WO2022213454A1 - 基于自组网的海洋漂浮物无人艇监测及远程打捞系统 - Google Patents

基于自组网的海洋漂浮物无人艇监测及远程打捞系统 Download PDF

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WO2022213454A1
WO2022213454A1 PCT/CN2021/095064 CN2021095064W WO2022213454A1 WO 2022213454 A1 WO2022213454 A1 WO 2022213454A1 CN 2021095064 W CN2021095064 W CN 2021095064W WO 2022213454 A1 WO2022213454 A1 WO 2022213454A1
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module
unmanned boat
monitoring
remote
hoc network
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PCT/CN2021/095064
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English (en)
French (fr)
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刘万柱
庞井明
王晓杰
衡刚
李晓文
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江苏中利电子信息科技有限公司
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Priority claimed from CN202110372410.9A external-priority patent/CN113174914A/zh
Application filed by 江苏中利电子信息科技有限公司 filed Critical 江苏中利电子信息科技有限公司
Publication of WO2022213454A1 publication Critical patent/WO2022213454A1/zh

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    • 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
    • B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10—Devices for removing the material from the surface
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • the invention relates to a marine floating object unmanned boat monitoring and remote salvage system based on an ad hoc network, which is used for monitoring and salvaging marine floating objects.
  • the patent document whose publication number is CN109555093A discloses the control method of the marine floating object salvage and detection device, and the marine floating object salvage and detection device is used to carry out salvage and detection, wherein the salvage box is integrally installed on the upper front end of the floating control mechanism, The collection net is arranged at the lower rear end of the floating control mechanism, the water leakage is arranged at the bottom end of the salvage box, the drainage driving mechanism is arranged on both sides of the water leakage, the steering control mechanism is arranged at the bottom end of the water leakage, and the energy storage detection mechanism is arranged at the steering control mechanism Bottom end; by setting a drainage port at the bottom of the device, the water in front of the salvage device is absorbed and discharged from the bottom, so as to attract the floating objects on the water surface to the surrounding of the salvage device; the motor is used as the power and the solar energy is used as the power source, which effectively reduces the impact on the environment.
  • the rotation of the motor drives the blades of the drainage outlet to rotate, thereby playing a role in drainage; at the same time, the rotation of the motor drives the blades to rotate to play a role in navigation; set up detectors to facilitate the detection of seabed topography, ocean current changes, energy reserves, fish group to detect.
  • the technical problem to be solved by the present invention is to provide a marine floating object unmanned boat monitoring and remote salvage system based on an ad hoc network, so as to realize real-time monitoring and salvage of marine floating objects.
  • the present invention provides an unmanned boat monitoring and remote salvage system for marine floating objects based on an ad hoc network, which includes an unmanned boat and a remote control center.
  • the unmanned boat includes a floating object monitoring module, an image transmission module, an unmanned boat control module, a drive signal amplification module and a floating object salvaging module, the floating object monitoring module is connected with the image transmission module, and the image transmission module is connected with the
  • the driving signal amplification module is connected, and the driving signal amplification module is respectively connected with the unmanned boat control module and the floating object salvage module.
  • the image transmission module is an ad hoc network module, and the unmanned boat has an unmanned boat power supply module for supplying power to each module of the unmanned boat.
  • Floating object monitoring module used to monitor the ocean. It is mainly composed of surveillance cameras and adopts infrared night vision cameras with wide viewing angle and high definition.
  • Image transmission module used to transmit the images collected by the floating object monitoring module to the remote control center through the self-organizing network. This module is part of the function of the ad hoc network module.
  • Unmanned boat control module used to control the movement of the unmanned boat, such as: forward, backward, and turn.
  • the unmanned boat control command sent by the self-organized network module of the monitoring point is directly controlled after being amplified by the driving signal amplification module.
  • Drive signal amplification module Amplify the signal of the unmanned boat control command and the floating object salvage command sent by the ad hoc network module of the monitoring point, so as to normally drive the movement of the unmanned boat and the operation of the salvage equipment.
  • Floating object salvage module used to salvage marine floating objects.
  • the floating object salvage command sent by the self-organized network module of the monitoring point is directly controlled after being amplified by the driving signal amplification module.
  • the remote control center includes an image receiving module, a control signal processing module and an image signal processing module, the control signal processing module is connected with the image receiving module, and the image receiving module is connected with the image signal processing module;
  • the image transmission module is connected with the image receiving module of the remote control center.
  • the image receiving module is an ad hoc network module, and the remote control center has a power supply module for supplying power to each module of the remote control center.
  • Image receiving module used to receive the image signal transmitted from the monitoring point. This module is part of the function of the ad hoc network module.
  • Control signal processing module used to process the control instructions of the remote control center.
  • Remote control center used for display monitoring of (multiple) monitoring point images and remote control of floating object salvage work.
  • the image receiving module of the remote control center receives the monitoring picture information transmitted by the monitoring point through the ad hoc network module, and then displays the monitoring picture on the display through the image signal processing module. When floating objects are detected, the monitoring picture is displayed. Processing - mark the floating object and generate a floating object processing prompt, and automatically take a screenshot to save the monitoring screen; b.
  • the operator performs remote processing of the floating object through the remote control button of the system, specifically, the remote control button generates
  • the processing signal and control signal are processed by the control signal processing module, sent by the ad hoc network module, and transmitted to the ad hoc network module of the monitoring point, and then sent by the ad hoc network module of the monitoring point to send unmanned boat control commands and floating object salvage instruction.
  • the system monitors the image through the floating object monitoring module on the unmanned boat, and then transmits it to the remote control center through the image transmission module of the unmanned boat.
  • the image signal processing module is used to display the monitoring screen.
  • the remote control center will mark the floating object, and automatically take a screenshot to save the monitoring screen; the operator will remotely process the floating object through the remote control button of the system.
  • the specific manifestation is that the remote control button generates processing signals and controls
  • the signal is processed by the control signal processing module, sent by the ad hoc network module, and transmitted to the ad hoc network module of the monitoring point.
  • the ad hoc network generates the corresponding unmanned boat movement command and salvage command, and the command signal is amplified by the drive signal amplification module. Then directly drive the unmanned boat control module and the floating object salvage module.
  • the self-organizing network adopted by the present invention has wide coverage, strong anti-interference ability and high flexibility, and can operate normally in a bad environment such as lack of public network coverage, thereby reducing the dependence on the public network.
  • Personnel can perform remote operation in the remote control center, salvage marine floating objects, monitor in real time, and ensure the personal safety of operators.
  • operators can simultaneously control multiple unmanned boats for salvage operations.
  • the use of unmanned boats to replace personnel reduces labor costs.
  • Figure 1 is a schematic diagram of the present invention.
  • the marine floating object unmanned boat monitoring and remote salvage system based on ad hoc network includes unmanned boat and remote control center.
  • the unmanned boat includes:
  • Floating object monitoring module used to monitor the ocean. It is mainly composed of surveillance cameras and adopts infrared night vision cameras with wide viewing angle and high definition.
  • Image transmission module used to transmit the images collected by the floating object monitoring module to the remote control center through the self-organizing network. This module is part of the function of the ad hoc network module.
  • Unmanned boat control module used to control the movement of the unmanned boat, such as: forward, backward, and turn.
  • the unmanned boat control command sent by the self-organized network module of the monitoring point is directly controlled after being amplified by the driving signal amplification module.
  • Drive signal amplification module Amplify the signal of the unmanned boat control command and the floating object salvage command sent by the ad hoc network module of the monitoring point, so as to normally drive the movement of the unmanned boat and the operation of the salvage equipment.
  • Floating object salvage module used to salvage marine floating objects.
  • the floating object salvage command sent by the self-organized network module of the monitoring point is directly controlled after being amplified by the driving signal amplification module.
  • Unmanned boat power supply module used to supply power to each module of the unmanned boat.
  • the floating object monitoring module is connected with the image transmission module, the image transmission module is connected with the driving signal amplification module, and the driving signal amplification module is respectively connected with the unmanned boat control module and the floating object salvage module.
  • the remote control center includes:
  • Image receiving module used to receive the image signal transmitted from the monitoring point. This module is part of the function of the ad hoc network module.
  • Control signal processing module used to process the control instructions of the remote control center.
  • Image signal processing module display the monitoring picture on the display, and process the monitoring picture when the floating object is detected - mark the floating object and generate a floating object processing prompt, and automatically take a screenshot to save the monitoring picture.
  • Power supply module used to supply power to each module of the remote control center.
  • the control signal processing module is connected with the image receiving module, and the image receiving module is connected with the image signal processing module; the image transmission module of the unmanned boat is connected with the image receiving module of the remote control center.
  • Remote control center used for display monitoring of (multiple) monitoring point images and remote control of floating object salvage work.
  • the image receiving module of the remote control center receives the monitoring picture information transmitted by the monitoring point through the ad hoc network module, and then displays the monitoring picture on the display through the image signal processing module. When floating objects are detected, the monitoring picture is displayed. Processing - mark the floating object and generate a floating object processing prompt, and automatically take a screenshot to save the monitoring screen; b.
  • the operator performs remote processing of the floating object through the remote control button of the system, specifically, the remote control button generates
  • the processing signal and control signal are processed by the control signal processing module, sent by the ad hoc network module, and transmitted to the ad hoc network module of the monitoring point, and then sent by the ad hoc network module of the monitoring point to send unmanned boat control commands and floating object salvage instruction.
  • the system monitors the image through the floating object monitoring module on the unmanned boat, and then transmits it to the remote control center through the image transmission module of the unmanned boat.
  • the image signal processing module is used to display the monitoring screen.
  • the remote control center will mark the floating object, and automatically take a screenshot to save the monitoring screen; the operator will remotely process the floating object through the remote control button of the system.
  • the specific manifestation is that the remote control button generates processing signals and controls
  • the signal is processed by the control signal processing module, sent by the ad hoc network module, and transmitted to the ad hoc network module of the monitoring point.
  • the ad hoc network generates the corresponding unmanned boat movement command and salvage command, and the command signal is amplified by the drive signal amplification module. Then directly drive the unmanned boat control module and the floating object salvage module.

Abstract

本发明公开了基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其包括无人艇和远程控制中心，无人艇的漂浮物监测模块与图像传输模块连接，图像传输模块连接与驱动信号放大模块连接，驱动信号放大模块分别与无人艇控制模块、漂浮物打捞模块连接；远程控制中心的控制信号处理模块与图像接收模块连接，图像接收模块与图像信号处理模块连接；无人艇的图像传输模块与所述远程控制中心的图像接收模块连接；本发明采用的自组织网络，能在缺少公网覆盖等恶劣环境下正常组网运行，可以在远程控制中心进行远程操作，进行海洋漂浮物的打捞。

Description

基于自组网的海洋漂浮物无人艇监测及远程打捞系统 技术领域
本发明涉及一种基于自组网的海洋漂浮物无人艇监测及远程打捞系统，用于对海洋漂浮物进行监测、打捞。
背景技术
公开号为CN109555093A的专利文献公开了海洋漂浮物打捞和侦测装置的控制方法，采用海洋漂浮物打捞和侦测装置实施打捞和侦测，其中，打捞箱体整体安装于漂浮控制机构上部前端，收集网设置于漂浮控制机构下部后端，水漏设置于打捞箱体底端，排水驱动机构设置于水漏两侧，转向控制机构设置于水漏底端，蓄能探测机构设置于转向控制机构底端；通过在装置底部设置排水口，将打捞装置前方的水吸收并将水从底部排出，从而将水面漂浮物吸引到打捞装置周围；采用电机作为动力，太阳能作为动力源，有效降低对环境的污染，通过电机转动带动排水口的桨叶旋转，从而起到排水的作用；同时通过电机转动带动桨叶旋转起到航行作用；设置探测器以利于对海底地形、洋流变化、能源储备、鱼群等进行侦测。
现有技术中，需要人员进行现场操控才能进行海洋漂浮物的打捞，不能实时进行监控，并且需要对操作人员的人身安全负责，存在危险性。在进行多点打捞的情况下，所需的人力成本就更多了。
发明内容
本发明所要解决的技术问题是提供一种基于自组网的海洋漂浮物无人艇监测及远程打捞系统，实现对海洋漂浮物实时进行监控打捞。
为解决上述技术问题，本发明基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其包括无人艇和远程控制中心。
所述无人艇包括漂浮物监测模块、图像传输模块、无人艇控制模块、驱动信号放大模块和漂浮物打捞模块，所述漂浮物监测模块与图像传输模块连接，所述图像传输模块连接与驱动信号放大模块连接，所述驱动信号放大模块分别 与无人艇控制模块、漂浮物打捞模块连接。所述图像传输模块为自组网模块，所述无人艇具有无人艇供电模块，用于给无人艇的各个模块供电。
漂浮物监测模块：用于对海洋的监测。主要由监控摄像机组成，采用视角广，清晰度高的红外夜视摄像机。
图像传输模块：用于将漂浮物监测模块采集到的图像通过自组织网络传输到远程控制中心。该模块为自组网模块的部分功能。
无人艇控制模块：用于控制无人艇的移动，例如：前进、后退、转向。由监测点的自组网模块发送的无人艇控制指令经驱动信号放大模块放大后直接控制。
驱动信号放大模块：将监测点的自组网模块发送的无人艇控制指令和漂浮物打捞指令进行信号放大，从而正常驱动无人艇的移动工作以及打捞设备的运行工作。
漂浮物打捞模块：用于打捞海洋漂浮物。由监测点的自组网模块发送的漂浮物打捞指令经驱动信号放大模块放大后直接控制。
所述远程控制中心包括图像接收模块、控制信号处理模块和图像信号处理模块，所述控制信号处理模块与图像接收模块连接，所述图像接收模块与图像信号处理模块连接；所述无人艇的图像传输模块与所述远程控制中心的图像接收模块连接。所述图像接收模块为自组网模块，所述远程控制中心具有供电模块，用于给远程控制中心的各个模块供电。
图像接收模块：用于接收监测点传输过来的图像信号。该模块为自组网模块的部分功能。
控制信号处理模块：用于处理远程控制中心的控制指令。
远程控制中心：用于对(多个)监测点画面的显示监测以及漂浮物打捞工作的远程控制。a.由远程控制中心的图像接收模块通过自组网模块接收监测点传送的监测画面信息，再通过图像信号处理模块在显示器上进行监测画面的显示，当监测到漂浮物时，对监测画面进行处理——将漂浮物进行标记且产生漂浮物处理提示，并自动截图保存该监测画面；b.操作人员通过该系统的远程控制 按键对该漂浮物进行远程处理，具体表现为，远程控制按键产生处理信号和控制信号，通过控制信号处理模块处理，由自组网模块发送，传送到该监测点的自组网模块，再由监测点的自组网模块发送无人艇控制指令和漂浮物打捞指令。
本系统通过在无人艇上的漂浮物监测模块进行画面监测，然后通过无人艇的图像传输模块传送到远程控制中心，远程控制中心通过图像接收模块进行图像的接收，并通过远程控制中心中的图像信号处理模块进行监控画面的显示。发现漂浮物后远程控制中心进行漂浮物的标记，并自动截图保存该监测画面；操作人员通过该系统的远程控制按键对该漂浮物进行远程处理，具体表现为，远程控制按键产生处理信号和控制信号，通过控制信号处理模块处理，由自组网模块发送，传送到该监测点的自组网模块，自组网产生相应的无人艇移动指令及打捞指令，指令信号经驱动信号放大模块放大后直接驱动无人艇控制模块和漂浮物打捞模块。
本发明采用的自组织网络覆盖范围广，抗干扰能力强，灵活度高，能在缺少公网覆盖等恶劣环境下正常组网运行，减小对公网的依赖性。人员可以在远程控制中心进行远程操作，就能进行海洋漂浮物的打捞，实时进行监控，操作人员的人身安全有了保障。同时，操作人员可同时操控多艘无人艇进行打捞作业。而且，使用无人艇取代人员，减少了人力成本。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1为本发明示意图。
具体实施方式
如图1所示，基于自组网的海洋漂浮物无人艇监测及远程打捞系统，包括无人艇和远程控制中心。
所述无人艇包括：
漂浮物监测模块：用于对海洋的监测。主要由监控摄像机组成，采用视角广，清晰度高的红外夜视摄像机。
图像传输模块：用于将漂浮物监测模块采集到的图像通过自组织网络传 输到远程控制中心。该模块为自组网模块的部分功能。
无人艇控制模块：用于控制无人艇的移动，例如：前进、后退、转向。由监测点的自组网模块发送的无人艇控制指令经驱动信号放大模块放大后直接控制。
驱动信号放大模块：将监测点的自组网模块发送的无人艇控制指令和漂浮物打捞指令进行信号放大，从而正常驱动无人艇的移动工作以及打捞设备的运行工作。
漂浮物打捞模块：用于打捞海洋漂浮物。由监测点的自组网模块发送的漂浮物打捞指令经驱动信号放大模块放大后直接控制。
无人艇供电模块：用于给无人艇的各个模块供电。
所述漂浮物监测模块与图像传输模块连接，所述图像传输模块连接与驱动信号放大模块连接，所述驱动信号放大模块分别与无人艇控制模块、漂浮物打捞模块连接。
所述远程控制中心包括：
图像接收模块：用于接收监测点传输过来的图像信号。该模块为自组网模块的部分功能。
控制信号处理模块：用于处理远程控制中心的控制指令。
图像信号处理模块：在显示器上进行监测画面的显示，当监测到漂浮物时，对监测画面进行处理——将漂浮物进行标记且产生漂浮物处理提示，并自动截图保存该监测画面。
供电模块：用于给远程控制中心的各个模块供电。
所述控制信号处理模块与图像接收模块连接，所述图像接收模块与图像信号处理模块连接；所述无人艇的图像传输模块与所述远程控制中心的图像接收模块连接。
远程控制中心：用于对(多个)监测点画面的显示监测以及漂浮物打捞工作的远程控制。a.由远程控制中心的图像接收模块通过自组网模块接收监测点传送的监测画面信息，再通过图像信号处理模块在显示器上进行监测画面的显 示，当监测到漂浮物时，对监测画面进行处理——将漂浮物进行标记且产生漂浮物处理提示，并自动截图保存该监测画面；b.操作人员通过该系统的远程控制按键对该漂浮物进行远程处理，具体表现为，远程控制按键产生处理信号和控制信号，通过控制信号处理模块处理，由自组网模块发送，传送到该监测点的自组网模块，再由监测点的自组网模块发送无人艇控制指令和漂浮物打捞指令。
本系统通过在无人艇上的漂浮物监测模块进行画面监测，然后通过无人艇的图像传输模块传送到远程控制中心，远程控制中心通过图像接收模块进行图像的接收，并通过远程控制中心中的图像信号处理模块进行监控画面的显示。发现漂浮物后远程控制中心进行漂浮物的标记，并自动截图保存该监测画面；操作人员通过该系统的远程控制按键对该漂浮物进行远程处理，具体表现为，远程控制按键产生处理信号和控制信号，通过控制信号处理模块处理，由自组网模块发送，传送到该监测点的自组网模块，自组网产生相应的无人艇移动指令及打捞指令，指令信号经驱动信号放大模块放大后直接驱动无人艇控制模块和漂浮物打捞模块。
上述实施例不以任何方式限制本发明，凡是采用等同替换或等效变换的方式获得的技术方案均落在本发明的保护范围内。

Claims (4)

  1. 基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其特征在于包括无人艇和远程控制中心，所述无人艇包括漂浮物监测模块、图像传输模块、无人艇控制模块、驱动信号放大模块和漂浮物打捞模块，所述漂浮物监测模块与图像传输模块连接，所述图像传输模块连接与驱动信号放大模块连接，所述驱动信号放大模块分别与无人艇控制模块、漂浮物打捞模块连接；所述远程控制中心包括图像接收模块、控制信号处理模块和图像信号处理模块，所述控制信号处理模块与图像接收模块连接，所述图像接收模块与图像信号处理模块连接；所述无人艇的图像传输模块与所述远程控制中心的图像接收模块连接。
  2. 根据权利要求1所述的基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其特征在于：所述图像传输模块、图像接收模块为自组网模块。
  3. 根据权利要求1所述的基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其特征在于：所述无人艇具有无人艇供电模块。
  4. 根据权利要求1所述的基于自组网的海洋漂浮物无人艇监测及远程打捞系统，其特征在于：所述远程控制中心具有供电模块。
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