to transmit state information of the unmanned ship, image information acquired by the image acquisition module, and information acquired by the sonar detection module to the external terminal, and simultaneously transmit the control command of the external terminal to the central controller;
  • the central controller is connected to each of the above modules to control the traveling motion of the unmanned ship and coordinate the work of each module.
  • the image acquisition module, the sonar detection module, the communication module, the cable retracting module and the central controller are disposed in the unmanned ship body, and further comprise a floatable buoy, at least the antenna portion of the communication module is disposed on the buoy
  • the buoy and the unmanned ship body are connected by a retractable cable; and the cable retracting module, the depth information of the unmanned ship obtained by the cable retracting module and the dive from the central controller Or the floating command, release or retract the cable of the corresponding length, so that the cable length is compatible with the depth of the unmanned ship.
  • the cable retracting module includes a hoisting machine and a hoisting machine, the hoisting machine is disposed on the unmanned vessel main body, and the retractable cable is coiled on the hoisting machine and retracted by the hoist; or The cable retracting module is directly controlled by the central controller.
  • the power module is further configured to drive the unmanned ship to perform movements in the up, down, front, and rear directions under the control of the central controller.
  • the power module includes a motor driver, and two horizontal drive motors and a vertical drive motor coupled to the motor driver.
  • the two horizontal drive motors are disposed on the left and right sides of the tail of the unmanned ship, and the vertical drive motor is disposed in the vertical direction of the unmanned ship.
  • the communication module is a DDL image transmission and transmission module, and the DDL image transmission and transmission module integrates the image transmission signal and the two-way data transmission signal into a single link for transmission; and further includes connecting to the central controller.
  • the GPS module is disposed in a buoy, and the GPS module is configured to receive a GPS satellite signal to determine a location of the unmanned ship, and send the GPS location information of the unmanned ship to the external terminal. And transmitted to the external terminal through the DDL picture transmission and transmission integration module.
  • the central controller further includes an automatic navigation module, and the automatic navigation module receives and stores the waypoint information, the waypoint location and the sequence information sent by the external terminal, and is calibrated on the GPS map, and is acquired according to the GPS module.
  • the control power module drives the unmanned ship to travel toward the waypoint.
  • the utility model further includes a hook holding module, wherein the hook module is used for holding a fishing hook or a fishing line, and Loosen the hook or fishing line when the fish is hooked.
  • the hooking module comprises a hook holder and a controller.
  • the hook holder is a holding mechanism, and the sensor and the electromagnet are arranged thereon. When the fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the holding mechanism to open. , loosen the hook or fishing line; or the hook module is directly controlled by the central controller.
  • the sonar detection module comprises: a transmitter, a transducer and a receiver
  • the control of the sonar detection module by the central controller comprises: controlling opening and closing of the sonar module and a direction in which the transducer emits sound waves.
  • the image capturing module includes a camera, an LED lighting and a stabilization pan
  • the control of the image capturing module by the central controller includes: sending an on/off command to the camera, and sending an on/off command to the LED illumination. Send a rotation angle command to the stabilization pan/tilt.
  • the image capturing module is controlled according to image information transmitted to the image capturing module or according to a control command sent from an external terminal.
  • the front end of the unmanned ship is a transparent shroud, and the camera, the LED illumination lamp and the stabilization pan are disposed in the shroud.
  • the method further includes a power module, a sensor module, and a storage module;
  • the power module is configured to supply power to the unmanned ship, including a power management module and a power source;
  • the sensor module includes a pressure sensor, a depth sensor, and a three-axis gyroscope. a three-axis accelerometer, a three-axis magnetic field meter leakage detector and an inertial measurement unit;
  • the storage module is configured to store navigation data of an unmanned ship, picture or video data recorded by an image acquisition module, etc.; cable.
  • the central controller controls the sound transmitting device of the sonar detecting module and the camera of the image capturing module to be in the same direction and angle.
  • the sound transmitting device of the sonar detecting module and the camera of the image capturing module are combined; and when the central controller controls the transducer to emit sound waves, the camera is simultaneously controlled to start photographing, or/and when the transducer receives When the sound echoes, the central controller controls the camera to take a picture.
  • the central controller, the sonar detection module, the image capturing module, the cable retracting module, the hooking module and the power module are disposed inside the unmanned ship, and at least the antenna portion of the communication module is disposed in the buoy, The buoy is connected to the unmanned ship by cable.
  • An unmanned ship system comprising: the unmanned ship and an external terminal, wherein the external terminal is wirelessly connected with a communication module of the unmanned ship for moving, detecting, and photographing the unmanned ship Process Remote control and receiving sonar data, image data, navigation status data and GPS data from unmanned ships.
  • the external terminal includes a CPU, a display module, an input module, a terminal communication module, and a storage module, where:
  • the CPU is connected to the display module, the input module, the transmitting and receiving module, and the storage module, and controls the modules, and sends a control instruction to the unmanned ship through the transmitting and receiving module;
  • Display device used to display image data, sonar data, GPS data, navigation data and sensors of the received unmanned ship;
  • Terminal communication module used to transmit wireless signals to unmanned ships and receive wireless signals from unmanned ships, and can adopt communication modes such as WIFI, Bluetooth, radio frequency and optical communication;
  • the input module for inputting an external command to the CPU, the input module may be a combination of one or more of a joystick, a keyboard, a touch screen, a voice input, and a gesture input;
  • Storage module used to store the received image data of the unmanned ship, sonar data, GPS data, navigation data and sensors or user input information or pre-stored unmanned ship navigation mode and automatic navigation information.
  • the terminal is a mobile phone, a tablet computer, a computer or other mobile terminal.
  • the external terminal further has a voice broadcast module, and the voice broadcast module is configured to convert the received navigation data and the like into audio information and broadcast the message through a speaker.
  • the storage module of the terminal is further configured to store preset information of the detected object in the water
  • the CPU may use the image information and other information sent by the communication module of the unmanned ship and the preset stored by the storage module.
  • the information of the detected object in the water is compared, and the comparison result and the suggestion information are sent to the display module or the voice broadcast module.
  • the unmanned ship presets a key return mode, and the terminal has a return button pre-stored, and the storage module pre-stores the return coordinate point.
  • the terminal detects that the user presses the return button, the return control is sent to the unmanned ship. instruction.
  • the invention discloses an unmanned ship, which comprises the function of an existing fishing unmanned ship, and can detect underwater by using a sonar module At the same time, the object can realize a certain depth dive.
  • an image acquisition module on the unmanned ship, underwater image acquisition can be realized, and long-distance communication with the shore can be realized, and the underwater image information can be returned in real time.
  • the unmanned ship of the present invention can travel on the water surface, and when the sonar module detects the underwater fish school information, it can perform the dive observation and pass the floating buoy of the built-in communication antenna connected to the unmanned ship through the cable on the water surface.
  • the image acquisition module transmits the underwater image to the external terminal on the water in real time, and displays the information detected by the unmanned ship and the captured image information through the external terminal display module. You can determine if there are fish, what kind of fish, and other detailed underwater objects.
  • FIG. 1 is a block diagram showing the relationship between an unmanned ship and an external terminal in an embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of an unmanned ship in the embodiment of the present invention.
  • FIG. 3 is a schematic view of a cable hoisting module hoist according to an embodiment of the present invention.
  • Figure 4 is a schematic view showing the hoisting machine disposed outside the unmanned ship in the embodiment of the present invention.
  • Figure 5 is a schematic view showing the hoisting machine disposed inside the unmanned ship in the embodiment of the present invention.
  • Figure 6 is a schematic view showing the hoisting machine disposed on the outer groove of the unmanned ship in the embodiment of the present invention.
  • FIG. 7 is a structural block diagram of an external terminal in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of an application scenario according to an embodiment of the present invention.
  • Unmanned ship 100 central controller 110, image acquisition module 120, sonar detection module 130, communication module 140, antenna 141, figure integration transmission module 142, cable retraction module 150, hoist controller 151, winch 152, power Module 160, automatic navigation module 170, sensor module 180, power module 190, GSP module 101, storage module 102, hook module 103, external terminal 200, CPU 210, display module 220, input module 230, terminal communication module 240, terminal storage Module 250, terminal power module 260, voice broadcast module 270, APP 201, cable 300, buoy 400
  • the present invention provides an unmanned ship that can detect underwater objects by using a sonar module, and at the same time can realize a certain depth of dive, and realize an underwater image collection by setting an image acquisition module on the unmanned ship, and can realize underwater from underwater. Long-distance communication to the shore, real-time return of underwater image information. Improve the success rate of fishing, improve the entertainment and operability of fishing activities, and bring a different remote control experience for users.
  • the system mainly includes an external terminal 200 and an unmanned ship 100.
  • the unmanned ship 100 of the present invention can float on the water surface. You can also dive into the water. among them,
  • the external terminal 200 is configured to remotely control the motion control and detection of the unmanned ship 100, and/or the shooting process, and to dive and float control, and receive information and position information of the detected object sent by the unmanned ship 100. And image information.
  • the unmanned ship 100 is configured to implement motion control and perform detection, and/or photographing under remote control of the terminal 200, and transmit the obtained information of the detected object, position information, and image information to the outside through the communication module thereon. Terminal 200.
  • FIG. 2 is a structural block diagram of an unmanned ship according to an embodiment of the present invention, which includes: an image acquisition module 120, a sonar detection module 130, a communication module 140, and a cable retracting module 150. And a central controller 110, wherein:
  • the image acquisition module 120 is configured to record and capture underwater images
  • the sonar detection module 130 is configured to detect an underwater environment, a location and a depth of the fish group;
  • the communication module 140 is configured to transmit the state information of the unmanned ship 100, the image information acquired by the image acquisition module 120, and the information acquired by the sonar detection module 130 to the external terminal 200, and simultaneously transmit the control command of the external terminal 200 to the center. Controller 110;
  • the cable retracting module 150 releases or retracts the cable 300 of the corresponding length according to the dive or floating command issued by the central controller 110, so that the length of the cable 300 is adapted to the depth of the unmanned ship;
  • the central controller 110 is connected to each of the above modules to control the traveling motion of the unmanned ship 100 and coordinate the operation of each module.
  • the unmanned ship of the invention has both the sonar detection module 130 and the image acquisition module 120, and the existing fishing Unmanned ships generally do not have a camera. Even if there is a camera, only images near the water surface can be collected. For a certain depth of underwater detection, the approximate position and approximate number of objects can only be detected according to the sonar signal. The user needs to judge according to his own experience. The type, specific location and specific quantity of the object to be detected cannot accurately know the type, size and geographical location of the object to be detected. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group.
  • the unmanned ship 100 of the present invention can dive and have an image acquisition module, so that accurate image information can be obtained, and it is possible to accurately see what the detected object is, whether it is a fish group, and why the fish is. Greatly improved fishing success rate and user experience.
  • the image acquisition module 120, the sonar detection module 130, the communication module 140, the cable retracting module and the central controller are disposed in the unmanned ship body, and at least the antenna 141 of the communication module 140 is partially disposed in a floatable manner.
  • the buoy 400 is connected to the main body of the unmanned ship 100 through a retractable cable 300; and further includes a cable retracting module 150, the depth information of the unmanned ship acquired by the cable retracting module 150, and The dive or floating command issued by the central controller 110 releases or retracts the cable 300 of the corresponding length such that the length of the cable 300 is adapted to the depth of the unmanned ship.
  • the advantage of this setting is to ensure normal underwater communication, because the underwater electromagnetic wave attenuation is severe, and the electromagnetic wave will attenuate a large part at the interface between the water surface and the air.
  • unmanned ships when fishing, unmanned ships usually sail to the deep water area far away from the users on the shore. At this time, the connection between the unmanned ship and the user is not perpendicular to the water surface, but is nearly horizontal, and the signal has a considerable distance. Spread in the water, so even a small depth of dive will cause a signal interruption.
  • the unmanned ship 100 of the present invention is further connected to a buoy 400, and at least the antenna portion 141 of the communication module 140 of the unmanned ship 100 is disposed in the buoy 400 (or the communication module 140 may also be disposed in the buoy), the buoy 400 and The unmanned boat 100 is connected by a cable 300.
  • the buoy 400 floats on the water surface, which is equivalent to a relay station, and functions to connect water and underwater communication.
  • the buoy 400 and the external terminal 200 are maritime communication, and the buoy 400 and the unmanned ship 100 are wired and communicated via the cable 300.
  • the signal is less attenuated in air and cable, thus ensuring communication stability and reducing energy consumption.
  • the cable retracting module 150 is provided, and the cable retracting module releases or retracts the cable 300 of the corresponding length according to the dive or floating command issued by the central controller 110, so that the length of the cable 300 is opposite to the depth of the unmanned ship. adapt.
  • the existing unmanned ships are completely able to switch between water and water, or they can only sail on water or only underwater.
  • the buoyancy of unmanned ships is also a technical problem.
  • the use of submarines to move away from the buoyancy and drainage compartments increases the cost and complexity of the structure is not suitable for civilian use.
  • the fishing boat is set to zero buoyancy (density is similar to water), although it can ensure normal dive, it is difficult to achieve the surface of the water, and the vertical propeller needs to work up to provide buoyancy when sailing on the surface, which will undoubtedly increase the energy. Consumption. And the resistance of the water is far greater than the surface navigation, which will greatly increase the energy loss in the process of finding fishing spots.
  • the advantage of this arrangement is that the buoy 400 can be used to realize the switching of the unmanned ship on the water and underwater navigation.
  • the unmanned ship 100 and the buoy 400 are brought into contact by the retraction of the cable 300, and the unmanned ship 100
  • the buoyancy of the buoy 400 can always be driven close to the water surface, no vertical motor drive is required, and no complicated structure such as a buoyancy bin is required in the unmanned ship to achieve floating. Simplifies the structure, saves energy and increases battery life.
  • the unmanned vessel 100 first keeps the beginning of the recovery of the cable 300 on the surface of the water from the shore like a deep water area, and uses the sonar detection module 130 to detect the underwater environment in suitable waters when a suspected fish is detected.
  • the dive command can be sent through the external terminal 200 (the external terminal 200 can also be provided with a key dive function key, and the dive depth speed data is pre-stored in the terminal storage module 250), and the dive command is issued.
  • the cable retracting module 150 releases the length of the cable 300, and the unmanned ship 100 can be set to be similar to or slightly larger than the density of the water.
  • the unmanned ship realizes the dive, and the dive process can pass the vertical driving motor.
  • the length of the release cable 300 is determined to ensure that the length of the cable 300 is compatible with the depth of the unmanned vessel.
  • the underwater image can be transmitted in real time through the image acquisition module 120.
  • the user can observe the detailed features of the underwater object in real time through the display module 220 on the external terminal 200, whether it is a fish group or a fish type. , quantity and other information. Further fishing judgments are made based on the image information. Combining image information greatly improves the accuracy of sonar detection and improves the fishing experience.
  • the unmanned ship of the present invention can also set a depth mode. According to the information of the depth sensor 181, the vertical direction propeller speed is controlled to realize the depth control.
  • the embodiment of the present invention implements the retracting and detaching of the cable 300 by using a hoist provided on the unmanned ship 100.
  • the cable retracting module 150 includes a hoisting controller 151 and a hoisting machine 152.
  • the hoisting machine is disposed on the main body of the unmanned vessel 100.
  • the retractable cable 300 is coiled on the hoisting machine 152 and retracted by the hoisting machine 152. .
  • the hoisting machine 152 may be disposed outside the unmanned ship 100, and is electrically connected to the hoisting machine controller 151 inside the unmanned ship 100 by sealing and waterproofing.
  • the cable retracting module can also be directly controlled by the central controller. Specifically, the central controller can directly control the opening and closing of the hoisting machine 152 and adjust the rotation direction.
  • the hoisting machine 152 may also be disposed inside the unmanned ship 100.
  • a hoisting cabin is disposed inside the unmanned ship, and the cable 300 extends out of the unmanned ship through a movable sealing port at the top of the cabin. Outside 100, and connected to the buoy 400.
  • a recess structure can also be disposed outside the hull of the unmanned vessel 100, and the recessed structure is configured to cooperate with the lower surface of the buoy 400 so that the cable 300 can be retracted. After that, the buoy 400 is embedded in the groove, and the buoy 400 is integrated with the unmanned ship, which is favorable for stability when sailing on the surface.
  • the power module 160 is further configured to drive the unmanned ship 100 to achieve upper, lower, front, rear, and the like movement under the control of the central controller 110.
  • the power module 160 includes a motor driver 161, and two horizontal drive motors 162 and one vertical drive motor 163 that are coupled to the motor driver.
  • the two horizontal drive motors 162 are disposed on the left and right sides of the tail of the unmanned ship, and the vertical drive motor 163 is disposed on the underside of the unmanned ship.
  • the motor driver 161 receives an instruction from the central controller 110 to perform rotational speed and direction control of the motor in accordance with the command.
  • the power module 160 in the unmanned vessel 100 provides power to the unmanned vessel, and the unmanned vessel 100 performs overall motion control, such as driving the unmanned vessel 100 to perform various movements in the water (eg, upward movement, downward movement, or Forward, backward, rotary motion, etc., and information exchange with the controller 110 via the motor driver 161.
  • Such control commands may also be issued by the external terminal 200, received by the communication module 140 and then transmitted to the central controller 110, which controls the power module 160 in accordance with the instructions of the department terminal 200.
  • the power module 160 also transmits its power state information to the central controller 110 and to the external terminal 200 via the communication module 140.
  • Set horizontal drive The motor 162 must ensure that the unmanned vessel 100 has a certain speed and resistance to wind and waves.
  • the unmanned vessel 100 is designed to withstand sea currents of 1.5-2.0 m/s and the horizontal speed can reach 3-4 knots.
  • the motor is driven by a brushless DC motor, with built-in motor FOC control and speed and current feedback closed loop.
  • the embodiment of the present invention adopts the communication module to transmit the 142 transmission module for the DDL image number, and the DDL image transmission and transmission module 142 transmits the image transmission signal and the bidirectional data transmission.
  • the signals are integrated into a single link for transmission (signals including unmanned ship travel data, sonar data, image data) using an antenna. It avoids the interference when the two signals of the picture transmission antenna and the digital transmission antenna are separately transmitted, and reduces the energy consumption.
  • the terminal communication module 240 of the external terminal 200 can also be configured as a DDL image transmission and transmission module, and the image transmission module integrates the image signal and the data signal on the unmanned ship 100 and the external terminal 200 into the same link signal for transmission.
  • Signals can be transmitted by WIFI, Bluetooth, RF, Long Term Evolution (LTE) mode, Telemetry FM Radio, satellite, and other communication modes.
  • the GPS module 101 is further configured to receive the GPS satellite signal to determine the location of the unmanned ship 100, and transmit the GPS location information of the unmanned ship 100 to the external terminal 200.
  • the process of transmitting to the external terminal may be transmitted to the external terminal 200 through the DDL map transmission and transmission integration module 141.
  • the GPS antenna should always remain exposed to the water. It is therefore necessary to place the GPS module 101 within the buoy 400.
  • the GPS antenna can be a multi-angel antenna, a smart antenna or a patch antenna.
  • the advantage of setting up the GPS module is that the location of the unmanned ship can be obtained in real time, and the automatic navigation and fixed-point fishing can be further realized by storing coordinate points on the GSP map.
  • an automatic navigation module 170 is further included, and the automatic navigation module 170 receives and stores the waypoint information sent by the external terminal 200, and calibrates the waypoint location and sequence information on the GPS map, according to the GPS module 101.
  • the real-time position and navigation direction of the unmanned ship, the control power module 160 adjusts the rotational speed and direction in real time to drive the unmanned ship to travel toward the waypoint.
  • the automatic navigation control method adopts an automatic directional loop to maintain the unmanned vessel 100 at a given navigation angle. After the central controller 110 obtains the heading angle from the AHRS navigation attitude reference system, the product thrust is obtained according to the heading error and the fuzzy PID control algorithm. And the line of defense, further propulsion distribution, get the speed and direction of each drive motor, so as to achieve closed-loop control, to ensure the accuracy of the automatic navigation.
  • a hook module 103 is used for holding the hook or the fishing line, and the hook or the fishing line can be loosened when the fish is hooked.
  • the hooking module comprises a hook holder and a controller.
  • the hook holder is a holding mechanism, and the sensor and the electromagnet are arranged thereon. When the fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the holding mechanism to open. , loosen the hook or fishing line.
  • the hook module can also be directly controlled by the central controller. Specifically, the central controller directly controls opening and closing of the hook holder.
  • the sonar detection module includes 130: a transmitter, a transducer and a receiver, and the control of the sonar detection module by the central controller includes: controlling opening and closing of the sonar module and direction of sound waves emitted by the transducer .
  • the sonar detection module 130 uses sound waves to detect the surrounding environment of the water, for example, how far the fish is, whether there is an obstacle, how much the water surface or the detection target is deep, and the like; and the obtained surrounding environment information is transmitted to the external terminal through the communication module 140.
  • the external terminal 200 processes the information sent by the sonar detection module 130, generates a control command according to the processing result or according to the input of the user, and transmits it to the communication module 140 of the unmanned ship 100, thereby controlling the sonar detection module 130. For example, controlling the adjustment of the size, horizontal direction, pitch direction and rotation direction of the sound wave detecting module 140 (for example, adjustment to the left, right, down or upward), so as to detect the user faster and more accurately. The required object to be detected.
  • the unmanned ship 100 also includes sensors for detecting water temperature and the like.
  • the central controller 110 transmits the status information of the sensor to the terminal 10 through the communication module 205.
  • the image acquisition module 120 includes a camera 121, an LED illumination lamp 123 and a stabilization platform 122.
  • the control of the image capture module 120 by the central controller 110 includes: sending an on/off command to the camera to illuminate the LED
  • the 123 lamp sends an on/off command to send a rotation angle command to the stabilization pan/tilt 122.
  • the image capturing module is controlled according to image information transmitted to the image capturing module or according to a control command sent from an external terminal.
  • the front end of the unmanned ship is a transparent shroud, and the camera, the LED illumination lamp and the stabilization pan are disposed in the shroud.
  • the LED illumination 123 lamps are arranged in two groups, and the brightness can be adjusted, and the brightness can be adjusted by controlling the corresponding driving circuit by the PWM signal.
  • the camera 121 supports visible light, and can also be installed with an infrared module, and can obtain a comprehensive picture by using a wide-angle lens. Foot 1080P HD shooting.
  • the stabilization platform 122 is a two-axis pan/tilt or a multi-axis pan/tilt.
  • the image acquisition module receives the image taken by the central controller 110 to capture the surrounding environment, and transmits the obtained image information to the external terminal 200 through the communication module 140; the external terminal 200 receives the image information and displays it to the user. And the external terminal 200 processes the image information, generates a control command according to the processing result or according to the input of the user, sends an instruction to the communication module 140 passing through the unmanned ship 100, and controls the image acquisition module 120 from the central controller 110, for example, : Control the direction and angle adjustment of the camera of the image acquisition module 120 (such as: left, right, down or upward adjustment, horizontal angle and pitch angle adjustment), turn on/off the LED light of the camera, etc., so as to be faster and more The subject is required to photograph the object to be detected.
  • Control the direction and angle adjustment of the camera of the image acquisition module 120 such as: left, right, down or upward adjustment, horizontal angle and pitch angle adjustment
  • turn on/off the LED light of the camera etc.
  • the image capturing module 120 further includes a smart camera.
  • the smart camera is disposed on the unmanned ship 100 through a telescopic device (such as a cable, a telescopic rod, etc.), and the smart camera is provided with an LED light. .
  • the central controller 110 sends a control command to the telescopic device of the smart camera to control the telescopic device, thereby realizing the telescopic expansion of the camera and simultaneously to the camera.
  • the control module sends a control command to turn on the LEDs on the camera, resulting in better shooting/photography.
  • the power module 190, the sensor module 180 and the storage module 102 are included; the power module is used to supply power to the unmanned ship, including the power management module and the power supply; the design meets one hour of continuous operation, and the power management module can be intelligently adjusted. Power, increase battery life.
  • the main body of the unmanned ship 100 is provided with an umbilical cable waterproof interface, which can provide cable power supply and control data communication if necessary.
  • the sensor module 180 includes a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic field meter, a leak proof detector and an inertial measurement unit; the unmanned ship 100 of the present invention passes the sensor module 180 acquires information such as the speed, acceleration, and attitude of the unmanned ship.
  • the navigation attitude reference system AHRS can provide real-time attitude, acceleration and angular velocity information.
  • the extended Kalman filter is used to fuse the data of the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetic field meter. The calculation result is output to the controller through the RS232 interface. .
  • the storage module 102 is configured to store navigation data of the unmanned ship, picture or video data recorded by the image acquisition module 120, environmental data detected by the sonar detection module 130, and automatic route data sent by the external terminal 200;
  • the cable 300 is a zero-floating communication cable.
  • the advantage of using a zero buoyancy communication cable is that it does not affect the unmanned ship's dive, and the cable has a stable attitude in the water and is not easily entangled.
  • the central controller 110 controls the sound transmitting device of the sonar detecting module 130 and the camera of the image capturing module 120 to be in the same direction and angle.
  • the sound transmitting device of the sonar detecting module and the camera of the image capturing module are combined; and when the central controller controls the transducer to emit sound waves, the camera is simultaneously controlled to start photographing, or/and when the transducer receives When the sound echoes, the central controller controls the camera to take a picture.
  • the sound transmitting device of the sonar detecting module 130 and the camera of the image capturing module 120 are combined, such as side by side.
  • the central controller 110 controls the sonar detection module 130 to emit sound waves the image acquisition module 120 is simultaneously controlled to take a picture; thus, the detailed information of the same object to be detected can be known, including: how deep is the water surface? What is the object (such as what fish)? How big is the detected object? What is the number of objects to be detected? And so on, and these details are displayed to the user through the external terminal 200.
  • the terminal storage module 250 of the external terminal 200 pre-stores matching information of different types of fish, for example, different types of fish shapes, colors, favorite fishing lures, and recommended fishing rods, nets, and fishing techniques. Information such as casting techniques.
  • the CPU 210 of the external terminal calls the information stored in the terminal storage module 250 in advance, performs comparison, and then displays according to the comparison result.
  • the user can easily catch the fish they want based on this information.
  • the central controller 110, the sonar detection module 130, the image capturing module 120, the cable retracting module 150, the hooking module 103 and the power module 160 are disposed inside the unmanned ship 100, and at least the antenna 141 of the communication module Partially disposed within the buoy 400, the buoy 400 is coupled to the unmanned vessel by a cable.
  • each functional module unit of the unmanned ship 100 of the embodiment of the present invention adopts an independent cabin design, such as a propulsion cabin, an image warehouse, and a main body warehouse, respectively, and the motor shaft is mechanically sealed.
  • the central controller 110 of an unmanned ship may further be applied according to an actual application.
  • the main controller 111 is used to connect and control various modules of the unmanned ship 100: such as the sensor module 180, the driving module 160, the communication module 140, the power supply Modules 190, automatic travel module 170, GSP module 101, etc.;
  • the auxiliary controller 112 is used to connect various modules for observing underwater information: such as sonar detection module 130, image acquisition module 120, LED illumination, and the like.
  • An unmanned ship system as shown in FIG. 5, includes the unmanned ship 100 and an external terminal 200, and the external terminal 200 is wirelessly connected with the communication module 140 of the unmanned ship for use in The unmanned ship's movement, detection, and shooting process are remotely controlled, and the sonar data, image data, navigation status data, and GPS data sent by the unmanned ship are received.
  • the external terminal includes a CPU 210, a display module 220, an input module 230, a terminal communication module 240, and a terminal storage module 250, where:
  • the CPU 210 is connected to the display module, the input module, the transmitting and receiving module, and the storage module, and controls the modules, and sends a control instruction to the unmanned ship through the transmitting and receiving module;
  • the display module 220 is configured to display image data, sonar data, GPS data, navigation data, and sensors of the received unmanned ship;
  • the terminal communication module 240 is configured to transmit wireless signals to the unmanned ship and receive wireless signals from the unmanned ship, and can adopt WIFI, Bluetooth, radio frequency, Long Term Evolution (LTE) mode, and telemetry FM radio (Telemetry FM Radio) Communication mode such as mode and satellite mode, and optical communication. Two-way communication can be performed using 433Mhz radio (or 2.4G, 5.8G, etc.).
  • the terminal communication module 240 can also adopt an image integration module to split the integrated single link signal transmitted by the unmanned ship 100 into image and data signals.
  • the input module 230 is configured to input an external command to the CPU, and the input module may be a combination of one or more of a joystick, a keyboard, a touch screen, a voice input, and a gesture input; specifically, for the unmanned ship 100
  • the input module can include a remote control handle, and the horizontal movement of the unmanned vessel 100 is controlled by a two-axis joystick.
  • the latency direction and speed of the unmanned vessel 100, the brightness of the LED illumination, and the focal length of the camera can be controlled by setting a rotary potentiometer.
  • the input of the operation lever, knob and switch of the remote control is controlled by the CPU 210.
  • Terminal storage module 250 for storing image data, sonar data, and GPS number of the received unmanned ship According to information such as navigation data and sensors or user input information or pre-stored unmanned ship navigation mode and automatic navigation information.
  • a terminal power module 260 a UBS interface
  • the terminal is a mobile phone, a tablet computer, a computer or other mobile terminal.
  • the terminal is equipped with various functions for controlling the unmanned ship and viewing the unmanned ship information and the image APP.
  • the external terminal 200 further has a voice broadcast module 270, which is configured to convert information such as received navigation data into audio information and broadcast it through a speaker.
  • the storage module 250 of the terminal is further configured to store information of a preset object in the water
  • the CPU may store image information and other information sent by the communication module of the unmanned ship 100 and the storage module.
  • the preset information of the detected object in the water is compared, and the comparison result and the suggestion information are sent to the display module or the voice broadcast module.
  • the unmanned ship 100 presets a key returning module 280.
  • the external terminal 200 is pre-set with a returning button, and the terminal storage module 250 prestores the returning coordinate point.
  • the terminal detects that the user presses the returning button, the terminal The unmanned ship 100 issues a return control command.
  • the utility model relates to an unmanned ship, which comprises the function of an existing fishing unmanned ship, can use the sonar module to detect underwater objects, and at the same time can realize a certain depth dive, and realize an underwater image by setting an image acquisition module on the unmanned ship. Acquisition, and can realize long-distance communication with the shore, and return underwater image information in real time.
  • the unmanned ship of the present invention can travel on the water surface, and when the sonar module detects the underwater fish school information, it can perform the dive observation and pass the floating buoy of the built-in communication antenna connected to the unmanned ship through the cable on the water surface.
  • the image acquisition module transmits the underwater image to the external terminal on the water in real time, and displays the information detected by the unmanned ship and the captured image information through the external terminal display module, thereby providing an unprecedented visualized submersible experience.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Animal Husbandry (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un navire sans pilote (100) et un système. L'invention concerne un navire sans pilote qui comprend : un module d'acquisition d'image (120), un module de détection sonar (130), un module de communication (140) et une unité de commande centrale (110), le module d'acquisition d'image (120) étant utilisé en vue d'enregistrer et de prendre une image sous-marine; le module de détection sonar (130) étant utilisé en vue de détecter un environnement sous-marin, ainsi que la position et la profondeur d'un banc de poissons; le module de communication (140) étant utilisé en vue de transmettre des informations d'état concernant le navire sans pilote (100), des informations d'image acquises par le module d'acquisition d'image (120), et des informations acquises par le module de détection sonar (130) à un terminal externe (2000), et transmettre une instruction de commande du terminal externe (200) à l'unité de commande centrale (110) en même temps; et l'unité de commande centrale (110) étant reliée aux divers modules, commandant un mouvement d'avancée du navire sans pilote (110) et coordonnant le fonctionnement de tous les modules. Le navire sans pilote possède la fonction d'un bateau de pêche sans pilote existant (110) et peut également plonger à une certaine profondeur en même temps, et réalise une télécommunication avec la côte et transmet des informations d'image sous-marine en temps réel.
PCT/CN2016/093121 2016-02-18 2016-08-03 Navire sans pilote et système WO2017140096A1 (fr)

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CN201690000206.7U CN208360444U (zh) 2016-06-21 2016-08-03 一种无人船及系统
US15/847,880 US10661867B2 (en) 2016-02-18 2017-12-19 Underwater drone with capacity of fishing, rapidly moving and wireless remote control
US16/843,870 US11008081B2 (en) 2016-02-18 2020-04-08 Underwater drone with capacity of fishing, rapidly moving and wireless remote control

Applications Claiming Priority (4)

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CN201610091376.7A CN107092019A (zh) 2016-02-18 2016-02-18 涉水机器人及水中探测系统
CN201610091376.7 2016-02-18
CN201610454324.1A CN106240774B (zh) 2016-06-21 2016-06-21 一种无人船及系统
CN201610454324.1 2016-06-21

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CN107807607B (zh) * 2017-12-06 2023-11-17 中国船舶重工集团公司第七0四研究所 无人艇无线遥控电力推进系统及其通讯方法
CN108563233A (zh) * 2017-12-28 2018-09-21 北京优尔博特创新科技有限公司 遥控水下机器人及水下探测系统
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CN108959115A (zh) * 2018-05-22 2018-12-07 长沙金信诺防务技术有限公司 基于悬浮式探测声呐的数据记录系统及记录方法
CN109521779A (zh) * 2019-01-25 2019-03-26 石家庄鑫农机械有限公司 一种基于NB-IoT的无人船控制系统
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CN111290395A (zh) * 2020-03-10 2020-06-16 上海航天控制技术研究所 一种基于子母艇的无人艇自主回收方法
CN111290395B (zh) * 2020-03-10 2023-07-14 上海航天控制技术研究所 一种基于子母艇的无人艇自主回收方法
CN111323839A (zh) * 2020-04-07 2020-06-23 中国人民解放军国防科技大学 一种光电探测机构用嵌入式控制系统
CN111487627A (zh) * 2020-04-09 2020-08-04 广东省文物考古研究所 水下声呐考古方法、装置、设备和存储介质
CN111521260B (zh) * 2020-05-11 2023-05-23 上海海洋大学 一种用于集鱼灯水下光场的检测系统
CN111521260A (zh) * 2020-05-11 2020-08-11 上海海洋大学 一种用于集鱼灯水下光场的检测系统
CN111664849A (zh) * 2020-06-08 2020-09-15 寰易(广东)应急安全科技集团有限公司 无人船的自动返航方法及其装置
CN111781923A (zh) * 2020-06-16 2020-10-16 北京航天控制仪器研究所 一种水面无人艇区域保持控制系统及方法
CN111781923B (zh) * 2020-06-16 2023-07-14 航天时代(青岛)海洋装备科技发展有限公司 一种水面无人艇区域保持控制系统及方法
CN111928889A (zh) * 2020-06-30 2020-11-13 上海威派格智慧水务股份有限公司 一种智能水质监控系统
CN111976931A (zh) * 2020-08-17 2020-11-24 中国电子科技集团公司第二十七研究所 一种多自由度泵喷水下机器人
CN111976931B (zh) * 2020-08-17 2024-05-17 中国电子科技集团公司第二十七研究所 一种多自由度泵喷水下机器人
CN111967409A (zh) * 2020-08-20 2020-11-20 中国长江三峡集团有限公司 船舶过闸系缆图像识别装置及识别方法
CN111967409B (zh) * 2020-08-20 2023-10-24 中国长江三峡集团有限公司 船舶过闸系缆图像识别装置及识别方法
CN112345531A (zh) * 2020-10-19 2021-02-09 国网安徽省电力有限公司电力科学研究院 一种基于仿生机器鱼的变压器故障检测方法
CN112345531B (zh) * 2020-10-19 2024-04-09 国网安徽省电力有限公司电力科学研究院 一种基于仿生机器鱼的变压器故障检测方法
CN112433219A (zh) * 2020-11-03 2021-03-02 深圳市汇海潜水工程服务有限公司 水下探测方法、系统及可读存储介质
CN112433219B (zh) * 2020-11-03 2024-05-31 深圳市汇海潜水工程服务有限公司 水下探测方法、系统及可读存储介质
CN113282021A (zh) * 2020-12-22 2021-08-20 天津大学 一种水下机器人多模态通信控制系统
CN113030409A (zh) * 2021-03-01 2021-06-25 西安水泽动力科技有限公司 一种水质测量方法
CN113238556A (zh) * 2021-05-14 2021-08-10 西北工业大学 一种基于虚拟现实的水面无人船控制系统及方法
CN113721246A (zh) * 2021-06-22 2021-11-30 江苏省水利科学研究院 一种可同时获得水上水下点云数据的三维建模方法
CN113387450A (zh) * 2021-06-25 2021-09-14 江苏农林职业技术学院 河道黑臭水体原位修复无人船及其控制方法
CN114089761A (zh) * 2021-11-22 2022-02-25 江苏科技大学 一种基于ros的领航跟随者多无人船编队控制系统及其方法
CN114362854A (zh) * 2021-11-30 2022-04-15 航天科工深圳（集团）有限公司 适用于无人艇的通信抗干扰辅助决策设备、系统以及方法
CN114362854B (zh) * 2021-11-30 2024-06-07 航天科工深圳（集团）有限公司 适用于无人艇的通信抗干扰辅助决策设备、系统以及方法
CN114488867A (zh) * 2021-12-09 2022-05-13 天津大学青岛海洋技术研究院 一种浮标剖面运动和数据采集控制器及其使用方法
CN114238443A (zh) * 2021-12-20 2022-03-25 华南理工大学 一种基于物联网的无人船测试信息集成采集方法及系统
CN114360234A (zh) * 2021-12-23 2022-04-15 中交第四航务工程局有限公司 一种船舶的无线遥控系统及方法
CN114360234B (zh) * 2021-12-23 2023-03-24 中交第四航务工程局有限公司 一种船舶的无线遥控系统及方法
CN114362828A (zh) * 2022-01-12 2022-04-15 朝阳市加华电子有限公司 一种基于声光磁技术组合的水下目标探测和识别潜标系统
CN114362828B (zh) * 2022-01-12 2024-01-09 朝阳市加华电子有限公司 一种基于声光磁技术组合的水下目标探测和识别潜标系统
CN114755705A (zh) * 2022-03-18 2022-07-15 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) 无人船舶航行精度实船测试方法和系统
CN114942310A (zh) * 2022-04-11 2022-08-26 湛江幼儿师范专科学校(岭南师范学院基础教育学院) 一种用于水质监测的无人船及水质监测系统
CN115088685A (zh) * 2022-05-17 2022-09-23 中国水产科学研究院南海水产研究所 一种海洋经济物种捕捞用的智能调控装置及其控制方法
CN115088685B (zh) * 2022-05-17 2023-09-19 中国水产科学研究院南海水产研究所 一种海洋经济物种捕捞用的智能调控装置及其控制方法
WO2023226485A1 (fr) * 2022-05-26 2023-11-30 江苏科技大学 Système de commande de navigation autonome pour un navire sans équipage
CN115027627A (zh) * 2022-06-17 2022-09-09 杜明芳 面向流域安全的巡检救援智能无人船系统
CN115195947A (zh) * 2022-06-24 2022-10-18 广东省船夫电子有限公司 一种无人自动路亚溜鱼钓鱼船及系统
CN115195947B (zh) * 2022-06-24 2023-05-23 广东省船夫电子有限公司 一种无人自动路亚溜鱼钓鱼船及系统
CN115047890A (zh) * 2022-08-17 2022-09-13 北京大学 无人船控制方法、设备及计算机可读存储介质
CN115657690A (zh) * 2022-12-27 2023-01-31 武汉理工大学 基于Stewart平台的船舶远程驾驶控制云台及控制方法
CN116076460A (zh) * 2022-12-28 2023-05-09 山东郓信发展集团有限公司 一种水下自动捕鱼设备及工作方法
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