CN106781371A - A kind of communication system of unmanned boat under water - Google Patents
A kind of communication system of unmanned boat under water Download PDFInfo
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- CN106781371A CN106781371A CN201611109830.3A CN201611109830A CN106781371A CN 106781371 A CN106781371 A CN 106781371A CN 201611109830 A CN201611109830 A CN 201611109830A CN 106781371 A CN106781371 A CN 106781371A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 85
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S15/87—Combinations of sonar systems
-
- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
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Abstract
The invention discloses a kind of communication system of unmanned boat under water, the communication system includes unmanned boat, base station waterborne and the user terminal of the sealing neutral buoyancy that can be dived beneath the water, and the unmanned boat and user terminal carry out data interaction by base station waterborne；The underwater information that the unmanned boat will get sends to user terminal and shows；The user terminal carries out remote control according to the underwater information for receiving to unmanned boat.A kind of communication system of unmanned plane under water of the present invention carries out interacting for data using user terminal with unmanned boat wireless connection, realize that user terminal is controlled to unmanned boat at a distance, and the detection information that unmanned boat is gathered is shown in real time, improve the intuitive of information；Meanwhile, the user terminal directly can also send control instruction through base station waterborne to unmanned boat, and realize the control to unmanned boat.
Description
Technical Field
The invention belongs to the technical field of unmanned ships, and particularly relates to a communication system of an underwater unmanned ship.
Background
In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.
Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.
Therefore, an unmanned ship for fishing, which has the functions of the existing unmanned fishing ship, can submerge at a certain depth, can communicate with a shore in a long distance, and can return underwater image information in real time, is urgently needed.
The present invention has been made in view of this situation.
Disclosure of Invention
The communication system utilizes the wireless transmission module to realize data interaction between the unmanned ship and the user terminal, so that the user terminal can remotely control the unmanned ship, underwater information acquired by the unmanned ship is displayed to be convenient for a user to check or store, and the requirements of the vast users can be met.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention provides a communication system of an underwater unmanned ship, which comprises the unmanned ship capable of submerging underwater and sealing zero buoyancy, an above-water base station and a user terminal, wherein the unmanned ship and the user terminal carry out data interaction through the above-water base station; the unmanned ship sends the acquired underwater information to a user terminal and displays the underwater information; and the user terminal remotely controls the unmanned ship according to the received underwater information.
Further, the unmanned ship comprises an underwater host, and the underwater host is connected with the overwater base station through a communication cable; the underwater host integrates the image signal and the digital signal into a same link signal and transmits the same link signal to the overwater base station through the communication cable; the overwater base station splits the same link signal into an image signal and a digital signal and sends the split image signal and the split digital signal to a user terminal;
preferably, the communication cable is a zero-buoyancy twisted pair that can be suspended in water.
Further, the host computer under water includes main control unit and gesture collection module, wherein:
the main controller is used for carrying out data analysis processing on the received underwater information and sending the processed underwater information to the user terminal;
and the attitude acquisition module is connected with the main controller and is used for acquiring the attitude information of the underwater unmanned ship and sending the acquired attitude information to the main controller for data processing.
Further, the attitude acquisition module comprises a gyroscope, an accelerometer and a magnetometer, the gyroscope is used for acquiring angular velocity information of the unmanned ship, the accelerometer is used for acquiring acceleration information of the unmanned ship, and the magnetometer is used for detecting azimuth information of the unmanned ship; the circuit board is provided with at least two magnetometers, and the at least two magnetometers are overlapped, stacked or symmetrically arranged on two sides of the circuit board by taking the circuit board as a symmetry plane.
Furthermore, the unmanned ship also comprises a fish searching module and/or a fish collecting module, and the fish searching module and the fish collecting module are connected with the main controller; the fish searching module is used for searching fish information and feeding back the obtained fish information to the main controller, and the fish gathering module is used for gathering fish according to the fish information obtained by the fish searching module;
preferably, the fish searching module is a sonar device, and the sonar device is connected with the main controller; the fish gathering module is an LED lamp, a resonance device or a feeding device.
Further, the unmanned ship further comprises a fishing module and/or a fishing module, and the fishing module are detachably arranged on the unmanned ship;
preferably, the fishing module comprises a suspension arm detachably connected with the unmanned ship and a fishhook arranged on the suspension arm; the fishing module is a fish gun device or a mechanical arm or a net for launching fish guns to fish shoals.
Furthermore, the underwater host also comprises an image acquisition module, and the image acquisition module is connected with the main controller; the image acquisition module is used for acquiring and storing underwater image information and sending the acquired image information to the main controller.
Furthermore, the underwater host also comprises a power driving module which is used for driving the unmanned ship to realize the advancing action of the underwater unmanned ship under the control of the main controller;
the power driving module comprises three motor drivers, wherein two motor drivers are horizontally arranged on two sides of the tail of the unmanned ship, and the other motor driver is vertically arranged in the middle of the unmanned ship.
Furthermore, the underwater host also comprises a sensor module and a power management module for supplying power to the unmanned ship, and the sensor module and the power management module are both connected with the main controller; the sensor module comprises an air pressure sensor, a water pressure sensor, a voltage sensor and a current sensor; wherein,
the air pressure sensor is used for detecting air pressure in the sealed cabin so as to determine the water leakage condition of the unmanned ship;
the water pressure sensor is used for detecting the water pressure of the current environment of the unmanned ship so as to realize the height and depth fixing of the unmanned ship;
the voltage sensor is used for detecting the voltage of the unmanned ship, and the current sensor is used for detecting the current of the unmanned ship so as to ensure that the unmanned ship can be charged in time or the whole circuit of the unmanned ship can be protected;
preferably, the underwater host further comprises an intelligent following module, and the intelligent following module is connected with the main controller; and the intelligent tracking module is used for intelligently tracking the fish shoal according to the acquired position information of the fish shoal.
Furthermore, the communication system also comprises a remote controller, wherein the remote controller receives navigation information and/or underwater information sent by the unmanned ship and controls the unmanned ship independently or in cooperation with a user terminal.
Further, the user terminal sends a control instruction to the unmanned ship through the overwater base station so as to realize remote control on the underwater unmanned ship; unmanned ship application software is arranged in the user terminal;
the user terminal comprises a central processing unit, an input module, a display module, a wireless communication module and a storage module;
preferably, the user terminal is a mobile phone or a tablet or a computer or VR glasses.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
1. According to the communication system of the underwater unmanned aerial vehicle, the user terminal is wirelessly connected with the unmanned ship to perform data interaction, so that the user terminal can remotely control the unmanned ship and display the detection information acquired by the unmanned ship in real time, and the information intuitiveness is improved; meanwhile, the user terminal can also directly send a control instruction to the unmanned ship through the overwater base station, and control over the unmanned ship is achieved.
2. The unmanned ship can send fish information, surrounding environment information and the like detected underwater to the user terminal and display the information on the user terminal; meanwhile, the user terminal can remotely control the processes of motion, detection, shooting and the like of the unmanned ship and receive sonar data, image data, navigation data, GPS data and the like sent by the unmanned ship.
3. The unmanned ship communicates with the underwater base station through the zero-buoyancy twisted pair, the problem that electromagnetic waves are seriously attenuated in water is solved, the communication cable is ensured to be consistent with the buoyancy of the water, and therefore the unmanned ship can be suspended in the water, the communication cable cannot be disconnected due to the fact that the communication cable is loosened by strong water flow impact force, normal underwater communication is guaranteed, and the reliability of equipment is improved.
4. The circuit board is provided with at least two magnetometers, so that the accuracy of the orientation detection of the underwater unmanned ship can be effectively improved by utilizing the mutual calibration of the plurality of magnetometers, and the reliability of the underwater operation of the unmanned ship is improved.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic block diagram of a communication system of an underwater unmanned ship of the present invention;
FIG. 2 is a schematic structural diagram of an underwater unmanned ship in an embodiment of the invention;
FIG. 3 is a block diagram of another underwater drone communication system of the present invention;
fig. 4 is a schematic structural diagram of a user terminal in an embodiment of the present invention;
FIG. 5 is a schematic view of the mechanism of a fishing apparatus according to an embodiment of the present invention;
fig. 6 is a schematic view of the mechanism of a fishing apparatus installed on an unmanned ship in an embodiment of the present invention;
fig. 7 is a schematic view of another fishing apparatus according to an embodiment of the present invention installed on an unmanned ship.
In the figure: 1. an unmanned ship; 11. an underwater host; 111. a main controller; 112. an attitude acquisition module; 113. an image acquisition module; 114. a power drive module; 115. a sensor module; 116. a power management module; 12. a fish searching module; 13. a fish collecting module; 14. a fishing module; 141. a suspension arm; 142. a buoyancy block; 143. hooking a ball; 144. a fish hook; 145. fishing line; 15. a fishing module; 151. a holder; 152. a fish gun seat; 153. a spring plate; 154. a fish gun; 155. a fishing line; 156. a flange; 157. a mechanical arm; 158. a motor; 159. a force feedback manipulator; 2. an overwater base station; 3. a user terminal; 31. a central processing unit; 32. an input module; 33. a display module; 34. a storage module; 35. a wireless communication module; 4. and a remote controller.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
With the rise of unmanned aerial vehicle technology, various unmanned devices (unmanned aerial vehicles, unmanned ships 1 and unmanned automobiles) are widely applied, and the unmanned ships 1 are increasingly applied in the fishing field, but the existing unmanned ships 1 have many defects in the fishing field. Therefore, according to the unmanned ship 1 provided by the invention, underwater objects can be detected by using the sonar device, meanwhile, submergence at a certain depth can be realized, underwater image acquisition is realized by arranging the image acquisition module 113 on the unmanned ship 1, and long-distance communication from underwater to shore can be realized, and underwater image information is returned in real time. The success rate of fishing is improved, the entertainment and the operability of fishing activities are improved, and different remote control experience is brought to users.
As shown in fig. 1 to 4, the present invention provides a communication system for an underwater unmanned ship 1, which includes an unmanned ship 1 capable of diving, an above-water base station 2, and a user terminal 3, wherein the unmanned ship 1 of the present invention may float on the water surface or may dive underwater. The unmanned ship 1 and the user terminal 3 carry out data interaction through the overwater base station 2; the unmanned ship 1 sends various acquired underwater information to the user terminal 3 and displays the various acquired underwater information; and the user terminal 3 remotely controls the unmanned ship 1 according to the received underwater information. According to the communication system of the underwater unmanned aerial vehicle, the user terminal 3 is wirelessly connected with the unmanned ship 1 for data interaction, the user terminal 3 can remotely control the unmanned ship 1, underwater information acquired by the unmanned ship 1 is displayed in real time, and the information intuitiveness is improved. Meanwhile, the user terminal 3 can also directly send a control instruction to the unmanned ship 1 through the overwater base station 2, and realize remote control of the unmanned ship 1.
The underwater unmanned ship 1 of the present invention is a sealed and zero-buoyancy unmanned ship 1, and the average density of the underwater unmanned ship 1 is the same as or at least close to the density of the surrounding water area. Be equipped with sealed chamber in unmanned ship 1 under water, this sealed chamber has water-proof effects, can protect each power module in the sealed chamber can not soak, and then guarantee unmanned ship 1's normal work under water, and through this sealed chamber and the cooperation between unmanned ship 1 shell body and each part under water, make unmanned ship 1 under water reach and be similar with waters density on every side, and then realize the effect of zero buoyancy in the waters, through the adjustment navigation direction and the navigation gesture that unmanned ship 1 can be better under water of zero buoyancy.
Example one
As shown in fig. 1, the communication system of the underwater unmanned ship 1 according to the embodiment is mainly composed of an unmanned ship 1 which can be submerged to a certain distance under water, an above-water base station 2 and a user terminal 3, wherein the unmanned ship 1 is connected with the above-water base station 2 through a communication cable, and the above-water base station 2 is wirelessly connected with the user terminal 3, so that remote data interaction between the unmanned ship 1 and the user terminal 3 is realized. The unmanned ship 1 sends various acquired underwater information to the user terminal 3 and displays the various acquired underwater information; and the user terminal 3 remotely controls the unmanned ship 1 according to the received underwater information. The communication cable is a zero-buoyancy twisted pair, so that the buoyancy of the twisted pair is consistent with that of water, the twisted pair is suspended underwater, and the reliability of the equipment is improved.
In the above technical solution, the underwater information includes: sonar data, image data, unmanned ship 1 navigation data, fish data, GPS data, and the like.
As shown in fig. 2, in the present embodiment, the unmanned ship 1 includes an underwater host 11, and the underwater host 11 is connected to the above-water base station 2 through a zero-buoyancy twisted pair. The underwater host 11 integrates the image signal and the digital signal into a same link signal, and transmits the same link signal to the overwater base station 2 through the communication cable; the overwater base station 2 splits the same link signal into an image signal and a digital signal, and sends the split image signal and the split digital signal to the user terminal 3 for display.
The unmanned ship 1 of the invention communicates with the overwater base station 2 through the zero-buoyancy twisted pair, thereby not only solving the problem of serious attenuation of electromagnetic waves in water, but also ensuring that the buoyancy of the communication cable and the buoyancy of the water are kept consistent, so that the communication cable can be suspended in the water, the communication cable is not loosened and disconnected due to strong water flow impulse, the normal underwater communication is ensured, and the reliability of the equipment is also improved.
In the above technical solution, the underwater host 11 includes a main controller 111 and an attitude acquisition module 112, and the attitude acquisition module 112 is connected to the controller. The main controller 111 is configured to analyze and process data of the received underwater information, and feed back the data to the user terminal 3 through the above-water base station 2. The attitude acquisition module 112 is configured to acquire attitude information of the unmanned ship 1, and send the acquired attitude information to the main controller 111 for data analysis and processing. Further, the attitude information includes angular velocity information, acceleration information, and azimuth information of the unmanned ship 1.
Further, the gesture collection module 112 includes a gyroscope, an accelerometer, and a magnetometer, which are all connected to the main controller 111. The gyroscope is used for acquiring angular velocity information of the unmanned ship 1 and sending the acquired angular velocity information to the main controller 111; the accelerometer is used for acquiring acceleration information of the unmanned ship 1 and sending the acquired acceleration information to the main controller 111; the magnetometer is used for acquiring azimuth information of the unmanned ship 1 and sending the acquired azimuth information to the main controller 111.
Preferably, at least two magnetometers are arranged on the circuit board, and the at least two magnetometers are overlapped, stacked or symmetrically arranged on two sides of the circuit board by taking the circuit board as a symmetry plane. The azimuth information of detecting is calibrated through two magnetometers like this, then the final azimuth information result that will calibrate the result as the magnetometer and detect to because circuit board thickness is less, the deviation of the azimuth information that two magnetometers detected is less, and then the final azimuth information that makes after calibrating through two magnetometers is more accurate. And because two magnetometers only have deviation in the vertical direction, the controller only needs to carry out corresponding calculation and calibration aiming at the vertical direction when carrying out calibration calculation, so that the calculated amount of the controller can be reduced, the calculation speed is further accelerated, and the accuracy of the underwater unmanned ship 1 azimuth detection can be improved. And, can also integrate two magnetometers into an organic whole, and then make the deviation that two magnetometers detected further reduce, make whole calibration algorithm can be more accurate, just so can improve unmanned ship 1's under water working property.
More than two magnetometers can be arranged on the circuit board, so that the accuracy of detecting the direction of the underwater unmanned ship 1 can be effectively improved by utilizing the mutual calibration of the plurality of magnetometers.
In addition, two accelerometers can be arranged on the circuit board, so that the two accelerometers can be used for complementary correction, the acceleration value obtained after correction can be more accurate, and the working performance of the underwater unmanned ship 1 is improved.
Specifically, the gyroscope acquires angular velocity information of the current position of the unmanned ship 1, the accelerometer acquires acceleration information of the unmanned ship 1, and the magnetometer is configured to acquire azimuth information of the unmanned ship 1 and send the acquired azimuth information to the main controller 111. The main controller 111 combines the angular velocity information and the acceleration information to determine the current sailing position of the unmanned ship 1. When the unmanned ship 1 receives a navigation instruction (for example, sailing upwards, sailing downwards, sailing leftwards or sailing rightwards) from the user terminal 3, the main controller 111 compares the current navigation position with the target navigation position indicated by the navigation instruction to obtain an offset amount by which the unmanned ship 1 needs to deflect, so that the unmanned ship 1 is ensured to navigate to an appointed position according to the offset amount, the unmanned ship 1 is ensured to be capable of quickly catching fish or completing other underwater work, and the success rate of catching fish or the accuracy of completing other underwater work is improved.
In this embodiment, the unmanned ship 1 further includes a fish searching module 12 and a fish collecting module 13, and both the fish searching module 12 and the fish collecting module 13 are connected to the main controller 111; the fish searching module 12 is configured to search fish information and feed back the obtained fish information to the main controller 111, and the fish gathering module 13 is configured to gather fish according to the fish information obtained by the fish searching module 12.
Preferably, the fish searching module 12 is a sonar device, and the sonar device is connected with the main controller 111; the fish gathering module 13 is an LED lamp, a resonance device or a feeding device.
Specifically, the unmanned ship 1 submerges to a certain depth under water, and when a user needs to let the unmanned ship 1 perform a fishing operation, the user can send a fishing instruction to the overwater base station 2 through the user terminal 3, and the fishing instruction is transmitted to the main controller 111 by the overwater base station 2. The main controller 111 analyzes and processes the received fishing instructions and sends the processed fishing instructions to the sonar device. The sonar device transmits sound wave signals to surrounding water areas, and feeds back fish information to the main controller 111 when detecting that fish schools exist around; the main controller 111 then sends a fish-collecting command to the fish-collecting module 13 to make the fish-collecting module 13 perform a fish-collecting operation. Or, after the user terminal 3 sends out the fishing instruction, the fish collecting module 13 of the unmanned ship 1 directly executes the fish collecting operation without first performing the fish searching operation. In this embodiment, the fish searching module 12 performs the fish searching operation and the fish collecting module 13 performs the fish collecting operation, and the two operations are not in sequence. Even more, the fish searching module 12 and the fish collecting module 13 can execute commands at the same time, thereby improving the efficiency and accuracy of fishing.
Further, the unmanned ship 1 further comprises an image acquisition module 113, and the image acquisition module 113 is connected with the main controller 111; the image acquisition module 113 is at least one camera or camera mounted on the nose of the unmanned ship 1. The image collecting module 113 is configured to collect and store underwater image information and send the collected image information to the main controller 111. Specifically, when the underwater environment needs to be photographed or photographed, the user terminal 3 sends a photographing or photographing instruction, the main controller 111 receives the photographing or photographing instruction and sends the instruction to the image acquisition module 113, the image acquisition module 113 executes a photographing or photographing task and stores the photographed underwater photos or videos, and the photographed photos or videos can be shared to the user terminal 3 in real time, so that the user can watch or wait for the next instruction of the user in time.
The unmanned ship 1 of the invention is provided with a sonar device and an image acquisition module 113, the existing unmanned ship 1 for fishing is generally not provided with a camera, the camera can only acquire images near the water surface even if the unmanned ship 1 for fishing is provided with the camera, the approximate position and the approximate quantity of objects can be detected only according to sonar signals for underwater detection at a certain depth, and a user needs to judge the type, the specific position and the specific quantity of the detected objects according to own experience, so that the type, the size and the geographic position of the detected objects can not be known exactly. For example: when a fish school is detected, the user needs to determine what fish is and approximately where the fish is based on experience, and cannot know exactly what fish is, the size of the fish, and the specific longitude and latitude information of the fish school. The unmanned ship 1 of the present invention can dive and has the image acquisition module 113, so that accurate image information can be acquired, and it is possible to accurately see what the detected object is, whether it is a fish school, what kind of fish is, and the like. Greatly improving the fishing success rate and the user experience.
Further, the underwater host 11 further includes a power driving module 114, configured to drive the unmanned ship 1 under the control of the main controller 111 to implement a traveling action of the underwater unmanned ship 1. The power driving module 114 includes three motor drivers, two of which are horizontally disposed at two sides of the tail of the unmanned ship 1, and the other is vertically disposed at the middle position of the unmanned ship 1. Wherein, two motor drivers arranged horizontally are mainly used for driving the unmanned ship 1 to move (for example, move forwards or backwards) in the horizontal direction; the vertically arranged motor driver is mainly used for driving the unmanned ship 1 to move in a vertical direction (e.g., to float or dive). When the unmanned ship 1 needs to move at an angle between the horizontal direction and the vertical direction, the main controller 111 may control the three motor drivers to simultaneously operate, so that the unmanned ship 1 may navigate to a designated position quickly.
Further, the underwater host 11 further comprises a sensor module 115 and a power management module 116 for supplying power to the unmanned ship 1, wherein both the sensor module 115 and the power management module 116 are connected with the main controller 111; the sensor module 115 includes an air pressure sensor, a water pressure sensor, a voltage sensor, and a current sensor; wherein,
the air pressure sensor is used for detecting air pressure in a sealed cabin of the unmanned ship 1 so as to determine the sealing condition of the unmanned ship 1; atmospheric pressure sensor detects the atmospheric pressure in the sealed cabin, when unmanned ship 1 met into the sealed cabin in intaking or the sealed cabin was destroyed the circumstances such as, the atmospheric pressure in the sealed cabin can change, at this moment, atmospheric pressure sensor sends the atmospheric pressure in the sealed cabin that detects for main control unit 111, main control unit 111 and then sends for user terminal 3, in order to remind unmanned ship 1 of user to break down, convenience of customers in time makes the judgement and withdraws unmanned ship 1, the reliability is high.
The water pressure sensor is used for detecting the water pressure of the current environment where the unmanned ship 1 is located so as to realize height and depth fixing of the unmanned ship 1.
Specifically, when the unmanned ship 1 is at a position 20 meters under water, the user wants the unmanned ship 1 to go to a deeper water area due to necessity, for example: 50 m; at this time, the unmanned ship 1 needs to detect water pressure data of the current environment by using the water pressure sensor, transmit the water pressure data to the main controller 111, and operate the main controller 111 by using the attitude sensor in cooperation with the driver after performing data analysis processing, so that the unmanned ship 1 sails to a specified depth of 50 meters.
The voltage sensor is used for detecting the voltage of the unmanned ship 1, and the current sensor is used for detecting the current of the unmanned ship 1 so as to ensure that the unmanned ship 1 is charged in time or the whole circuit of the unmanned ship 1 is protected.
When the unmanned ship 1 operates underwater, the battery capacity of the unmanned ship 1 gradually decreases as the operating time is accumulated, and therefore, it is necessary to constantly detect the battery capacity of the unmanned ship 1 to prevent the battery capacity from being insufficient to affect the unmanned ship 1 or cause a loss to a user.
Specifically, the unmanned ship 1 is thrown into water, the electric quantity of the unmanned ship 1 is correspondingly reduced along with the extension of the working time of the unmanned ship 1, when the unmanned ship 1 detects that the electric quantity is too low and is lower than a preset threshold value, the unmanned ship 1 sends the information that the electric quantity of the unmanned ship 1 is insufficient to the overwater base station 2, and the overwater base station 2 sends the information that the electric quantity is insufficient to the user terminal 3 to wait for an operation instruction of a user.
Preferably, the underwater host 11 further comprises an intelligent following module, and the intelligent following module is connected with the master controller; and the intelligent tracking module is used for intelligently tracking the fish shoal according to the acquired position information of the fish shoal. Atmospheric pressure sensor detects the atmospheric pressure in the sealed cabin, when unmanned ship 1 met into the sealed cabin and intake or the sealed cabin was destroyed the circumstances such as, the atmospheric pressure in the sealed cabin can change, at this moment, atmospheric pressure sensor sends the atmospheric pressure in the sealed cabin that detects for main control unit 111, main control unit 111 and then sends for user terminal 3 to remind unmanned ship 1 of user to send the trouble, convenience of customers in time makes the judgement and withdraws unmanned ship 1, the reliability is high.
Example two
As shown in fig. 3, on the basis of the above embodiment, the communication system further includes a remote controller 4, where the remote controller 4 receives the navigation information and/or underwater information sent by the unmanned ship 1, and performs remote control on the unmanned ship 1 alone or in cooperation with the user terminal 3.
The following is an explanation of the remote control of the unmanned ship 1 by the remote controller 4 alone:
specifically, in the actual fishing process, unmanned ship 1 is thrown into the surface of water, makes it float on the surface of water, utilizes sonar device to survey near waters, when detecting that there is the object of suspected shoal of fish, can send dive instruction (remote controller 4 also can set up a key dive function) through remote controller 4, and at this moment, zero buoyancy twisted pair release corresponding length, this length and unmanned ship 1 dive distance phase-match. When the unmanned ship 1 submerges to a certain depth underwater, the underwater image can be transmitted to the display screen of the remote controller 4 for displaying in real time through the image acquisition module 113, so that a user can conveniently observe detailed characteristics of underwater objects in real time, and the user can further fish catching operation according to the observed image. The sonar device detection and image acquisition module 113 is used for acquiring images, so that a user can intuitively and accurately know the fish information, and the fishing success rate is greatly improved.
The unmanned ship 1 is put into water, the electric quantity of the unmanned ship 1 is correspondingly reduced along with the prolonging of the working time of the unmanned ship 1, when the unmanned ship 1 detects that the electric quantity is too low and is lower than a preset threshold value, the unmanned ship 1 sends the information that the electric quantity of the unmanned ship 1 is insufficient to the overwater base station 2, the overwater base station 2 sends the information that the electric quantity is insufficient to the controller of the remote controller 4, and the controller sends signals to the vibration motor and/or the buzzer after analysis processing. After the vibration motor and/or the buzzer receive the signal, the vibration motor vibrates 10 to prompt the user that the unmanned ship 1 is in an abnormal condition, or the buzzer buzzes 10 sounds to prompt the user that the unmanned ship 1 is in an abnormal condition, or the vibration motor and the buzzer work simultaneously, namely the buzzer buzzes 10 sounds when the vibration motor vibrates 10. Like this, if the user is far away from remote controller 4 and when not in time feeling the vibration of remote controller 4, can also discover the abnormal conditions of unmanned ship 1 under water through the sound of buzzing of bee calling organ, avoided not being known by the user and bring unnecessary loss and potential safety hazard when unmanned ship 1 the situation appears.
In this embodiment, a voice broadcast device may be further provided on the remote controller 4 for broadcasting the abnormal state of the unmanned ship 1. The user can conveniently and intuitively acquire the underwater running condition of the unmanned ship 1. For example, when the electric quantity of the unmanned ship 1 is too low, the voice broadcaster sends out a prompt of 'the electric quantity of the underwater unmanned ship 1 is insufficient'; when the unmanned ship 1 leaks air pressure, the voice broadcaster sends out a prompt of 'air leakage of the underwater unmanned ship 1'; when the unmanned ship 1 touches abnormal objects (such as reef), the voice broadcaster sends out a prompt language of 'the underwater unmanned ship 1 touches the abnormal objects'; when the signal of the unmanned ship 1 is unstable, the voice broadcaster sends out a prompt word of 'signal fault of the underwater unmanned ship 1'.
The following is an explanation about remote control of the unmanned ship 1 by the remote controller 4 in cooperation with the user terminal 3:
when the remote controller 4 cooperates with the user terminal 3 to perform remote control, the remote controller 4 may display the underwater image information by using the user terminal 3 without providing a display screen. In the actual operation process, the remote controller 4 only performs some simple operations, such as: submergence, return voyage, etc. When the unmanned ship 1 submerges to a certain depth underwater, the underwater image can be transmitted to the user terminal 3 in real time through the image acquisition module 113 and displayed. The user can observe detailed features of underwater objects in real time through the underwater picture displayed on the user terminal 3 and then perform further fishing operations or other operations according to the observed image. The sonar device detection and image acquisition module 113 is used for acquiring images, so that a user can intuitively and accurately know the fish information, and the fishing success rate is greatly improved.
EXAMPLE III
As shown in fig. 4, a schematic structural diagram of a user terminal 3 is shown, in this embodiment, the user terminal 3 sends a control instruction to the unmanned ship 1 through the over-water base station 2 to implement remote control on the underwater unmanned ship 1; the user terminal 3 is internally provided with unmanned ship 1 application software for controlling various functions of the unmanned ship 1 and checking information and images of the unmanned ship 1.
Further, the user terminal 3 includes a central processing unit 31, an input module 32, a display module 33, a wireless communication module 35 and a storage module 34, and the input module 32, the display module 33, the wireless communication module 35 and the storage module 34 are all connected to the central processing unit 31.
The central processing unit 31: and sending a control instruction to the unmanned ship 1 through the wireless communication module 35.
The input module 32: for inputting external commands to the central processor 31. Preferably, the input module 32 may be one or a combination of joystick, keyboard, touch screen, voice input and gesture input.
A display device: and is used for displaying the received information of the unmanned ship 1, such as image data, sonar data, GPS data, navigation data, sensors, and the like.
The wireless communication module 35: the wireless communication system is used for transmitting wireless signals to the unmanned ship 1 and receiving wireless signals from the unmanned ship 1, and can adopt communication modes such as WIFI, Bluetooth, radio frequency and optical communication.
The storage module 34: the system is used for storing received information such as image data, sonar data, GPS data, navigation data, sensors and the like of the unmanned ship 1, input information of a user, and a navigation mode and automatic navigation information of the unmanned ship 1 which are prestored in advance.
Preferably, the user terminal 3 is a mobile phone, a tablet, a computer or VR glasses, and the unmanned ship 1 application software is built in the mobile phone, the tablet or the computer.
Further, user terminal 3 still has the voice broadcast module, the voice broadcast module is used for converting information such as the navigation data received to audio information and broadcasts through the speaker.
Specifically, in this embodiment, the central processing unit 31 of the user terminal 3 performs analysis processing according to the underwater information received by the wireless communication module 35 and then sends the analyzed information to the display module 33, the display module 33 displays image information, underwater environment information, GPS positioning information of the unmanned ship 1, and state information of the unmanned ship 1 in the underwater information in the display module 33, the display module 33 can also display a command instruction, and a user inputs the command instruction through the input module 32 and sends the command instruction to the unmanned ship 1 through the wireless communication module 35. Meanwhile, the user terminal 3 can generate a three-dimensional stereoscopic image from the received underwater information and display the three-dimensional stereoscopic image in the display module 33. The user can also adjust the observation angle of the three-dimensional image on the display interface, so that the user can conveniently observe underwater conditions in an all-around manner in the fishing process, and the unmanned ship 1 can be controlled by the user more favorably.
The unmanned ship 1 comprises the functions of the existing fishing unmanned ship 1, underwater objects can be detected by using a sonar device, meanwhile, submergence at a certain depth can be realized, underwater image acquisition is realized by arranging the image acquisition module 113 on the unmanned ship 1, and long-distance communication with a shore can be realized to return underwater image information in real time. The unmanned ship 1 can run on the water surface, when the sonar device detects underwater fish information, the underwater fish information can be subjected to submergence observation, the image acquisition module 113 is transmitted to the user terminal 3 on the water supply by the overwater base station 2 in real time, the underwater information detected by the unmanned ship 1 and the shot image information are displayed to a user through the display module 33 of the user terminal 3, and unprecedented visual submergence fishing experience is provided.
Example four
As shown in fig. 2, this embodiment is a further limitation of the above embodiment, the unmanned ship 1 further includes a fishing module 14 and/or a fishing module 15, the fishing module 14 waits for the fish to catch the fish, the fishing module 15 is connected to the main controller 111, and the main controller 111 receives a fishing command and controls the fishing module 15 to perform a fishing operation. The unmanned ship 1 may be provided with the fishing module 14 or the fishing module 15 separately, or may be provided with both the fishing module 14 and the fishing module 15. In this embodiment, it is preferable that the fishing module 14 is disposed on the top of the unmanned ship 1 and the fishing module 15 is disposed on the bottom of the unmanned ship 1.
Further, as shown in fig. 5, the fishing module 14 includes a hanging arm 141 and a hook 144, and one end of the hanging arm 141 is fixed to the unmanned boat 1 and the other end is connected to the hook 144 for fishing through a fishing line 145. A hook 144 is fixed to one end of the fishing line 145, a part of the fishing line 145 above the hook 144 is connected to the non-fixed end of the suspension arm 141, and the other end of the fishing line 145 is extended above the water surface and held or fixed by a fisherman in a nearby building. The hook 144 is a conventional hook 144 for fishing, and the hook 144 can be replaced according to the type of fish in the actual use process. For example, fish in some water areas are milder, and a simple hook 144 may be selected; if the fish in some water areas is active, a fishhook 144 with a complex structure and less possibility of running fish should be selected.
The fishing module 14 further includes a hooking ball 143, and the hooking ball 143 is fixed to the movable end of the hanging arm 141 for hanging a fishing hook 144. In this embodiment, the hooking ball 143 and the hanging arm 141 may be integrally formed, or the hooking ball 143 and the hanging arm 141 may be detachably connected, for example, by a screw connection or a snap connection.
In this embodiment, the hook ball 143 is formed with a small groove, which can receive the fishing line 145 and fall off from the groove once the fishing line 145 is acted. Preferably, the hooking ball 143 is a hooking ball 143 having elasticity. Thus, due to the characteristics of the elastic material, the hook ball 143 is easily elastically deformed and easily restored to be deformed, which is enough to provide a stable holding force, so that the fishing line 145 is normally positioned in the bar groove, and the fishing hook 144 is forced to fall out of the bar groove.
In this embodiment, the suspension arm 141 is provided with a buoyancy block 142, and the density of the buoyancy block 142 is less than the density of the surrounding water. Preferably, the number of the buoyancy blocks 142 is multiple, and the plurality of the buoyancy blocks 142 are uniformly sleeved on the suspension arm 141. In this way, the buoyancy of suspension arm 141 may be adjusted by increasing or decreasing the number of buoyancy blocks 142 so that suspension arm 141 is as dense as or at least as close to the surrounding body of water. Alternatively, a buoyancy block 142 made of a different material is selected to adjust the buoyancy of the suspension arm 141. The density of the suspension arms 141 is the same as the density of the surrounding water area, and the suspension arms 141 can be suspended in the water, thereby reducing the influence of the suspension arms 141 on the unmanned ship 1.
The following explains the structure of the fishing apparatus in connection with the installation process of the fishing apparatus:
first, the suspension arm 141 is installed to a designated position of the unmanned ship 1; then the hooking ball 143 is mounted to a designated position of the suspension arm 141; finally, the part of the fishing line 145 connected with the fishhook 144 is bent, and the bent part is put into the narrow groove of the hook ball 143, so that the narrow groove clamps the fishing line 145 without being separated from the narrow groove. Thus, after the fish is hooked, the bent fishing line 25 is straightened due to the fish breaking loose, so that the fishing line is separated from the narrow groove, and a user can conveniently recover the hooked fish.
Further, as shown in fig. 6, the catching module is disposed at the lower portion of the unmanned ship 1, and includes a cradle head 151, a fish gun 154 and a fish gun seat 152, wherein a driving motor is fixed on the cradle head 151, and the driving motor drives the fish gun 154 to rotate to select a proper angle to catch the fish school. Specifically, the lower portion of the unmanned ship 1 is provided with a pan/tilt mounting hole, and the pan/tilt 151 is mounted in the pan/tilt mounting hole of the lower portion of the unmanned ship 1 through a pan/tilt base, wherein the pan/tilt 151 at this position is of a multi-axis design and can be rotationally positioned at a plurality of angles. Wherein, a fish gun seat 152 is installed to the one end of cloud platform 151, and fish gun 154 is installed to fish gun seat 152. A trajectory for placing the elastic sheet 153 is arranged at the matching position of the interior of the fish gun seat 152 and the fish gun 154, and a clamping groove is arranged at the rear part of the fish gun 154 and is inserted into the fish gun seat 152 and clamped and fixed by the elastic sheet 153. When power is applied to the elastic sheet 153, the power is transmitted to the fish gun 154, the pan-tilt motor drives the fish gun seat 152 to rotate, the elastic sheet 153 is further driven to slide in the sliding groove, the elastic sheet 153 slides from inside to outside from the mounting hole of the fish gun 154, the fish gun 154 is ejected, and the shooting action is completed. The fish gun 154 is a sharp spear-shaped object and is connected with a fish rope 155, when the fish gun 154 is pushed by the spring plate 153 to eject, the fish gun 154 is separated from the fish gun seat 152 and can be controlled only by the fish line.
Further, the holder mounting hole is not limited to the lower part of the unmanned ship 1, and can be a side surface or a top part so as to effectively realize underwater fishing. Further, the cloud deck 151 here cooperates with the overall structure of the fish gun 154 to be one or more, and when a plurality of, they are installed everywhere in the underwater robot body, can further effectively realize fishing under water. Further, the launching device composed of the fish gun 154 and the fish gun seat 152 can be powered by itself or from the upper end of the cradle 151.
Further, as shown in fig. 7, the fish gun 154 may be replaced with a robot. In this embodiment, the robot is a force feedback robot 159. Specifically, one end of the multi-section mechanical arm 157 is arranged on the unmanned ship 1 through a mechanical arm 157 mounting flange 156, and the other end is provided with a force feedback manipulator 159. Further, a motor 158 is attached to a side surface of the multi-link arm 157, and the multi-link arm 157 is controlled to operate by an output of the motor 158. The multi-joint mechanical arm 157 is a six-axis or multi-axis arm, and can rotate. The force feedback robot 159 is pincer-like, claw-like, or hand-like, made of a rigid or flexible material, and has a function of grasping an object. Preferably, the force feedback robot 159 may obtain the grasping pressure through a pressure sensor, a tension sensor, or the like.
Further, the fish gun 154 may be replaced with a net to catch fish by netting the target fish group. The fishing net is controlled by the unmanned ship 1, and the fishing object is captured by wiring and collecting the net. The net which finishes the fishing operation can be controlled by an underwater robot, float up to the water surface and return to the shore; or can be pulled to the water surface by the fishing rope 155 to finish the fishing.
This embodiment not only can catch fish, can also catch other living beings in the aquatic or the object of waiting to catch that immerses. For example, the device can be used for catching garbage in deep sea, or fishing accidents at sea, or acquiring objects for underwater exploration.
EXAMPLE five
The implementation is a detailed description of the above embodiment in a practical application scenario:
the user puts the unmanned ship 1 into water, and the unmanned ship 1 can be controlled to dive to a designated position through the user terminal 3 or the remote controller 4, wherein the designated position can be determined according to the specific diving depth input by the user, and can also be determined by the unmanned ship 1. During the diving process of the unmanned ship 1, the attitude acquisition module 112 is used for matching with the power driving module 114 to balance and self-stabilize the unmanned ship 1.
After the unmanned ship 1 submerges to a specified position, on one hand, a fish searching module 12 (sonar device) is utilized to detect nearby water areas, and the sonar device scans fish school distribution, fish size in the fish school, depth and specific position of the fish school and underwater topography information of the nearby water areas; simultaneously, the display module 33 of user terminal 3 shows information such as the fish school that the sonar scanned out distributes, the size of fish and submarine topography in real time, lets the audio-visual image of observing of user under water, promotes user experience. On the other hand, the image capturing module 113 (camera or video camera) may be activated to capture an image of the surrounding water area with the camera or video camera, and transmit the captured image or video to the user terminal 3 on the shore for display. In the shooting process, for a water area with weak light, the light of the surrounding environment can be adjusted by starting the illuminating lamp, so that a camera can shoot a high-quality image.
Further, the unmanned ship 1 collects fish by using the fish collecting module 13(LED lamp or resonance device or feeding device) according to the information of fish school detected by sonar, after finding the largest fish school or finding the target fish needed by the user, drives the unmanned ship 1 to travel to the position of the largest fish school or target fish school by using the power driving module 114, and then when reaching the position close to the target fish school, starts the image collecting module 113 (camera or video camera) and controls the power driving module 114 to stop working, so that the unmanned ship 1 hovers in water, and starts and/or catches fish by using the fishing module 14 (fishhook 144) and/or the fishing module 15 (fish gun 154 or manipulator or fishing net). Meanwhile, the image acquisition module 113 can be used for acquiring the whole fishing and/or catching process, and the acquired picture or video is sent to the display module 33 of the user terminal 3 (mobile phone, tablet, computer, etc.) through the overwater base station 2, so that the user can visually watch the whole fishing process in real time, different fishing experiences are provided for the user, and the visual fishing and/or catching is really realized. Meanwhile, underwater pictures or videos received by the user terminal 3 of the user terminal 3 can be stored in the user terminal 3 in real time, and the pictures or videos can be shared in each social network site in real time through the application software of the unmanned ship 1.
In this embodiment, because the illumination condition is relatively weak under water, and gradually weakens along with the increase in depth light, in order to guarantee that image acquisition module 113 can carry out normal work under water, set up the light around image acquisition module 113, this light encircles image acquisition module 113 and sets up. Preferably, the illumination intensity of the illuminating lamp can be adjusted, the illumination intensity can be manually adjusted by a user, and the illuminating lamp can also be set to be a light sensation illuminating lamp to automatically adjust the illumination according to the illumination intensity of the surrounding water area. The image acquisition module 113 supports 4K/30fps MP4 format video recording and 1200-thousand-pixel high-definition shooting, and supports multiple continuous shooting. The photographed video is stored in a memory disc built in the image capture module 113, the memory disc having a memory space of 32G or 64G.
In this embodiment, user terminal 3 embeds there is unmanned ship 1 application software (APP), and this application software function is abundant, has image video monitoring, image storage and shares, unmanned ship 1 controls under water, sonar image display under water, light regulation, navigation mode regulation etc. more can. When the underwater unmanned ship 1 is powered on and put into water, a user can open the application software to realize remote control of the unmanned ship 1.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A communication system of an underwater unmanned ship is characterized in that: the communication system comprises an unmanned ship capable of submerging underwater and sealed with zero buoyancy, an above-water base station and a user terminal, wherein the unmanned ship and the user terminal carry out data interaction through the above-water base station; the unmanned ship sends the acquired underwater information to a user terminal and displays the underwater information; and the user terminal remotely controls the unmanned ship according to the received underwater information.
2. The communication system of an underwater unmanned ship as claimed in claim 1, wherein: the unmanned ship comprises an underwater host, and the underwater host is connected with the overwater base station through a communication cable; the underwater host integrates the image signal and the digital signal into a same link signal and transmits the same link signal to the overwater base station through the communication cable; the overwater base station splits the same link signal into an image signal and a digital signal and sends the split image signal and the split digital signal to a user terminal; the communication cable is a zero-buoyancy twisted pair that can be suspended in water.
3. The communication system of an underwater unmanned ship according to claim 2, wherein: the underwater host comprises a main controller and an attitude acquisition module, and the main controller and the attitude acquisition module are arranged on the circuit board; wherein:
the main controller is used for carrying out data analysis processing on the received underwater information and sending the processed underwater information to the user terminal;
and the attitude acquisition module is connected with the main controller and is used for acquiring the attitude information of the underwater unmanned ship and sending the acquired attitude information to the main controller for data processing.
4. The communication system of an underwater unmanned ship as claimed in claim 3, wherein: the attitude acquisition module comprises a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope is used for acquiring angular velocity information of the unmanned ship, the accelerometer is used for acquiring acceleration information of the unmanned ship, and the magnetometer is used for detecting azimuth information of the unmanned ship; the circuit board is provided with at least two magnetometers, and the at least two magnetometers are overlapped, stacked or symmetrically arranged on two sides of the circuit board by taking the circuit board as a symmetry plane.
5. The communication system of an underwater unmanned ship as claimed in claim 3, wherein: the unmanned ship also comprises a fish searching module and/or a fish collecting module, and the fish searching module and the fish collecting module are connected with the main controller; the fish searching module is used for searching fish information and feeding back the obtained fish information to the main controller, and the fish gathering module is used for gathering fish according to the fish information obtained by the fish searching module; the unmanned ship also comprises a fishing module and/or a fishing module, and the fishing module are detachably arranged on the unmanned ship; the fishing module comprises a suspension arm detachably connected with the unmanned ship and a fishhook arranged on the suspension arm; the fishing module is a fish gun device or a mechanical arm or a net for launching fish guns to fish shoals.
6. The underwater unmanned ship communication system according to any one of claims 3 to 5, wherein: the underwater host further comprises an image acquisition module, and the image acquisition module is connected with the main controller; the image acquisition module is used for acquiring and storing underwater image information and sending the acquired image information to the main controller.
7. The communication system of an underwater unmanned ship as claimed in claim 3, wherein: the underwater host further comprises a power driving module which is used for driving the unmanned ship to realize the advancing action of the underwater unmanned ship under the control of the main controller;
the power driving module comprises three motor drivers, wherein two motor drivers are horizontally arranged on two sides of the unmanned ship, and the other motor driver is vertically arranged in the middle of the unmanned ship.
8. The communication system of an underwater unmanned ship according to any one of claims 3 to 7, wherein: the underwater host further comprises a sensor module and a power management module for supplying power to the unmanned ship, and the sensor module and the power management module are both connected with the main controller; the sensor module comprises an air pressure sensor, a water pressure sensor, a voltage sensor and a current sensor; wherein,
the air pressure sensor is used for detecting air pressure in the sealed cabin so as to determine the water leakage condition of the unmanned ship;
the water pressure sensor is used for detecting the water pressure of the current environment of the unmanned ship so as to realize the height and depth fixing of the unmanned ship;
the voltage sensor is used for detecting the voltage of the unmanned ship, and the current sensor is used for detecting the current of the unmanned ship so as to ensure that the unmanned ship can be charged in time or the whole circuit of the unmanned ship can be protected; the underwater host further comprises an intelligent following module, and the intelligent following module is connected with the main controller; and the intelligent tracking module is used for intelligently tracking the fish shoal according to the acquired position information of the fish shoal.
9. The communication system of an underwater unmanned ship as claimed in claim 1, wherein: the communication system further comprises a remote controller, the remote controller receives navigation information and/or underwater information sent by the unmanned ship, and the unmanned ship is controlled remotely independently or in cooperation with a user terminal.
10. The communication system of an underwater unmanned ship as claimed in claim 1, wherein: the user terminal sends a control instruction to the unmanned ship through the overwater base station so as to realize remote control on the underwater unmanned ship; unmanned ship application software is arranged in the user terminal; the user terminal comprises a central processing unit, an input module, a display module, a wireless communication module and a storage module, wherein the input module, the display module, the wireless communication module and the storage module are all connected with the central processing unit; the user terminal is a mobile phone or a tablet or a computer or VR glasses.
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| CN110536454A (en) * | 2019-09-17 | 2019-12-03 | 深圳市智慧海洋科技有限公司 | Network slot division methods and device |
| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN111897350A (en) * | 2020-07-28 | 2020-11-06 | 谈斯聪 | Underwater robot device, and underwater regulation and control management optimization system and method |
| CN113341965A (en) * | 2021-05-31 | 2021-09-03 | 中国舰船研究设计中心 | Target tracking and identifying device for automatic guiding and recycling of stern slideway of unmanned boat |
| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
| CN115412722A (en) * | 2022-08-16 | 2022-11-29 | 中国检验认证集团河北有限公司 | Unmanned water gauge observation system, method and device |
| CN115599106A (en) * | 2022-11-28 | 2023-01-13 | 陕西欧卡电子智能科技有限公司（Cn） | Unmanned ship hovering method and device under flow velocity, computer equipment and storage medium |
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| CN109116859A (en) * | 2018-09-17 | 2019-01-01 | 涵速智能科技（上海）有限公司 | A kind of control system of underwater unmanned plane |
| CN109343547A (en) * | 2018-11-26 | 2019-02-15 | 哈工大机器人（岳阳）军民融合研究院 | 3D Model display interface and display methods for ROV control |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN110536454A (en) * | 2019-09-17 | 2019-12-03 | 深圳市智慧海洋科技有限公司 | Network slot division methods and device |
| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
| CN111897350A (en) * | 2020-07-28 | 2020-11-06 | 谈斯聪 | Underwater robot device, and underwater regulation and control management optimization system and method |
| CN113341965A (en) * | 2021-05-31 | 2021-09-03 | 中国舰船研究设计中心 | Target tracking and identifying device for automatic guiding and recycling of stern slideway of unmanned boat |
| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
| CN115412722A (en) * | 2022-08-16 | 2022-11-29 | 中国检验认证集团河北有限公司 | Unmanned water gauge observation system, method and device |
| CN115599106A (en) * | 2022-11-28 | 2023-01-13 | 陕西欧卡电子智能科技有限公司（Cn） | Unmanned ship hovering method and device under flow velocity, computer equipment and storage medium |
| NL2036949A (en) * | 2023-03-23 | 2024-02-16 | Zhanjiang Bay Laboratory | Underwater capturing device, method and apparatus, underwater robot and storage medium |
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Address after: 264404 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Applicant after: Zhendi Technology Co.,Ltd. Address before: Unit 301, unit a, 9 Fulin Road, Chaoyang District, Beijing 100107 Applicant before: POWERVISION TECH Inc. |
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Application publication date: 20170531 |