CN109782799B - Unmanned boat environment detection control system and detection method based on robotic fish - Google Patents
Unmanned boat environment detection control system and detection method based on robotic fish Download PDFInfo
- Publication number
- CN109782799B CN109782799B CN201910071952.5A CN201910071952A CN109782799B CN 109782799 B CN109782799 B CN 109782799B CN 201910071952 A CN201910071952 A CN 201910071952A CN 109782799 B CN109782799 B CN 109782799B
- Authority
- CN
- China
- Prior art keywords
- central processing
- processing unit
- fish
- signal
- remote monitoring
- 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.)
- Active
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention belongs to the technical field of unmanned ship application, and particularly relates to an unmanned ship environment detection control system and a detection method based on a robotic fish, which comprises a central processing unit on an unmanned ship, and a power supply module, an application module, a data acquisition module and a remote monitoring module which are connected with the central processing unit; the power supply module comprises a power supply module, and the power supply module is connected with the central processing unit, the data acquisition module and the application module; the application module comprises an intelligent throwing device and a robotic fish matched with the intelligent throwing device; the data acquisition module comprises a ship body monitor and a sea surface environment monitor, the ship body monitor comprises a magnetic compass, an accelerometer and a GPS receiver, and the sea surface environment monitor comprises a wind speed monitor and a wind direction monitor; the remote monitoring module comprises a remote controller and an operation interface. The invention takes the unmanned boat as a carrier and the robotic fish as a measuring main body, can break through the region limitation, and improves the efficiency and accuracy of sea area environment detection and mapping.
Description
Technical Field
The invention belongs to the technical field of unmanned ship application, and particularly relates to an unmanned ship environment detection control system and a detection method based on a robotic fish.
Background
With the progress of ocean development, economic development of coastal areas and the increase of marine discharge substances, the ocean environment is seriously polluted, the ecological environment is greatly damaged, ocean disasters frequently occur, and the economic loss is continuously increased. The protection of marine environment has attracted attention from all countries, China is also a marine big country, and marine environment has very important influence on the sustainable development of society and economy in China. The mastering of marine environmental conditions is a precondition of marine protection, and the mastering of main factors, pollution and sources and changes thereof which influence the marine environment have important significance on the marine environmental protection. The existing automatic environment monitoring instrument generally has the defects of large equipment volume and inconvenient movement after installation, is troublesome to sample and time-consuming, cannot acquire related water environment information in time, also has certain limitation in measurement regions, is low in detection accuracy, and therefore needs a set of high-efficiency low-energy consumption and accurate detection system to realize the detection of marine environment.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides an unmanned boat environment detection control system based on a robotic fish, which has the advantages of wide detection region range, high detection efficiency and high detection accuracy, and a method for carrying out environment detection by using the environment detection control system.
Based on the aim, the invention provides an unmanned boat environment detection control system and a detection method based on a robotic fish.
An unmanned ship environment detection control system based on a robotic fish comprises a central processing unit arranged on an unmanned ship, and a power supply module, an application module, a data acquisition module and a remote monitoring module which are connected with the central processing unit; unidirectional signal transmission exists between the central processing unit and the data acquisition module, the data acquisition module transmits signals to the central processing unit, and bidirectional signal transmission exists between the central processing unit and the application module as well as between the central processing unit and the remote monitoring module; the power supply module comprises a power supply module, and the power supply module is connected with the central processing unit, the data acquisition module and the application module; the application module comprises an intelligent throwing device and a robot fish matched with the intelligent throwing device, the intelligent throwing device receives a signal sent by the central processing unit for throwing or recovering the robot fish, throwing or recovering operation of the robot fish is carried out, the robot fish collects relevant signals for environment detection and transmits the signals to the central processing unit, and the central processing unit processes the signals and transmits the signals to the remote monitoring module; the data acquisition module comprises a ship body monitor and a sea surface environment monitor, the ship body monitor comprises a magnetic compass, an accelerometer and a GPS receiver and is used for monitoring the real-time position and heading of a ship body, the sea surface environment monitor comprises a wind speed monitor and a wind direction monitor and is used for monitoring the wind speed and the wind direction of the sea area where the ship body is located, the data acquisition module acquires the position and heading signals of the ship body and the wind speed and wind direction signals of the sea area where the ship body is located and transmits the signals to the central processing unit, and the central processing unit processes the signals and transmits the signals to the remote monitoring module; the remote monitoring module comprises a remote controller and an operation interface, the remote controller sends a control instruction to the central processing unit, the operation interface is provided with a touch display screen, the operation interface receives and displays a signal transmitted by the central processing unit, and the operation interface sends the control instruction to the central processing unit through the touch display screen.
Furthermore, the power supply module further comprises a voltage stabilizing module, a power supply module in the power supply module outputs stable working voltage for the data acquisition module and the application module after passing through the voltage stabilizing module, and the power supply module is connected with the intelligent delivery device in the application module after passing through the voltage stabilizing module.
Furthermore, a radio transceiver and an alarm device are arranged in the robot fish, the radio transceiver receives a control signal sent by the central processing unit, and the alarm device sends an alarm signal when the power of the robot fish is too low and sends the alarm signal to the central processing unit through the radio transceiver.
Furthermore, the robot fish consists of a sensing area, a behavior area, an action area and an instruction area; the sensing area comprises a chemical sensor, a contact sensor, a sonar and a camera, wherein the chemical sensor detects the environment of a designated sea area, the sonar and the contact sensor survey and draw the submarine topography, and the camera monitors the submarine condition and acquires video data; the behavior area comprises a control circuit in the robotic fish; the action area comprises a motor, a pull rod and a gear which drive the robotic fish body to act; the instruction area comprises a control module in the robot fish and controls the sensing area and the action area.
Further, the number of the robotic fish in the unmanned boat is at least two.
The method for detecting by using the unmanned ship environment detection control system based on the robot fish comprises the following steps: (1) sailing the unmanned boat to a designated sea area to be tested, and throwing in the robotic fish; (2) detecting and mapping the sea area environment to be detected; (3) after the detection and mapping tasks are completed, the unmanned boat recovers the robot fish, the standby device recovers the robot fish, and the unmanned boat returns according to the designated path.
Further, the specific steps of sailing the unmanned ship to the designated sea area to be tested and launching the robotic fish in the step (1) are as follows:
when an unmanned ship receives a specified sea area pollutant detection or submarine topography mapping task, the position of the unmanned ship is determined through a GPS receiver, the heading of the unmanned ship is determined through a magnetic compass and an accelerometer, a data acquisition module transmits the position of the unmanned ship and heading signals to a central processing unit, the central processing unit transmits the processed signals to a remote monitoring module, an operation interface in the remote monitoring module receives and displays the signals, an operator plans the path of the unmanned ship through a touch display screen on the operation interface, and transmits the path planning signals to the central processing unit through the operation interface; the central processing unit receives the path planning signal, so that the unmanned ship can track according to the planned path to reach the designated sea area;
when the unmanned ship arrives at a task sea area, the central processing unit transmits a ship body position and heading signals and sea surface wind speed and wind direction signals to the remote monitoring module, and simultaneously sends a request signal for throwing the robotic fish to the remote monitoring module;
the remote monitoring module receives a ship body position and heading signal, a sea surface wind speed and direction signal and a request signal for throwing the robot fish, which are sent by the central processing unit, and displays the received signals on the control interface, an operator determines whether to throw the robot fish according to information displayed on the control interface, if the operator determines to throw the robot fish after comprehensive analysis, the operator sends a response instruction to the central processing unit through the control interface, and simultaneously sends a cruising path signal of the robot fish to the central processing unit through the control interface, and the central processing unit processes the received cruising path signal, sends the processed cruising path signal to any one of the robotic fishes in the unmanned boat, and calibrates the robotic fish receiving the cruising path signal;
and after receiving the response instruction sent by the remote monitoring module, the central processing unit sends a signal for throwing the robot fish to the intelligent throwing device, and the intelligent throwing device receives the signal and throws the calibrated robot fish.
Further, the detection and mapping of the sea area environment to be detected in the step (2) specifically comprises the following steps:
A. after the calibrated robot fish enters water, a command area of the robot fish sends control signals to a sensing area and an action area, so that the robot fish starts cruising according to a specified cruising path, a chemical sensor is used for environment detection in the cruising process, a contact sensor and a sonar are used for surveying and mapping submarine topography, a camera is used for collecting video data, a measuring signal is transmitted to a central processing unit through a radio transceiver device arranged in the robot fish, the central processing unit receives and processes the measuring signal, and the central processing unit transmits the processed measuring signal to a remote monitoring module;
B. an operation interface in the remote monitoring module receives the detection signal sent by the central processing unit, a detection result is displayed on a touchable display screen of the operation interface, and an operator analyzes information displayed on the touchable display screen and marks a suspicious information position;
C. when the electric quantity of the robot fish which is marked to be thrown in is insufficient, any one of the rest robot fishes in the unmanned boat is thrown in firstly, the detection and mapping work is continued, the robot fish with low electric quantity is recycled for charging, the robot fish in the unmanned boat is used for alternately carrying out the detection and mapping work, and the detection and mapping task is completed.
Further, when the electric quantity of the robot fish which is calibrated to be thrown in is insufficient in the step C, any one of the other robot fishes in the unmanned boat is thrown in firstly to continue detection and surveying and mapping work, and the specific process of recycling the robot fish with low electric quantity to charge is as follows:
a. when the electric quantity of the robot fish to be calibrated and thrown in is insufficient, an alarm device in the robot fish sends an alarm signal, the radio transceiver in the robot fish sends the alarm signal to a central processing unit, the central processing unit transmits the alarm signal of the robot fish to a remote monitoring module after receiving the alarm signal of the robot fish, meanwhile, a request instruction for throwing any one of the other robot fishes in the unmanned boat is sent to the remote monitoring module, the remote monitoring module receives the alarm signal of the robot fish and the request instruction for throwing the robot fish which are sent by central processing and is displayed on a control interface in the remote monitoring module, an operator sends a response instruction to the central processing unit through the control interface according to information displayed on the control interface, simultaneously sends a cruising path signal of the robot fish to the central processing unit, and the central processing unit processes the received cruising path signal, sending the processed cruising path signal to any one of the rest robotic fishes in the unmanned boat, and calibrating the robotic fish receiving the cruising path signal;
b. after the central processing unit receives the response instruction sent by the remote monitoring module, the central processing unit sends a signal for recovering the robot fish to the intelligent throwing device, and the intelligent throwing device receives the signal and recovers and charges the robot fish sending the alarm signal.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention uses the unmanned boat as a carrier and the robot fish as a measuring main body, can adapt to complex water area environment, breaks through the regional limitation of traditional marine environment detection and mapping, uses machines to replace manpower, adopts a mode of alternately working by a plurality of robot fishes, prolongs effective working time, improves working efficiency, utilizes a plurality of detection devices arranged in the robot fish to detect and map the marine environment, and improves the efficiency and accuracy of environment detection and mapping.
(2) The central processing unit on the unmanned ship is connected with the power supply module, the application module, the data acquisition module and the remote monitoring module, so that the central processing unit can read and process the measurement information of the application module and the data acquisition module, and transmit the processed information to the remote monitoring module, thereby being convenient for remotely controlling the unmanned ship.
(3) The application module includes that the intelligence is put in the device and is put in device matched with machine fish with the intelligence, the two all is connected with central processing unit, the device is put in to intelligence carries out putting in or retrieving of machine fish according to central processing unit's signal, machine fish then feeds back its self signal to central processing unit, make the intelligence put in the device and can carry out putting in and retrieving of machine fish according to central processing unit's the decision-making of putting in, it charges to retrieve the machine fish that the electric quantity was crossed the low warning, and put in another machine fish and continue to detect work, many machine fish alternate use, make environment detection and mapping process go on smoothly.
(4) The data acquisition module includes hull monitor and sea surface environment monitor, the data acquisition module carries out real time monitoring to the navigation information of unmanned ship through hull monitor and sea surface environment monitor, and convey the navigation information to central processing unit, central processing unit reads and handles the information of data acquisition module, and convey unmanned ship self navigation information after will handling to remote monitoring module through the antenna real time, realize the real-time remote monitoring to unmanned ship, the operating personnel of being convenient for carries out the decision-making according to the real-time navigation information of unmanned ship.
(5) The ship body monitor comprises a magnetic compass, an accelerometer and a GPS receiver, the GPS receiver is used for detecting the position of the unmanned ship, and the magnetic compass and the accelerometer are used for judging the heading of the unmanned ship, so that the ship body monitor has the advantages of stability, reliability, convenience, high efficiency, strong anti-interference performance and good concealment; the sea surface environment monitor comprises a wind speed monitor and a wind direction monitor, can detect the wind speed and the wind direction of the unmanned ship in the sea area in real time, provides clear external interference information for realizing the position and the heading stabilization of the unmanned ship, and is convenient for operators to make correct decisions according to the state of the unmanned ship.
(6) The remote monitoring module comprises a remote controller and an operation interface which are wirelessly connected with the central processing unit; the remote controller remotely controls the unmanned ship through the central processing unit, controls the interface to receive, display and feed back signals sent by the central processing unit and the robotic fish, and controls the interface to receive and display the navigation state of the unmanned ship and the environmental information and the mapping information detected by the robotic fish, so that the automation of the detection process is realized, and the detection efficiency and the detection accuracy are improved.
(7) The power supply module further comprises a power supply and a voltage stabilizing module, stable working voltage is output for the data acquisition module and the application module after the power supply passes through the voltage stabilizing module, the power supply is connected with the intelligent delivery device in the application module after passing through the voltage stabilizing module, and the stability of the working process of the data acquisition module and the intelligent delivery device is improved.
(8) Be equipped with radio transceiver and alarm device in the machine fish, radio transceiver receives the control signal that remote monitoring module sent, and alarm device sends alarm signal when the machine fish electric quantity is low to send alarm signal to central processing unit through radio transceiver, realize the remote control to the machine fish, realize retrieving the machine fish that the electric quantity is low and charge, reuse has improved the utilization efficiency to the machine fish.
(9) The robot fish consists of a sensing area, a behavior area, an action area and an instruction area; the sensing area comprises a chemical sensor, a contact sensor, a sonar and a camera, wherein the chemical sensor detects the environment of a designated sea area, the sonar and the contact sensor survey and draw the submarine topography, and the camera monitors the submarine condition and acquires video data; the behavior area is a circuit for controlling a motor in the robotic fish; the action area is a motor, a pull rod and a gear which drive the robotic fish body to act; the instruction area is a control program in the robot fish and is used for controlling the sensing area and the action area, after a planned path transmitted by the remote monitoring module is received by a radio transceiver in the robot fish, control signals are sent to the sensing area and the action area through the instruction area, so that traversal of the planned path, pollutant detection and submarine topography mapping are achieved, detected environment information, mapping information and corresponding position information are transmitted to the remote monitoring module in real time, real-time performance of detection results is achieved, and accuracy of the detection results is improved.
(10) The robot fish has the advantages of low energy consumption and wide application range due to the high efficiency and maneuverability of the robot fish, and in addition, the swimming mode of the robot fish has low swing frequency and good flexibility, can reduce other unnecessary energy loss to the maximum extent, fully utilizes and controls eddy current, effectively reduces noise generated in the environmental detection and mapping process, is beneficial to stealth and defense burst, has concealment performance when monitoring in special sea areas, and has important military value.
In conclusion, the unmanned boat is used as a carrier, the robotic fish is used as a measuring main body, the regional limitation can be broken through, and the efficiency and accuracy of detection of the designated sea area environment and mapping of the submarine topography are improved.
Drawings
Fig. 1 is a block diagram of the robotic fish-based unmanned boat environment detection control system of the present invention.
Detailed Description
Example 1:
as shown in figure 1, an unmanned ship environment detection control system based on robot fish, including locating central processing unit on the unmanned ship and the power module who is connected with central processing unit, application module, data acquisition module and remote monitoring module, there is one-way signal transmission between central processing unit and the data acquisition module, give central processing unit with signal transmission by the data acquisition module, there is two-way signal transmission between central processing unit and application module and the remote monitoring module all, be convenient for central processing unit to the measuring information of application module and data acquisition module read and handle, and with the information transfer after handling to remote monitoring module, thereby be convenient for carry out remote control to the unmanned ship.
The application module includes that the device is put in to intelligence and put in device matched with machine fish with intelligence, and the signal of putting in or retrieving machine fish that central processing unit sent is received to the device is put in to intelligence, carries out the operation of putting in or retrieving of machine fish, and machine fish gathers the relevant signal of environmental detection to give central processing unit for, central processing unit gives remote monitoring module with signal processing back transmission. The quantity of machine fish is two, puts in first machine fish earlier and carries out detection achievement, treats that first machine fish electric quantity is low, and the machine fish through crossing the low warning to the electric quantity retrieves and charges to put in second strip machine fish and continue to carry out detection achievement, utilize the interior machine fish alternative work of unmanned ship, make environment detection and mapping process go on smoothly, in addition, machine fish alternative work can prolong effective operating time, improves and detects and mapping efficiency.
Be equipped with in the machine fish with radio transceiver and alarm device, radio transceiver receives the control signal that central processing unit sent, and alarm device sends alarm signal when the machine fish electric quantity is low to send alarm signal to central processing unit through radio transceiver, realize retrieving the machine fish that the electric quantity is low and charge, reuse has improved the utilization efficiency to the machine fish. The robot fish consists of a sensing area, a behavior area, an action area and an instruction area; the sensing area comprises a chemical sensor, a contact sensor, a sonar and a camera, wherein the chemical sensor detects the environment of a designated sea area, the sonar and the contact sensor survey and draw the submarine topography, and the camera monitors the submarine condition and acquires video data; the behavior area comprises a control circuit in the robotic fish; the action area comprises a motor, a pull rod and a gear which drive the robotic fish body to act; the instruction area comprises a control module in the robot fish, the instruction area is used for controlling the sensing area and the action area, after the planned path is received by a radio transceiver in the robot fish, control signals are sent to the sensing area and the action area through the instruction area, so that traversal of the planned path, pollutant detection and submarine topography mapping are achieved, detected environment information, mapping information and corresponding position information are transmitted to the central processing unit in real time, real-time performance of detection results is achieved, and accuracy of the detection results is improved. In addition, the robot fish has the advantages of low energy consumption and wide application range due to high efficiency and maneuverability, and in addition, the swimming mode of the robot fish has low swinging frequency and good flexibility, can reduce other unnecessary energy loss to the maximum extent, fully utilizes and controls eddy current, effectively reduces noise generated in the environmental detection and mapping process, is beneficial to stealth and defense burst, has concealment in special sea areas, and has important military value.
The power supply module comprises a power supply module and a voltage stabilizing module connected with the power supply module, the power supply module is electrically connected with the central processing unit and provides power for the central processing unit, the power supply module is connected with the data acquisition module and the application module after passing through the voltage stabilizing module and provides stable working voltage for the data acquisition module and the application module, the power supply module is connected with the intelligent delivery device in the application module after passing through the voltage stabilizing module, and the stability of the working process of the data acquisition module and the intelligent delivery device is improved.
The data acquisition module includes hull monitor and sea surface environment monitor, the data acquisition module carries out real time monitoring to the navigation information of unmanned ship through hull monitor and sea surface environment monitor, and convey the navigation information to central processing unit, central processing unit reads and handles the information of data acquisition module, and convey unmanned ship self navigation information after will handling to remote monitoring module through the antenna real time, realize the real-time remote monitoring to unmanned ship, the operating personnel of being convenient for carries out the decision-making according to the real-time navigation information of unmanned ship. In addition, the ship body monitor comprises a magnetic compass, an accelerometer and a GPS receiver, the GPS receiver is used for monitoring the position of the unmanned ship, and the magnetic compass and the accelerometer are used for judging the heading of the unmanned ship, so that the ship body monitor has the advantages of stability, reliability, convenience, high efficiency, strong anti-interference performance and good concealment; the sea surface environment monitor comprises a wind speed monitor and a wind direction monitor, can monitor the wind speed and the wind direction of the sea area where the unmanned ship is located in real time, provides clear external interference information for achieving position and heading stabilization of the unmanned ship, and is convenient for operators to make correct decisions according to the state of the unmanned ship.
Remote monitoring module includes with the remote controller and controls the interface, the remote controller sends control command to central processing unit, the unmanned ship of remote control, it is equipped with tangible display screen to control on the interface, control the signal that the interface received and showed central processing unit transmission, it sends control command to central processing unit through tangible display screen to control the interface, control the interface and receive and show the navigation state of unmanned ship self and environmental information and the mapping information that the machine fish detected, realize the automation of testing process, detection efficiency and detection accuracy have been improved.
Example 2:
the method for detecting by using the unmanned boat environment detection control system based on the robot fish in the embodiment 1 comprises the following steps:
(1) sailing the unmanned ship to a designated sea area to be tested, and putting in the robotic fish, namely:
when an unmanned ship receives a specified sea area pollutant detection or submarine topography mapping task, the position of the unmanned ship is determined through a GPS receiver, the heading of the unmanned ship is determined through a magnetic compass and an accelerometer, a data acquisition module transmits the position of the unmanned ship and heading signals to a central processing unit, the central processing unit transmits the processed signals to a remote monitoring module, an operation interface in the remote monitoring module receives and displays the signals, an operator plans the path of the unmanned ship through a touch display screen on the operation interface, and transmits the path planning signals to the central processing unit through the operation interface; the central processing unit receives the path planning signal, so that the unmanned ship can track according to the planned path to reach the designated sea area;
when the unmanned ship arrives at a task sea area, the central processing unit transmits a ship body position and heading signals and sea surface wind speed and wind direction signals to the remote monitoring module, and simultaneously sends a request signal for throwing the robotic fish to the remote monitoring module;
the remote monitoring module receives a ship body position and heading signal, a sea surface wind speed and direction signal and a request signal for throwing the robotic fish, which are sent by the central processing unit, and displays the received signals on the control interface, an operator determines whether to throw the robotic fish according to information displayed on the control interface, if the operator determines to throw the robotic fish after comprehensive analysis, the operator sends a response instruction to the central processing unit through the control interface, and simultaneously sends a cruising path signal of the robotic fish to the central processing unit through the control interface, and the central processing unit processes the received cruising path signal, sends the processed cruising path signal to a first robotic fish in the unmanned boat, and calibrates the first robotic fish receiving the cruising path signal;
and after receiving the response instruction sent by the remote monitoring module, the central processing unit sends a signal for throwing the first robotic fish to the intelligent throwing device, and the intelligent throwing device receives the signal and throws the calibrated first robotic fish.
(2) Detecting and mapping the sea area environment to be detected, namely:
A. after a calibrated first robotic fish enters water, a command area of the first robotic fish sends control signals to a sensing area and an action area, so that the first robotic fish starts cruising according to a specified cruising path, environment detection is carried out by using a chemical sensor in the cruising process, submarine topography is mapped by using a contact sensor and a sonar, video data are collected by using a camera, a measurement signal is transmitted to a central processing unit through a radio transceiver device built in the first robotic fish, the central processing unit receives and processes the measurement signal, and the central processing unit transmits the processed measurement signal to a remote monitoring module;
B. an operation interface in the remote monitoring module receives the detection signal sent by the central processing unit, a detection result is displayed on a touchable display screen of the operation interface, and an operator analyzes information displayed on the touchable display screen and marks a suspicious information position;
C. when the electric quantity of the first robot fish which is marked to be thrown is insufficient, an alarm device in the robot fish sends an alarm signal, the radio transceiver in the first robot fish sends the alarm signal to a central processing unit, the central processing unit transmits the alarm signal of the robot fish to a remote monitoring module after receiving the alarm signal of the first robot fish, meanwhile, a request instruction for throwing a second robot fish in the unmanned boat is sent to the remote monitoring module, the remote monitoring module receives the alarm signal of the first robot fish and the request instruction for throwing the second robot fish which are sent by central processing and is displayed on an operation interface in the remote monitoring module, an operator sends a response instruction to the central processing unit through the operation interface according to information displayed on the operation interface, and simultaneously sends a cruising path signal of the second robot fish to the central processing unit, the central processing unit processes the received cruise path signal, sends the processed cruise path signal to a second robotic fish in the unmanned boat, and calibrates the second robotic fish receiving the cruise path signal; after the central processing unit receives the response instruction sent by the remote monitoring module, the central processing unit sends a signal for recovering the first robotic fish to the intelligent throwing device, and the intelligent throwing device receives the signal and recovers and charges the first robotic fish which sends the alarm signal. And (4) alternately carrying out detection and mapping work by using the robotic fish in the unmanned boat until the detection and mapping tasks are completed.
(3) After the detection and mapping tasks are completed, the unmanned boat recovers the robot fish, the standby device recovers the robot fish, and the unmanned boat returns according to the designated path.
Example 3:
the embodiment 3 is different from the above embodiments only in that the number of the robot fishes is three, the first robot fish is thrown in for detection, when the robot fish is low in electric quantity, the second robot fish is thrown in for detection, the first robot fish with low electric quantity is recycled and charged, when the second robot fish is low in electric quantity, the third robot fish is thrown in for detection, the second robot fish with low electric quantity is recycled and charged, when the third robot fish is low in electric quantity, the first robot fish is thrown in for detection, the third robot fish is recycled and charged, and the above processes are repeated until the detection task is completed.
Example 4:
the embodiment 4 is different from the embodiment 3 only in that the number of the robot fishes is four, the first robot fish, the second robot fish, the third robot fish and the fourth robot fish are sequentially thrown in, the robot fishes with low electric quantity are recycled and charged, when the electric quantity of the fourth robot fish is low, the first robot fish is thrown in for detection, the fourth robot fish is recycled and charged, and the processes are repeated until the detection task is completed.
Example 5:
the difference between the embodiment 5 and the embodiment 3 is only that the number of the robot fishes is five, the first, second, third, fourth and fifth robot fishes are sequentially thrown in, the robot fishes with low electric quantity are recycled and charged, when the electric quantity of the fifth robot fishes is low, the first robot fish is thrown in for detection, the fifth robot fish is recycled and charged, and the processes are repeated until the detection task is completed.
Claims (2)
1. A detection method of an unmanned boat environment detection control system based on a robot fish is characterized by comprising the following steps: (1) sailing the unmanned boat to a designated sea area to be tested, and throwing in the robotic fish; (2) detecting and mapping the sea area environment to be detected; (3) after the detection and mapping tasks are completed, the unmanned boat recovers the robotic fish, and the unmanned boat returns according to a specified path after the standby fish is completely recovered; the control system comprises a central processing unit arranged on the unmanned ship, and a power supply module, an application module, a data acquisition module and a remote monitoring module which are connected with the central processing unit; the application module comprises an intelligent throwing device and a robotic fish matched with the intelligent throwing device, the robotic fish consists of a sensing area, a behavior area, an action area and an instruction area, the sensing area comprises a chemical sensor, a contact sensor, a sonar and a camera, and a radio transceiver and an alarm device are arranged in the robotic fish; the data acquisition module comprises a ship body monitor and a sea surface environment monitor, the ship body monitor comprises a magnetic compass, an accelerometer and a GPS receiver, and the sea surface environment monitor comprises a wind speed monitor and a wind direction monitor; the remote monitoring module comprises a remote controller and an operation interface, and a touchable display screen is arranged on the operation interface;
the specific steps of the step (1) are as follows:
when an unmanned ship receives a specified sea area pollutant detection or submarine topography mapping task, the position of the unmanned ship is determined through a GPS receiver, the heading of the unmanned ship is determined through a magnetic compass and an accelerometer, a data acquisition module transmits the position of the unmanned ship and heading signals to a central processing unit, the central processing unit transmits the processed signals to a remote monitoring module, an operation interface in the remote monitoring module receives and displays the signals, an operator plans the path of the unmanned ship through a touch display screen on the operation interface, and transmits the path planning signals to the central processing unit through the operation interface; the central processing unit receives the path planning signal, so that the unmanned ship can track according to the planned path to reach the designated sea area;
when the unmanned ship arrives at a task sea area, the central processing unit transmits a ship body position and heading signals and sea surface wind speed and wind direction signals to the remote monitoring module, and simultaneously sends a request signal for throwing the robotic fish to the remote monitoring module;
the remote monitoring module receives a ship body position and heading signal, a sea surface wind speed and direction signal and a request signal for throwing the robot fish, which are sent by the central processing unit, and displays the received signals on the control interface, an operator determines whether to throw the robot fish according to information displayed on the control interface, if the operator determines to throw the robot fish after comprehensive analysis, the operator sends a response instruction to the central processing unit through the control interface, and simultaneously sends a cruising path signal of the robot fish to the central processing unit through the control interface, and the central processing unit processes the received cruising path signal, sends the processed cruising path signal to any one of the robotic fishes in the unmanned boat, and calibrates the robotic fish receiving the cruising path signal;
after receiving the response instruction sent by the remote monitoring module, the central processing unit sends a signal for throwing the robot fish to the intelligent throwing device, and the intelligent throwing device receives the signal and throws the calibrated robot fish;
the detection and mapping of the sea area environment to be detected in the step (2) comprises the following specific steps:
a, after a calibrated robot fish enters water, an instruction area of the robot fish sends control signals to a sensing area and an action area, so that the robot fish starts cruising according to a specified cruising path, a chemical sensor is used for environment detection in the cruising process, a contact sensor and a sonar are used for surveying and mapping submarine topography, a camera is used for collecting video data, a measuring signal is transmitted to a central processing unit through a built-in radio transceiver of the robot fish, the central processing unit receives and processes the measuring signal, and the central processing unit transmits the processed measuring signal to a remote monitoring module;
b, an operation interface in the remote monitoring module receives the detection signal sent by the central processing unit, the detection result is displayed on a touchable display screen of the operation interface, the information displayed on the operation interface is analyzed, and the position of the suspicious information is calibrated;
and C, when the electric quantity of the robot fish which is calibrated to be thrown in is insufficient, throwing any other robot fish in the unmanned boat firstly to continue detection and mapping work, then recycling the robot fish with low electric quantity to charge, and alternately performing detection and mapping work by using the robot fish in the unmanned boat until the detection and mapping tasks are completed.
2. The detection method of the unmanned vehicle environment detection control system based on robotic fish of claim 1, wherein when the electric quantity of the robotic fish to be calibrated and launched is insufficient in step C, any one of the other robotic fish in the unmanned vehicle is launched first to continue the detection and mapping work, and then the robotic fish with low electric quantity is recovered to be charged in the following specific process:
a, when the electric quantity of the robot fish to be calibrated and thrown in is insufficient, an alarm device in the robot fish sends out an alarm signal, a radio transceiver in the robot fish sends the alarm signal to a central processing unit, the central processing unit transmits the alarm signal of the robot fish to a remote monitoring module after receiving the alarm signal of the robot fish, simultaneously sends a request instruction for throwing any one of the other robot fishes in the unmanned boat to the remote monitoring module, the remote monitoring module receives the alarm signal of the robot fish and the request instruction for throwing the robot fish which are sent by central processing and displays the alarm signal and the request instruction on an operation interface in the remote monitoring module, an operator sends a response instruction to the central processing unit through the operation interface according to information displayed on the operation interface, simultaneously sends a cruising path signal of the robot fish to the central processing unit, and the central processing unit processes the received cruising path signal, sending the processed cruising path signal to any one of the rest robotic fishes in the unmanned boat, and calibrating the robotic fish receiving the cruising path signal;
b. after the central processing unit receives the response instruction sent by the remote monitoring module, the central processing unit sends a signal for recovering the robot fish to the intelligent throwing device, and the intelligent throwing device receives the signal and recovers and charges the robot fish sending the alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071952.5A CN109782799B (en) | 2019-01-25 | 2019-01-25 | Unmanned boat environment detection control system and detection method based on robotic fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071952.5A CN109782799B (en) | 2019-01-25 | 2019-01-25 | Unmanned boat environment detection control system and detection method based on robotic fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109782799A CN109782799A (en) | 2019-05-21 |
| CN109782799B true CN109782799B (en) | 2020-12-22 |
Family
ID=66502444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910071952.5A Active CN109782799B (en) | 2019-01-25 | 2019-01-25 | Unmanned boat environment detection control system and detection method based on robotic fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109782799B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199961B (en) * | 2019-06-13 | 2024-05-28 | 浙江大学 | Multifunctional intelligent fishing boat capable of automatically avoiding obstacle and seeking trace for identification |
| CN111309010B (en) * | 2020-02-21 | 2021-05-04 | 上海大学 | Control method implemented by unmanned ship seabed terrain surveying and mapping control system based on bionic robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120089977A (en) * | 2011-01-11 | 2012-08-16 | (주)아모스텍 | Intelligent unmanned underwater autonomous cruising system of submarine and method for controlling unmanned underwater autonomous cruising of submarine |
| CN105226750A (en) * | 2015-10-03 | 2016-01-06 | 上海大学 | Unmanned boat bank base recharging system |
| CN206437172U (en) * | 2016-12-28 | 2017-08-25 | 杭州霆舟无人科技有限公司 | Carry the unmanned boat of underwater robot |
| CN107346036A (en) * | 2017-06-20 | 2017-11-14 | 上海大学 | A kind of underwater cooperative detection system waterborne |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN107856824A (en) * | 2017-12-11 | 2018-03-30 | 大连海事大学 | A kind of cooperative system and method for the machine shoal of fish and unmanned boat for catching subsea production |
| CN108363401A (en) * | 2018-03-13 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of coordinated control system of unmanned warship and underwater robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU548339B2 (en) * | 1981-07-31 | 1985-12-05 | Edo Western Corporation | Towing under-water vehicle |
| US6665631B2 (en) * | 2001-09-27 | 2003-12-16 | The United States Of America As Represented By The Secretary Of The Navy | System and method for measuring short distances |
| US8203911B2 (en) * | 2007-10-23 | 2012-06-19 | Kevin Kremeyer | Acoustic and optical illumination technique for underwater characterization of objects/environment |
| CN106275286B (en) * | 2016-08-30 | 2019-07-05 | 中国海洋大学 | Two dimension of underwater glider is comprehensive to be laid recyclable device and lays recovery method |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| US10065719B1 (en) * | 2017-06-27 | 2018-09-04 | The Boeing Company | Vertical recovery for an unmanned underwater vehicle |
-
2019
- 2019-01-25 CN CN201910071952.5A patent/CN109782799B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120089977A (en) * | 2011-01-11 | 2012-08-16 | (주)아모스텍 | Intelligent unmanned underwater autonomous cruising system of submarine and method for controlling unmanned underwater autonomous cruising of submarine |
| CN105226750A (en) * | 2015-10-03 | 2016-01-06 | 上海大学 | Unmanned boat bank base recharging system |
| CN206437172U (en) * | 2016-12-28 | 2017-08-25 | 杭州霆舟无人科技有限公司 | Carry the unmanned boat of underwater robot |
| CN107346036A (en) * | 2017-06-20 | 2017-11-14 | 上海大学 | A kind of underwater cooperative detection system waterborne |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN107856824A (en) * | 2017-12-11 | 2018-03-30 | 大连海事大学 | A kind of cooperative system and method for the machine shoal of fish and unmanned boat for catching subsea production |
| CN108363401A (en) * | 2018-03-13 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of coordinated control system of unmanned warship and underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109782799A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111516808B (en) | Environment monitoring river patrol robot system and method | |
| CN106585904B (en) | A kind of robot for water surface cleaner | |
| CN202728535U (en) | Unmanned telemetering ship | |
| CN102306025A (en) | Wireless remote-control automatic sampling monitoring ship | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| CN108181908A (en) | A kind of unmanned boat system for inland river environmental monitoring | |
| CN104142688A (en) | Underwater robot platform | |
| CN108535279B (en) | Detection method based on sewage pipeline detection robot | |
| CN105129063A (en) | Wind-energy and luminous energy complementation water surface robot | |
| CN109782799B (en) | Unmanned boat environment detection control system and detection method based on robotic fish | |
| CN103287549A (en) | Intelligent water quality monitoring and water surface cleaning ship | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| CN108303508A (en) | Ecology language system and method based on laser radar and deep learning optimum path search | |
| CN108415323A (en) | A kind of aquafarm intellectualized management system | |
| CN203689153U (en) | Overwater exploring and sampling vessel | |
| CN109631857B (en) | Multi-unmanned-boat combined island and reef surveying and mapping system and method | |
| CN106595775A (en) | Implementation method and device for coastal zone ecological environment dynamic monitoring and early warning system | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| CN113920695A (en) | Emergency alarm system for underwater autonomous robot | |
| CN109884729B (en) | Torpedo detection control system and method with cooperation of unmanned boat and robotic fish | |
| CN101683894A (en) | Unmanned meteorological sounding ship | |
| CN206537455U (en) | A kind of buoy collision detecting system | |
| CN203268293U (en) | Water quality monitoring and water surface cleaning ship | |
| CN202120123U (en) | Automatic wireless remote-control sampling monitoring boat | |
| CN204489140U (en) | A kind of inland river vessel underway oceangoing ship operational configuration information monitoring system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |