CN107703934A - A kind of control method and device of unmanned boat - Google Patents
A kind of control method and device of unmanned boat Download PDFInfo
- Publication number
- CN107703934A CN107703934A CN201710734650.2A CN201710734650A CN107703934A CN 107703934 A CN107703934 A CN 107703934A CN 201710734650 A CN201710734650 A CN 201710734650A CN 107703934 A CN107703934 A CN 107703934A
- Authority
- CN
- China
- Prior art keywords
- return voyage
- unmanned boat
- making
- path
- determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0635—Risk analysis of enterprise or organisation activities
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0831—Overseas transactions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Remote Sensing (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Tourism & Hospitality (AREA)
- Entrepreneurship & Innovation (AREA)
- Automation & Control Theory (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Aviation & Aerospace Engineering (AREA)
- Development Economics (AREA)
- Finance (AREA)
- Ocean & Marine Engineering (AREA)
- Educational Administration (AREA)
- Accounting & Taxation (AREA)
- Game Theory and Decision Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Navigation (AREA)
Abstract
The embodiment of the present disclosure provides a kind of control method of unmanned boat, including judges whether current controlled unmanned boat rolls preset range away from.Optionally, the preset range practical experience can be set according to, or the preset area centered on control device, using pre-determined distance as radius, can also be the visual range or horizon range or the distance according to horizon range setting of people.When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends marking signal, and the marking signal is used to determine the destination of making a return voyage for sending marking signal；The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage.It is determined that current controlled unmanned boat sends instruction of making a return voyage when rolling preset range away from, with control, currently controlled unmanned boat makes a return voyage the embodiment of the present disclosure, can understand unmanned ship's head in real time as much as possible, reduce the risk that unmanned boat is lost.
Description
Technical field
The embodiment of the present disclosure is related to unmanned boat technical field, more particularly to a kind of control method and device of unmanned boat.
Background technology
Unmanned ship or unmanned boat have traditional ship incomparable due to it in terms of enhancing security and energy saving and cost lowering
Advantage, and extensive concern and attention by countries in the world turn into the study frontier and focus of global ship domain, also turned into
The Research Emphasis and developing direction of current shipbuilding industry and shipping business next step.
Usable remote control sends signal transmission information by sonar and instructed at present, and unmanned boat is remotely controlled.But work as
When unmanned foot is beyond preset range, it will be unable to judge unmanned ship's head, the risk that unmanned boat will have loss.
Therefore, how to understand in real time as much as possible unmanned ship's head, reduce unmanned boat lose risk turn into urgently solve
Problem certainly.
The content of the invention
The embodiment of the present disclosure provides a kind of control method and device of unmanned boat, can understand unmanned boat in real time as much as possible
Course, reduce unmanned boat lose risk.
In a first aspect, the disclosure provides a kind of control method of unmanned boat, including：
Judge whether current controlled unmanned boat rolls preset range away from；
When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends mark letter
Number, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage.
Second aspect, the disclosure provide a kind of control method of unmanned boat, including：
When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send out
The mark position of marking signal is sent to make a return voyage destination；
When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
The third aspect, the disclosure provide a kind of control method of unmanned boat, including：
Control device transmission when it is determined that the current controlled unmanned boat rolls preset range away from, which is maked a return voyage, to be instructed and sends
Marking signal, the marking signal are used to determine the destination of making a return voyage for sending marking signal；And control described is currently controlled
Unmanned boat along determine make a return voyage path to it is described make a return voyage destination traveling；
Unmanned boat is when receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used for
The destination it is determined that mark position for sending marking signal is maked a return voyage；When path of making a return voyage is determined, along be determined make a return voyage path to
The destination traveling of making a return voyage.
Fourth aspect, the disclosure provide a kind of control device of unmanned boat, including：
Judging unit, for judging whether current controlled unmanned boat rolls preset range away from；
Transmitting element, for when it is determined that the current controlled unmanned boat rolls preset range away from, sending instruction of making a return voyage
And marking signal is sent, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
Control unit, the current controlled unmanned boat is controlled along the path of making a return voyage determined to the destination row that makes a return voyage
Sail.
5th aspect, the disclosure provide a kind of control device of unmanned boat, including：
Receiving unit, for when receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the mark
The mark position that signal is used to determine to send marking signal is maked a return voyage destination；
Make a return voyage unit, for when path of making a return voyage is determined, along the path of making a return voyage being determined to the destination row that makes a return voyage
Sail.
6th aspect, the disclosure provide a kind of control device, including：
Processor, instructed for realizing；
Memory, for storing at least one instruction, at least one instruction is loaded and performed by the processor：
Judge whether current controlled unmanned boat rolls preset range away from；
When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends mark letter
Number, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage.
7th aspect, the disclosure provide a kind of unmanned boat, including：
Processor, instructed for realizing；
Memory, for storing at least one instruction, at least one instruction is loaded and performed by the processor：
When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send out
The mark position of marking signal is sent to make a return voyage destination；
When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
Eighth aspect, the disclosure provide a kind of control system of unmanned boat, including：Control device and unmanned boat；
The control device includes：
First processor, instructed for realizing；
First memory, for storing at least one instruction, at least one instruction is loaded and held by the processor
OK：
Judge whether current controlled unmanned boat rolls preset range away from；
When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends mark letter
Number, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage；
The unmanned boat includes：
Second processor, instructed for realizing；
Second memory, for storing at least one instruction, at least one instruction is loaded and held by the processor
OK：
When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send out
The mark position of marking signal is sent to make a return voyage destination；
When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
The embodiment of the present disclosure is it is determined that current controlled unmanned boat sends instruction of making a return voyage when rolling preset range away from, with control
Current controlled unmanned boat is maked a return voyage, and the embodiment of the present disclosure is also sent for determining destination of making a return voyage when sending and making a return voyage instruction
Marking signal, unmanned boat is travelled when making a return voyage to destination of making a return voyage, unmanned ship's head, reduction can be understood in real time as much as possible
The risk that unmanned boat is lost.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this public affairs
Some embodiments opened, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1-1 is the schematic diagram for the control method in control device side unmanned boat that some embodiments of the disclosure provide；
Fig. 1-2 is the schematic diagram for the control method in control device side unmanned boat that the embodiment of the disclosure one provides；
Fig. 1-3 is the schematic diagram of the control method in control device side unmanned boat of the disclosure other embodiments offer；
Fig. 2-1 is the schematic diagram for the control method in unmanned shipboard unmanned boat that some embodiments of the disclosure provide；
Fig. 2-2 is the schematic diagram for the control method in unmanned shipboard unmanned boat that disclosure another embodiment provides；
Fig. 2-3 is the disclosure control method schematic diagram in unmanned shipboard unmanned boat that some embodiments provide in addition；
Fig. 2-4 is the schematic diagram that the unmanned boat that some embodiments of the disclosure provide adjusts travel direction；
Fig. 3 is the schematic diagram applied in the control method of unmanned boat control system that some embodiments of the disclosure provide；
Fig. 4 is the schematic diagram for the control device in control device side unmanned boat that some embodiments of the disclosure provide；
Fig. 5 is the schematic diagram for the control device in unmanned shipboard unmanned boat that some embodiments of the disclosure provide.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
In accompanying drawing, the technical scheme in the embodiment of the present disclosure is clearly and completely described, it is clear that described embodiment is
Disclosure part of the embodiment, rather than whole embodiments.Based on the embodiment in the disclosure, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belong to the scope of disclosure protection.
Fig. 1-1 is referred to, some embodiments of the disclosure provide a kind of control method of unmanned boat, and this method can be applied
Underwater field, such as the underwater control equipment of underwater unmanned boat is controlled, the underwater control equipment can be underwater remote-control device.It is optional
, underwater control equipment sends signal transmission information by sonar and instructed, and underwater unmanned boat is remotely controlled.It should be appreciated that
Underwater unmanned boat is provided with Sonar Signal R-T unit, to receive, identify signal that control device is transmitted by sonar.The disclosure
The control method for the unmanned boat that some embodiments provide can be with as follows.
Step 102, judge whether current controlled unmanned boat rolls preset range away from.Optionally, the preset range can
With to be set according to practical experience, or the preset area centered on control device, using pre-determined distance as radius, may be used also
With the visual range for people or horizon range or the distance set according to horizon range.
Step 104, when it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, to be instructed and sends
Marking signal, the marking signal are used to determine the destination of making a return voyage for sending marking signal.
Step 106, the control current controlled unmanned boat are along the path of making a return voyage determined to the destination row that makes a return voyage
Sail.
The embodiment of the present disclosure is it is determined that current controlled unmanned boat sends instruction of making a return voyage when rolling preset range away from, with control
Current controlled unmanned boat is maked a return voyage, and the embodiment of the present disclosure is also sent for determining destination of making a return voyage when sending and making a return voyage instruction
Marking signal, unmanned boat is travelled when making a return voyage to destination of making a return voyage, unmanned ship's head, reduction can be understood in real time as much as possible
The risk that unmanned boat is lost.
In embodiment disclosed above, marking signal can be understood and identified by current controlled unmanned boat；Optionally,
Marking signal is presented as the Sonar Signal for including destination of making a return voyage.Because marking signal is that control device is sent, therefore, make a return voyage
Destination can be the location of control device, or the areal extent centered on control device, using pre-determined distance as radius.
Therefore step 106 can control current controlled unmanned boat towards the direction running of control device, so that current controlled nothing
People's ship can be sailed back in preset range, prevent from losing.
In above-mentioned optional some embodiments, control device can be sent periodically or in real time during unmanned boat makes a return voyage
Marking signal, so that unmanned boat determines newest destination of making a return voyage according to the marking signal being currently received, update unmanned boat
Make a return voyage path, preventing the path of making a return voyage of unmanned boat has big deviation, reduces the losing probability of unmanned boat.
In some embodiments disclosed above, the path of making a return voyage can determine in the following manner：By current location
And the mark position straight line path between destination that makes a return voyage is defined as path of making a return voyage.
In some other embodiments disclosed above, unmanned boat can store history travel route, then make a return voyage path also
It can determine in the following manner：Current controlled unmanned boat using the terminal of last time travel route as starting point, with last
The starting point of travel route is terminal, is travelled along last time travel route.Now, path is maked a return voyage for last time traveling road
Line.
In other some embodiments, unmanned boat can store history travel route, then path of making a return voyage can also pass through
In the following manner determines：According to the current last time travel route of controlled unmanned boat and the negative side in current driving direction
To it is determined that path of making a return voyage.That is, using the opposite direction in current driving direction as direction of making a return voyage, using last time travel route to make a return voyage
Path.
Fig. 1-2 is referred to, in above-mentioned some optional embodiments, step 102 judges current controlled in the following manner
Whether the unmanned boat of system rolls preset range away from：
Step 1020, determined according to the time delay of the Sonar Signal of reception the current controlled unmanned boat roll away from away from
From；
Step 1021, the preset range and roll distance away from；
If step 1022, the preset range roll distance away from no more than described, it is determined that it is described it is current it is controlled nobody
Ship rolls preset range away from.
Fig. 1-3 are referred to, the control method for the unmanned boat that above-mentioned some alternative embodiments provide can also include step
110th, when it is determined that the current controlled unmanned boat does not roll preset range away from, sending action instruction, the action command is used
In control the current controlled unmanned boat complete corresponding to act, such as (to the right) travel, take pictures to the left.
Fig. 2-1 is referred to, some embodiments of the disclosure provide a kind of control method of unmanned boat, and this method can be applied
On underwater unmanned boat, the unmanned boat is provided with Sonar Signal R-T unit, to receive, identify control device (such as remote control)
The signal transmitted by sonar.The control method for the unmanned boat that some embodiments of the disclosure provide can be as described below.
Step 202, when receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used
In the destination it is determined that the mark position for sending marking signal is maked a return voyage.Wherein, the instruction of making a return voyage is to determine the nothing in sender
People's ship rolls what is sent during preset range away from.Optionally, the preset range practical experience can be set according to, or with
Preset area centered on control device, using pre-determined distance as radius, can also be the visual range or horizon range or root of people
The distance set according to horizon range.
Step 204, when path of making a return voyage is determined, along be determined make a return voyage path to it is described make a return voyage destination traveling.
For the embodiment of the present disclosure when unmanned boat rolls preset range away from, unmanned boat receives instruction of making a return voyage, and makes unmanned boat along quilt
The route that makes a return voyage determined, the embodiment of the present disclosure also receive the mark for destination of being maked a return voyage for determination when receiving and making a return voyage instruction
Signal, unmanned boat is travelled when making a return voyage to destination of making a return voyage, unmanned ship's head can be understood in real time as much as possible, reduce nobody
The risk that ship is lost.
In embodiment disclosed above, marking signal can be understood and identified by current controlled unmanned boat；Optionally,
Marking signal is presented as the Sonar Signal for including destination of making a return voyage.Because marking signal is that control device is sent, therefore, make a return voyage
Destination can be the location of control device, or the areal extent centered on control device, using pre-determined distance as radius.
Therefore step 106 can control current controlled unmanned boat towards the direction running of control device, so that current controlled nothing
People's ship can be sailed back in preset range, prevent from losing.
Fig. 2-2 are referred to, in above-mentioned optional some embodiments, the step 202 determines to make a return voyage in the following manner
Path.
Step 2021, marking signal is received, the marking signal is used to determine the destination of making a return voyage for sending marking signal.
Step 2022, determine described in make a return voyage destination, path of making a return voyage is determined according to current location and destination of making a return voyage.One
In specific example, straight line path between current location and destination of making a return voyage can be defined as path of making a return voyage.
In above-mentioned optional some embodiments, unmanned boat can periodically or real-time reception mark is believed during making a return voyage
Number, to determine newest destination of making a return voyage according to the marking signal being currently received, the path of making a return voyage of unmanned boat is updated, is prevented
There is big deviation in the path of making a return voyage of unmanned boat, reduces the losing probability of unmanned boat.
In some other embodiments disclosed above, unmanned boat can store history travel route, then make a return voyage path also
It can determine in the following manner：Current controlled unmanned boat using the terminal of last time travel route as starting point, with last
The starting point of travel route is terminal, is travelled along last time travel route.Now, path is maked a return voyage for last time traveling road
Line.
In other some embodiments, unmanned boat can store history travel route, then path of making a return voyage can also pass through
In the following manner determines：According to the current last time travel route of controlled unmanned boat and the negative side in current driving direction
To it is determined that path of making a return voyage.That is, using the opposite direction in current driving direction as direction of making a return voyage, using last time travel route to make a return voyage
Path.
Fig. 2-3 are referred to, in above-mentioned optional some embodiments, the control method of the unmanned boat also includes step
206th, when it is determined that running into barrier during making a return voyage, path of making a return voyage is redefined, with around the barrier.Work as present bit
To put when having barrier between destination of making a return voyage, the marking signal intensity that unmanned boat receives is much smaller than through acoustic signal intensity,
There is a strong possibility to obtain destination of making a return voyage according to weaker marking signal for unmanned boat.Therefore unmanned boat can be according to receiving
Marking signal intensity significantly declines, and so as to judge that there is barrier in front, therefore can get around barrier by adjusting travel direction,
Reacquire marking signal.Optionally, it is described redefine path of making a return voyage specific implementation be：Travel direction is adjusted, when
When receiving marking signal again, path of making a return voyage is determined according to the marking signal received again.It is determined that the mode in path of making a return voyage
It can will not be repeated here as described above.
In above-mentioned optional some embodiments, the specific implementation for redefining path of making a return voyage can also be：
Travel direction is adjusted, when receiving marking signal again, from current location along current driving direction running.Optionally, nobody
A marking signal is just received after ship adjustable primary travel direction, can be received after adjusting travel direction at least once
Untill marking signal., can be from current location along the direction running of current driving when unmanned boat receives marking signal again.In order to
The deflection error for avoiding unmanned boat from finally being travelled when making a return voyage is too big and loses, and optionally, refers to Fig. 2-4, unmanned boat final line
Current driving direction when the direction sailed is not with adjusting initially will be within predetermined angle [alpha], and the angle can be according to practical experience
It is specific to set, it is not limited thereto.
Referring to Fig. 3, showing the control method for the unmanned boat that some embodiments of the disclosure provide, this method is applied to
In the control system of unmanned boat, the system includes control device and unmanned boat.In a possible application scenarios, control device and
Unmanned boat is run under water.Optionally, control device sends signal transmission information by sonar and instructed, and unmanned boat is carried out distant
Control.The unmanned boat is provided with Sonar Signal R-T unit, to receive, identify that control device (such as remote control) is passed by sonar
The signal sent.The realization of methods described may include steps of.
Step 300, control device judge whether current controlled unmanned boat rolls preset range away from.When control device determines
When the current controlled unmanned boat rolls preset range away from, instruction of making a return voyage is sent.Optionally, judge it is current it is controlled nobody
Whether ship rolls preset range away from and can also be artificial determination, determines that current controlled unmanned boat rolls preset range away from when artificial
When, control device sends instruction of making a return voyage.
When control device determines that the current controlled unmanned boat does not roll preset range away from, sending action instruction, institute
Action command is stated for controlling the currently controlled unmanned boat to complete corresponding action, such as traveling, bat (to the right) to the left
According to etc..
Optionally, the preset range can according to practical experience set, or centered on control device, with
Pre-determined distance be radius preset area, can also be people visual range horizon range or according to horizon range set away from
From.
Optionally, control device judges whether current controlled unmanned boat rolls preset range away from the following manner：
Step 3002, determined according to the time delay of the Sonar Signal of reception the current controlled unmanned boat roll away from away from
From；
Step 3004, the preset range and roll distance away from；
If step 3006, the preset range roll distance away from no more than described, it is determined that it is described it is current it is controlled nobody
Ship rolls preset range away from.
Step 301, unmanned boat receive make a return voyage instruction when, it is determined that path of making a return voyage.Optionally, making a return voyage path can such quilt
It is determined that：Directly travelled along the opposite direction in current driving direction.
In order to make unmanned boat more precisely return to the location of preset range or control device, the disclosure carries
The method of confession is in an optional example, and in step 300, control device also sends marking signal, and the marking signal is used for true
Surely the destination of making a return voyage of marking signal is sent.Herein, marking signal can be understood and identified by current controlled unmanned boat；
Optionally, marking signal is presented as the Sonar Signal for including destination of making a return voyage.Now, in step 303, unmanned boat receives mark letter
Number, it is determined that the destination of making a return voyage, path of making a return voyage is determined according to current location and destination of making a return voyage.In an optional example,
Straight line path between current location and destination of making a return voyage can be defined as path of making a return voyage.In another optional example, unmanned boat
Directly to the destination traveling of making a return voyage.Because marking signal is that control device is sent, therefore, destination of making a return voyage can be control
The location of control equipment.Therefore above-described embodiment can make unmanned boat towards the direction running of control device, so that current controlled
The unmanned boat of system can be sailed back in preset range, prevent from losing.
In some other embodiments disclosed above, unmanned boat can store history travel route, then make a return voyage path also
It can determine in the following manner：Current controlled unmanned boat using the terminal of last time travel route as starting point, with last
The starting point of travel route is terminal, is travelled along last time travel route.Now, path is maked a return voyage for last time traveling road
Line.
In other some embodiments, unmanned boat can store history travel route, then path of making a return voyage can also pass through
In the following manner determines：According to the current last time travel route of controlled unmanned boat and the negative side in current driving direction
To it is determined that path of making a return voyage.That is, using the opposite direction in current driving direction as direction of making a return voyage, using last time travel route to make a return voyage
Path.
In above-mentioned optional some embodiments, control device can be sent periodically or in real time during unmanned boat makes a return voyage
Marking signal, so that unmanned boat determines newest destination of making a return voyage according to the marking signal being currently received, update unmanned boat
Make a return voyage path, preventing the path of making a return voyage of unmanned boat has big deviation, reduces the losing probability of unmanned boat.
In above-mentioned optional some embodiments, the control method of the unmanned boat also includes：Unmanned boat is in the process of making a return voyage
In run into barrier, path of making a return voyage is redefined, with around the barrier.When having barrier between current location and destination of making a return voyage
When hindering thing, marking signal intensity that unmanned boat receives is much smaller than through acoustic signal intensity, unmanned boat there is a strong possibility can not root
Destination of making a return voyage is obtained according to weaker marking signal.Therefore unmanned boat can according to the marking signal intensity received significantly under
Drop, so as to judge that there is barrier in front, therefore barrier can be got around by adjusting travel direction, reacquire marking signal.Can
Choosing, it is described redefine path of making a return voyage specific implementation be：Travel direction is adjusted, when receiving marking signal again
When, path of making a return voyage is determined according to the marking signal received again.It is determined that the mode in path of making a return voyage can as described above, herein
Repeat no more.
The specific implementation for redefining path of making a return voyage can also be：Travel direction is adjusted, when receiving again
During marking signal, from current location along current driving direction running.Optionally, just connect after unmanned boat adjustable primary travel direction
A marking signal is received, untill it can receive marking signal after adjusting travel direction at least once.When unmanned boat again
Marking signal is received, can be from current location along the direction running of current driving.Finally travelled when being maked a return voyage in order to avoid unmanned boat
Deflection error it is too big and loses, the direction that optional unmanned boat finally travels will make a reservation for travel direction during initially adjustment
Angle [alpha] within, the angle can specifically be set according to practical experience, is not limited thereto.
The embodiment of the present disclosure is it is determined that current controlled unmanned boat sends instruction of making a return voyage when rolling preset range away from, with control
Current controlled unmanned boat makes a return voyage, and can understand unmanned ship's head in real time as much as possible, reduce the risk that unmanned boat is lost.
Referring to Fig. 4, some embodiments of the disclosure provide a kind of control device, the present apparatus can be software or hardware or soft
It is hard to be configured to apply the control device in control unmanned boat, such as remote control in combination.The present apparatus can be applied in underwater field
Scape.Optionally, control device sends signal transmission information by sonar and instructed, and unmanned boat is remotely controlled.It should be appreciated that nothing
People's ship is provided with Sonar Signal R-T unit, to receive, identify signal that control device is transmitted by sonar.The control device
Including judging unit 400, transmitting element 402 and control unit 404.Judging unit 400, for judge it is current it is controlled nobody
Whether ship rolls preset range away from；Transmitting element 402, for rolling preset range away from when the determination current controlled unmanned boat
When, transmission, which is maked a return voyage, instructs and sends marking signal, and the marking signal is used to determine the destination of making a return voyage for sending marking signal.Control
Unit 404 processed, for controlling the current controlled unmanned boat to be travelled along the path of making a return voyage determined to the destination of making a return voyage.
Optionally, the preset range practical experience can be set according to, or centered on control device, with pre-determined distance
, can also visual range or horizon range for people or the distance according to horizon range setting for the preset area of radius.
In an optional embodiment, judging unit 400 is specifically used for：
Distance is rolled away from according to what the time delay of the Sonar Signal of reception determined the current controlled unmanned boat；
Compare the preset range and roll distance away from；
If the preset range rolls distance away from no more than described, it is determined that the current controlled unmanned boat rolls away from default
Scope.
In an optional embodiment, transmitting element 402 is specifically used for：Marking signal is sent, the marking signal is used
In it is determined that sending the destination of making a return voyage of marking signal；And the current controlled unmanned boat is controlled to the purpose of making a return voyage
Ground travels.Because marking signal is that control device is sent, therefore, destination of making a return voyage can be the location of control device.
Therefore present embodiment can control current controlled unmanned boat towards the direction running of control device, so that current controlled
Unmanned boat can be sailed back in preset range, prevent from losing.
In an optional embodiment, judging unit 400 is additionally operable to：When it is determined that the current controlled unmanned boat not
When rolling preset range away from, sending action instruction, the action command is used to control the current controlled unmanned boat completion pair
The action answered, such as (to the right) travel, take pictures to the left.
The embodiment of the present disclosure is it is determined that current controlled unmanned boat sends instruction of making a return voyage when rolling preset range away from, with control
Current controlled unmanned boat makes a return voyage, and can understand unmanned ship's head in real time as much as possible, reduce the risk that unmanned boat is lost.
Referring to Fig. 5, some embodiments of the disclosure provide a kind of control device, the present apparatus can be software or hardware or
Soft or hard to be configured to apply on unmanned boat in combination, the unmanned boat is provided with Sonar Signal R-T unit, to receive, identify
The signal that control device (such as remote control) is transmitted by sonar.Optionally, this control device is applied to underwater scene.The disclosure
Some embodiments include receiving unit 500 and the unit 502 that makes a return voyage.Receiving unit 500, make a return voyage instruction and mark are received for working as
During signal, it is determined that path of making a return voyage；Make a return voyage unit 502, for when path of making a return voyage is determined, along the path of making a return voyage being determined to institute
State destination traveling of making a return voyage.Wherein, the instruction of making a return voyage is sent when sender determines that the unmanned boat rolls preset range away from
's.Optionally, the preset range practical experience can be set according to, or centered on control device, with default
Distance is the preset area of radius, can also be the visual range or horizon range or the distance according to horizon range setting of people.
Optionally, path of making a return voyage can be so determined：Directly travelled along the opposite direction in current driving direction.
For the embodiment of the present disclosure when unmanned boat rolls preset range away from, unmanned boat receives instruction of making a return voyage, and makes unmanned boat along quilt
The route that makes a return voyage determined, the risk of unmanned boat loss can be reduced as much as possible.
Optionally, the unit 502 that makes a return voyage is specifically used for：Marking signal is received, the marking signal is used to determine to send mark
The destination of making a return voyage of signal；And it is determined that the destination of making a return voyage, road of making a return voyage is determined according to current location and destination of making a return voyage
Footpath.In a specific example, straight line path between current location and destination of making a return voyage can be defined as path of making a return voyage.
In above-mentioned optional some embodiments, unmanned boat can periodically or real-time reception mark is believed during making a return voyage
Number, to determine newest destination of making a return voyage according to the marking signal being currently received, the path of making a return voyage of unmanned boat is updated, is prevented
There is big deviation in the path of making a return voyage of unmanned boat, reduces the losing probability of unmanned boat.
In above-mentioned optional some embodiments, the unit 502 that makes a return voyage is additionally operable to when determination runs into obstacle during making a return voyage
During thing, path of making a return voyage is redefined, with around the barrier.When having barrier between current location and destination of making a return voyage,
The marking signal intensity that unmanned boat receives is much smaller than through acoustic signal intensity, unmanned boat there is a strong possibility can not be according to weaker
Marking signal obtains destination of making a return voyage.Therefore unmanned boat can be sentenced according to the marking signal intensity received significantly so as to decline
There is barrier in fixed front, therefore can get around barrier by adjusting travel direction, reacquires marking signal.Optionally, make a return voyage
Unit 502 is specifically used for：Travel direction is adjusted, when receiving marking signal again, according to the marking signal received again
It is determined that path of making a return voyage.It is determined that the mode in path of making a return voyage can will not be repeated here as described above.
In above-mentioned optional some embodiments, the unit 502 that makes a return voyage can be also used for：Travel direction is adjusted, when connecing again
When receiving marking signal, from current location along current driving direction running.Optionally, adjust a travel direction after unmanned boat just
A marking signal can be received, untill it can receive marking signal after adjusting travel direction at least once.When nobody
Ship receives marking signal again, can be from current location along the direction running of current driving.When being maked a return voyage in order to avoid unmanned boat most
The deflection error travelled eventually is too big and loses, optionally, the current line when direction that unmanned boat finally travels is not with adjusting initially
Sailing direction will be within predetermined angle [alpha], and the angle can specifically be set according to practical experience, is not limited thereto.
The embodiment of the present disclosure also provides a kind of control device, including：
Processor, instructed for realizing；
Memory, for storing at least one instruction, at least one instruction is loaded and performed by the processor：
Judge whether current controlled unmanned boat rolls preset range away from；
When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends mark letter
Number, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage.
The memory of the embodiment of the present disclosure can perform the method as shown in Fig. 1-1 to 1-3, and the technique effect that it reaches is such as
It is shown above, it will not be repeated here.
The embodiment of the present disclosure provides a kind of unmanned boat, including：
Processor, instructed for realizing；
Memory, for storing at least one instruction, at least one instruction is loaded and performed by the processor：
When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send out
The mark position of marking signal is sent to make a return voyage destination；
When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
The memory of the embodiment of the present disclosure can perform the method as shown in Fig. 2-1 to 2-4, and the technique effect that it reaches is such as
It is shown above, it will not be repeated here.
The embodiment of the present disclosure also provides a kind of control system of unmanned boat, including：Control device and unmanned boat；
The control device includes：
First processor, instructed for realizing；
First memory, for storing at least one instruction, at least one instruction is loaded and held by the processor
OK：
Judge whether current controlled unmanned boat rolls preset range away from；
When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, instructs and sends mark letter
Number, the marking signal is used to determine the destination of making a return voyage for sending marking signal；
The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage；
The unmanned boat includes：
Second processor, instructed for realizing；
Second memory, for storing at least one instruction, at least one instruction is loaded and held by the processor
OK：
When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send out
The mark position of marking signal is sent to make a return voyage destination；
When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
The first memory of the embodiment of the present disclosure can perform the method as shown in Fig. 1-1 to 1-3, Fig. 3, its skill reached
Art effect as indicated earlier, will not be repeated here.
The second memory of the embodiment of the present disclosure can perform the method as shown in Fig. 2-1 to 2-4, Fig. 3, its skill reached
Art effect as indicated earlier, will not be repeated here.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.Through the above description of the embodiments, those skilled in the art can be with
Each embodiment is well understood can add the mode of required general hardware platform to realize by software, naturally it is also possible to logical
Cross hardware.Based on such understanding, part that above-mentioned technical proposal substantially contributes to prior art in other words can be with
The form of software product is embodied, and the computer software product can be stored in a computer-readable storage medium, such as ROM/
RAM, magnetic disc, CD etc., including some instructions to cause a computer equipment (can be personal computer, server, or
Person's network equipment etc.) perform method described in some parts of each embodiment or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical scheme of the disclosure, rather than its limitations；Although
The disclosure is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from each embodiment technical scheme of the disclosure spirit and
Scope.
Claims (10)
- A kind of 1. control method of unmanned boat, it is characterised in that applied to underwater remote-control device, including：Judge whether current controlled unmanned boat rolls preset range away from；When it is determined that the current controlled unmanned boat rolls preset range away from, transmission, which is maked a return voyage, to be instructed and sends marking signal, institute State marking signal be used for determine transmission marking signal destination of making a return voyage；The current controlled unmanned boat is controlled to be travelled along the path of making a return voyage determined to the destination of making a return voyage.
- 2. the control method of unmanned boat according to claim 1, it is characterised in that it is described make a return voyage path by it is following at least One mode determines：Current location and the mark position straight line path between destination that makes a return voyage are defined as path of making a return voyage；Or, according to described current The last time travel route of controlled unmanned boat and the opposite direction in current driving direction, it is determined that path of making a return voyage.
- 3. the control method of unmanned boat according to claim 1, it is characterised in that it is described judge it is current it is controlled nobody Whether ship, which rolls preset range away from, includes：Distance is rolled away from according to what the time delay of the Sonar Signal of reception determined the current controlled unmanned boat；Compare the preset range and roll distance away from；If the preset range rolls distance away from no more than described, it is determined that the current controlled unmanned boat rolls default model away from Enclose.
- 4. the control method of unmanned boat according to claim 1, it is characterised in that the preset range is according to sighting distance model Enclose the distance of setting.
- 5. the control method of the unmanned boat according to any one of Claims 1-4, it is characterised in that also include：When it is determined that institute When stating current controlled unmanned boat and not rolling preset range away from, sending action instruction, the action command is used to control described work as Preceding controlled unmanned boat acts corresponding to completing.
- A kind of 6. control method of unmanned boat, it is characterised in that applied to underwater unmanned boat, the control method bag of the unmanned boat Include：When receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal is used to determine to send mark The mark position of note signal is maked a return voyage destination；When path of making a return voyage is determined, travelled along the path of making a return voyage being determined to the destination of making a return voyage.
- 7. the control method of unmanned boat according to claim 6, it is characterised in that it is described make a return voyage path by it is following at least One mode determines：Current location and the mark position straight line path between destination that makes a return voyage are defined as path of making a return voyage；Or,According to the last time travel route of the unmanned boat and the opposite direction in current driving direction, it is determined that path of making a return voyage.
- 8. the control method of unmanned boat according to claim 7, it is characterised in that also include：When it is determined that in the process of making a return voyage In when running into barrier, path of making a return voyage is redefined, with around the barrier.
- 9. the control method of unmanned boat according to claim 8, it is characterised in that described to redefine the path bag that makes a return voyage Include：Travel direction is adjusted, when receiving marking signal again, path of making a return voyage is determined according to the marking signal received again.
- A kind of 10. control device of unmanned boat, it is characterised in that applied to underwater unmanned boat, including：Receiving unit, for when receiving the instruction and during marking signal of making a return voyage, it is determined that path of making a return voyage；Wherein, the marking signal Mark position for determining to send marking signal is maked a return voyage destination；Make a return voyage unit, for when path of making a return voyage is determined, being travelled along the path of making a return voyage being determined to the destination of making a return voyage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710734650.2A CN107703934A (en) | 2017-08-24 | 2017-08-24 | A kind of control method and device of unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710734650.2A CN107703934A (en) | 2017-08-24 | 2017-08-24 | A kind of control method and device of unmanned boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107703934A true CN107703934A (en) | 2018-02-16 |
Family
ID=61169773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710734650.2A Pending CN107703934A (en) | 2017-08-24 | 2017-08-24 | A kind of control method and device of unmanned boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107703934A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981716A (en) * | 2018-08-22 | 2018-12-11 | 集美大学 | A kind of paths planning method suitable for inland and coastal waters unmanned boat |
| CN110322119A (en) * | 2019-06-11 | 2019-10-11 | 青岛海科虚拟现实研究院 | A kind of submarine surface navigation VR training system risk real time evaluating method |
| CN110377028A (en) * | 2019-06-11 | 2019-10-25 | 珠海云洲智能科技有限公司 | A kind of unmanned boat method, apparatus, terminal device and storage medium on duty |
| CN110517537A (en) * | 2019-07-29 | 2019-11-29 | 智慧航海（青岛）科技有限公司 | A kind of unmanned boat autonomous navigation system and method |
| CN111907647A (en) * | 2020-04-23 | 2020-11-10 | 青岛海洋地质研究所 | Unmanned ship for deep and far sea geomagnetic daily variation observation |
| CN111930108A (en) * | 2020-02-25 | 2020-11-13 | 青岛海洋地质研究所 | Control method and control device for unmanned ship and unmanned ship |
| CN113433956A (en) * | 2021-07-21 | 2021-09-24 | 武昌理工学院 | Underwater surveying and mapping robot displacement safety obtaining method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8906111D0 (en) * | 1988-03-16 | 1989-04-26 | Seafarer Navigation Internatio | Navigational aid |
| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机***技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| KR20130010409A (en) * | 2011-07-18 | 2013-01-28 | 한국과학기술원 | Operation method and system for unmanned devices |
| CN104166355A (en) * | 2014-07-16 | 2014-11-26 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method |
| CN105129064A (en) * | 2015-09-09 | 2015-12-09 | 广州睿航电子科技有限公司 | Cruise control method and system of unmanned ship |
| CN105180942A (en) * | 2015-09-11 | 2015-12-23 | 安科智慧城市技术（中国）有限公司 | Autonomous navigation method and device for unmanned ship |
| CN105259917A (en) * | 2015-11-08 | 2016-01-20 | 杨珊珊 | Quick and safe landing device and method for unmanned aerial vehicle |
| CN105278544A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of unmanned aerial vehicle |
| CN205121348U (en) * | 2015-11-08 | 2016-03-30 | 杨珊珊 | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof |
| CN205353316U (en) * | 2015-12-03 | 2016-06-29 | 杨珊珊 | Electronic unmanned aerial vehicle |
| CN106314733A (en) * | 2016-10-26 | 2017-01-11 | 朱苏学 | Unmanned underwater photographing robot |
| CN205920408U (en) * | 2016-08-01 | 2017-02-01 | 深圳市嘉宝渔具科技有限公司 | Automatic remote control ship system of navigating back |
| CN206249096U (en) * | 2016-12-06 | 2017-06-13 | 北京臻迪科技股份有限公司 | A kind of underwater robot |
-
2017
- 2017-08-24 CN CN201710734650.2A patent/CN107703934A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8906111D0 (en) * | 1988-03-16 | 1989-04-26 | Seafarer Navigation Internatio | Navigational aid |
| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机***技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| KR20130010409A (en) * | 2011-07-18 | 2013-01-28 | 한국과학기술원 | Operation method and system for unmanned devices |
| CN104166355A (en) * | 2014-07-16 | 2014-11-26 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method |
| CN105129064A (en) * | 2015-09-09 | 2015-12-09 | 广州睿航电子科技有限公司 | Cruise control method and system of unmanned ship |
| CN105180942A (en) * | 2015-09-11 | 2015-12-23 | 安科智慧城市技术（中国）有限公司 | Autonomous navigation method and device for unmanned ship |
| CN105278544A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of unmanned aerial vehicle |
| CN105259917A (en) * | 2015-11-08 | 2016-01-20 | 杨珊珊 | Quick and safe landing device and method for unmanned aerial vehicle |
| CN205121348U (en) * | 2015-11-08 | 2016-03-30 | 杨珊珊 | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof |
| CN205353316U (en) * | 2015-12-03 | 2016-06-29 | 杨珊珊 | Electronic unmanned aerial vehicle |
| CN205920408U (en) * | 2016-08-01 | 2017-02-01 | 深圳市嘉宝渔具科技有限公司 | Automatic remote control ship system of navigating back |
| CN106314733A (en) * | 2016-10-26 | 2017-01-11 | 朱苏学 | Unmanned underwater photographing robot |
| CN206249096U (en) * | 2016-12-06 | 2017-06-13 | 北京臻迪科技股份有限公司 | A kind of underwater robot |
Non-Patent Citations (5)
| Title |
|---|
| 中国海洋学会: "《第8届海洋强国战略论坛论文集》", 31 October 2016, 海洋出版社 * |
| 卢嘉锡: "《高技术百科辞典》", 30 November 1993, 福建人民出版社 * |
| 王宝昌: "《职业教育"十三五"规划教材 无人机航拍技术》", 31 January 2017, 西北工业大学出版社 * |
| 石为人: "家庭清洁机器人自主充电研究", 《中国仪器仪表与测控技术大会论文集》 * |
| 龚炳铮: "《机电一体化技术应用实例》", 31 August 1994, 机械工业出版社 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981716A (en) * | 2018-08-22 | 2018-12-11 | 集美大学 | A kind of paths planning method suitable for inland and coastal waters unmanned boat |
| CN108981716B (en) * | 2018-08-22 | 2020-06-16 | 集美大学 | Path planning method suitable for inland and offshore unmanned ship |
| CN110322119A (en) * | 2019-06-11 | 2019-10-11 | 青岛海科虚拟现实研究院 | A kind of submarine surface navigation VR training system risk real time evaluating method |
| CN110377028A (en) * | 2019-06-11 | 2019-10-25 | 珠海云洲智能科技有限公司 | A kind of unmanned boat method, apparatus, terminal device and storage medium on duty |
| CN110517537A (en) * | 2019-07-29 | 2019-11-29 | 智慧航海（青岛）科技有限公司 | A kind of unmanned boat autonomous navigation system and method |
| CN111930108A (en) * | 2020-02-25 | 2020-11-13 | 青岛海洋地质研究所 | Control method and control device for unmanned ship and unmanned ship |
| CN111907647A (en) * | 2020-04-23 | 2020-11-10 | 青岛海洋地质研究所 | Unmanned ship for deep and far sea geomagnetic daily variation observation |
| CN113433956A (en) * | 2021-07-21 | 2021-09-24 | 武昌理工学院 | Underwater surveying and mapping robot displacement safety obtaining method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107703934A (en) | A kind of control method and device of unmanned boat | |
| TWI756647B (en) | A vessel collision avoiding method and system based on artificial potential field | |
| US10824947B2 (en) | Learning method for supporting safer autonomous driving without danger of accident by estimating motions of surrounding objects through fusion of information from multiple sources, learning device, testing method and testing device using the same | |
| WO2021082710A1 (en) | Unmanned boat path planning method, apparatus and device, and storage medium | |
| CN113433933B (en) | Autonomous cruising method of intelligent water surface cleaning unmanned ship | |
| CN107168341A (en) | The autonomous Synergistic method of the double unmanned boats of flexible connection formula surrounded and seize towards oil spilling | |
| CN105947142B (en) | A kind of unmanned sailing device on water | |
| CN110471427A (en) | A kind of ship formation intelligent Collision Avoidance method based on path planning and Artificial Potential Field Method | |
| CN205168851U (en) | Sea system that searches for ands rescue based on unmanned aerial vehicle | |
| CN110517537A (en) | A kind of unmanned boat autonomous navigation system and method | |
| CN113759939B (en) | Intelligent navigation method and device for limited water area | |
| CN109741635B (en) | Ship control method and system | |
| US10728461B1 (en) | Method for correcting misalignment of camera by selectively using information generated by itself and information generated by other entities and device using the same | |
| CN108646766A (en) | A kind of safe tracking of unmanned boat based on Collaborative Control and tracking system | |
| CN108459602A (en) | The autonomous method of docking of drive lacking unmanned boat under more obstacle complex environments | |
| Bruzzone et al. | Cooperative adaptive guidance and control paradigm for marine robots in an emergency ship towing scenario | |
| KR101276882B1 (en) | Rescue vessel and method for rescue | |
| CN110262483A (en) | A kind of unmanned boat course heading control method and unmanned boat | |
| DE102021201480B3 (en) | Underwater Communications and Homing System | |
| CN110424348A (en) | Automatically the electrodynamic type oil fence recycled automatically and its operational method are navigated by water | |
| Szymański et al. | Application of Bon Voyage 7.0 (AWT) to programming of an ocean route of post-Panamax container vessel in transpacific voyage Seattle–Pusan 26.08. 2015, 1600UTC–05.09. 2015, 2100UTC | |
| Hao et al. | Intelligent Navigation System for Unmanned Surface Vessel Based on RRT* and SAC | |
| Morito et al. | Sea urchin survey system in coastal areas using a μ-ASV | |
| CN107843899A (en) | Submariner device make a return voyage direction positioning method, apparatus and system | |
| Hashimoto et al. | Evaluation experiments for lane keeping assistance system under several conditions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |