WO2017140096A1

WO2017140096A1 - Unmanned ship and system

Info

Publication number: WO2017140096A1
Application number: PCT/CN2016/093121
Authority: WO
Inventors: 郑卫锋; 何志雄; 郑迪; 吴海亮
Original assignee: 北京臻迪科技股份有限公司
Priority date: 2016-02-18
Filing date: 2016-08-03
Publication date: 2017-08-24

Abstract

An unmanned ship (100) and a system. The unmanned ship comprises: an image acquisition module (120), a sonar detection module (130), a communication module (140) and a central controller (110), wherein the image acquisition module (120) is used for recording and shooting an underwater image; the sonar detection module (130) is used for detecting an underwater environment, as well as the position and the depth of a school of fish; the communication module (140) is used for transmitting state information about the unmanned ship (100), image information acquired by the image acquisition module (120) and information acquired by the sonar detection module (130) to an external terminal (2000), and transmitting a control instruction of the external terminal (200) to the central controller (110) at the same time; and the central controller (110) is connected to the various modules, controls an advancing motion of the unmanned ship (110) and coordinates the operation of all the modules. The unmanned ship has the function of an existing unmanned fishing boat (110) and can also dive to a certain depth at the same time, and realizes telecommunication with the shore and transmits underwater image information back in real time.

Description

一种无人船及***Unmanned ship and system

技术领域Technical field

本发明涉及一种无人船；特别是一种可下潜和上浮的无人船。The present invention relates to an unmanned ship; in particular, an unmanned ship that can dive and float.

背景技术Background technique

近年来机器人技术发展迅速，大量适用不同环境的无人设备如无人机，无人车，无人船等，但受到技术等因素的限制这些设备还没有广泛进入民用领域。以无人船为例，现有无人船多为军用，如完成侦查任务，远程攻击任务等。也有一些用于科研领域，比如海洋数据监测，实验样本采集等。在工业上用于一些水中设备的远程维护，工业开采等方面。民用方面的应用还很有限，目前除了作为娱乐用途的无人船之外，用于钓鱼的无人船在民用市场的需求越来越大，因此对于钓鱼无人船提出了越来越高的要求。In recent years, robot technology has developed rapidly, and a large number of unmanned devices such as drones, unmanned vehicles, and unmanned ships have been applied to different environments. However, these devices have not been widely used in the civilian field due to limitations in technology and other factors. Taking unmanned ships as an example, the existing unmanned ships are mostly military, such as completing investigation tasks and remote attack missions. There are also some areas for scientific research, such as marine data monitoring and experimental sample collection. It is used industrially for remote maintenance of some underwater equipment, industrial mining and so on. The application of civil use is still very limited. At present, in addition to the unmanned ship used for entertainment purposes, the demand for unmanned ships for fishing is increasing in the civilian market, so it is increasingly higher for fishing unmanned ships. Claim.

目前市场上的一些钓鱼用无人船技术指标不高，功能单一，无法提供全面专业的钓鱼体验。并且与传统钓鱼相比区别不大，没有革命性的改变。At present, some fishing unmanned ships have low technical indicators and single functions, which cannot provide a comprehensive professional fishing experience. And compared with traditional fishing, the difference is not big, there is no revolutionary change.

现有的钓鱼无人船具的功能有以下几类：The existing fishing unmanned rigs have the following functions:

打窝放钩功能：例如申请号201320333558.2的中国专利公开了一种遥控定位投饵船，含遥控和接收装置、船体、电源和控制及解码电路，船体设有若干舱底向舱门倾斜的独立船舱；舱门设有磁钢，船体上与舱门磁钢对应位置设有电磁铁；电磁铁通过控制及解码电路与接收装置连接；所述的独立船舱共设四个，分设于船体两侧。该专利公开的无人船可远距离多点定位投放鱼饵、鱼钩，并可起到打窝聚鱼的效果。The function of the nesting and unhooking function: for example, the Chinese patent of the application No. 201320333558.2 discloses a remotely positioned and positioned bait boat, including a remote control and receiving device, a hull, a power supply and a control and decoding circuit, and the hull is provided with a plurality of bilge independent tilting to the hatch Cabin; the door is provided with magnetic steel, and an electromagnet is arranged on the hull corresponding to the magnet of the door; the electromagnet is connected to the receiving device through a control and decoding circuit; the independent cabin is provided with four, which are arranged on both sides of the hull . The unmanned ship disclosed in the patent can be used for positioning bait and fish hooks at a long distance and multi-point positioning, and can play the role of gathering fish.

声呐探测功能：例如申请号201520499153.5的中国专利公开了一种混合动力无线遥控水产养殖监测船，该专利除了可以进行定点投饵，还可以通过声呐探测水下鱼群数量和鱼儿大小，以此判断是否养殖过密，是否可以捕捞，有利于养殖人员的下一步操作。其只能根据声呐信号探测到物体的大致位置和大致数量，使用者需要根据自己的经验判断被探测物的种类和具***置及具体数量，而无法确切得知被探测物的种类、大小和地理位置。例如：当探测到鱼群时，使用者需要根据经验判断这是什么鱼、大致在什么位置，而不能确切地知道是什么鱼、鱼的大小以及鱼群所在的具体经度、纬度信息。Sonar detection function: For example, Chinese Patent Application No. 201520499153.5 discloses a hybrid wireless remote-controlled aquaculture monitoring vessel. In addition to the fixed-point feeding, the patent can also detect the number of underwater fish and the size of the fish through sonar. Judging whether the culture is too dense and whether it can be fished is beneficial to the next operation of the farmers. It can only detect the approximate position and approximate quantity of the object based on the sonar signal. The user needs to judge the type, specific location and specific quantity of the detected object according to his own experience, but cannot be sure. Cut to know the type, size and geographical location of the object being detected. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group.

GPS定点功能：例如申请号201010300353.5的中国专利公开了一种无线遥控钓鱼船，该专利将GPS卫星定位***和鱼探测仪整合到这款钓鱼船中来，以防止船在行驶中的偏航，清楚的了解垂钓地点的河床地貌、水深、水温、鱼情，并用GPS确定并储存打窝的方位，重复准确地自动找到原来的打窝位置和返回出发地，便于钓鱼和打窝。该专利可实现存储打窝点、定点打窝和自动航行的功能。GPS fixed point function: For example, Chinese Patent Application No. 201010300353.5 discloses a wireless remote control fishing boat, which integrates a GPS satellite positioning system and a fish detector into the fishing boat to prevent the yaw of the ship during driving. Clearly understand the riverbed landform, water depth, water temperature and fish condition of the fishing spot, and use GPS to determine and store the position of the nest, repeat the exact automatic location and return to the starting place for fishing and nesting. This patent enables storage of dimples, fixed-point nesting and automatic navigation.

综上所述可见，现有的钓鱼无人船具有打窝、水下声呐探测和GSP定位航行的功能。但是无法获得水下的详细信息，尤其是对一定深度的水下图像的获取。这是由于现有钓鱼无人船不具有水下摄像头，申请号201520499153.5的专利虽然具有摄像头，但不是设置在水下而是在水面上。并且，即使在现有钓鱼无人船上设置水下摄像头也无法获取详细的水下鱼群信息。因为现有钓鱼无人船均不能实现下潜，不下潜至一定深度，无法与鱼群充分靠近，也就无法获取到鱼的图像信息，无法对声呐探测的信息进行校验。这会大大影响钓鱼效果，当声呐探测的数据有误时，无法及时发现，例如将水下的海藻或水草团识别为鱼群，钓鱼者在不知情的情况下会白白浪费时间和鱼饵。In summary, the existing fishing unmanned ship has the functions of nesting, underwater sonar detection and GSP positioning navigation. However, detailed information on the underwater is not available, especially for underwater images of a certain depth. This is because the existing fishing unmanned boat does not have an underwater camera, and the patent of application number 201520499153.5 has a camera, but is not disposed underwater but on the water surface. Moreover, even if an underwater camera is installed on an existing fishing unmanned ship, detailed underwater fish school information cannot be obtained. Because the existing fishing unmanned ships can not achieve the dive, do not dive to a certain depth, can not be close enough to the fish, can not get the image information of the fish, can not verify the information of the sonar detection. This will greatly affect the fishing effect. When the data detected by the sonar is wrong, it cannot be found in time. For example, the underwater seaweed or water grass group is recognized as a fish school, and the fisherman will waste time and bait without knowing it.

由此可见，现有钓鱼无人船的缺陷是无法获取详细准确的水下图像信息和无法实现有效深度的下潜。无人船之所以难以实现下潜，是由于无线电波在水中传输的衰减非常严重，因此通信问题很难解决成为限制无人船下潜的屏障。It can be seen that the drawback of the existing fishing unmanned ship is that it is impossible to obtain detailed and accurate underwater image information and can not achieve effective depth of dive. The reason why unmanned ships are difficult to achieve dive is that the attenuation of radio waves transmitted in the water is very serious, so the communication problem is difficult to solve as a barrier to limit the unmanned ship's dive.

现有技术中虽然有一些可以下潜的水下无人设备，但都存在一些问题，不适合民用领域和垂钓领域。这是因为目前，现有水下机器人大多采用自治或者有缆控制模式。自治模式，多用在无缆机器人上，机器人按照事先设定或者根据不定时接收到的上位机指令进行水下作业，这样就不能实时地获取水下信息和控制机器人；而有缆模式，就是机器人通过与水面母船相连的脐带缆获得动力，并与母船上的上位机进行数据传输和人机交互，它可以实现对机器人的实时控制，但其活动受到脐带缆的制约，特别是复杂水下环境下容易造成缠绕事故，灵活性不够。 Although there are some underwater unmanned devices that can be dive in the prior art, there are some problems, which are not suitable for the civilian field and the fishing field. This is because at present, most of the existing underwater robots adopt an autonomous or cable controlled mode. The autonomous mode is mostly used on the cableless robot. The robot performs underwater operation according to the preset setting or according to the command of the upper computer received from time to time, so that the underwater information and the control robot cannot be acquired in real time; and the cable mode is the robot. The umbilical cable connected to the surface mother ship is powered and communicates with the host computer on the mother ship for data transmission and human-computer interaction. It can realize real-time control of the robot, but its activities are restricted by the umbilical cable, especially the complex underwater environment. It is easy to cause entanglement accidents and the flexibility is not enough.

由此可见，现有的可下潜无人设备具有三种问题：It can be seen that the existing dive unmanned devices have three problems:

(1)下潜深度不够，无法获取详细图像；(1) The depth of dive is not enough to obtain detailed images;

(2)下潜深度虽然足够但是不能实时控制和回传信息，无法解决通信问题；(2) Although the dive depth is sufficient, the information cannot be controlled and returned in real time, and the communication problem cannot be solved;

(3)无法实现无线通信，而是通过电缆控制，只适用于垂直下潜且水下无环境简单无杂物的情况，不适用于由岸边到深水区的非垂直远距离下潜。这种通过电缆的控制非常不现实，在江、河、湖、海和水库等宽阔水域做远距离垂钓时，由于水域宽阔，垂钓点距离岸边很远，水下情况又错综复杂，拖着一根电缆非常容易被缠绕，并且需要携带大量电缆非常不方便。(3) It is impossible to realize wireless communication, but it is controlled by cable. It is only suitable for vertical dive and underwater without environment and no debris. It is not suitable for non-vertical long-distance dive from shore to deep water. This kind of control through the cable is very unrealistic. When fishing in the wide waters such as rivers, rivers, lakes, seas and reservoirs, because of the wide waters, the fishing spots are far from the shore, and the underwater situation is complicated. The root cable is very easy to be entangled, and it is very inconvenient to carry a large number of cables.

现有的水中探测装置例如：利用声呐探测技术的水下潜水器，其只能根据声呐信号探测到物体的大致位置和大致数量，使用者需要根据自己的经验判断被探测物的种类和具***置及具体数量，而无法确切得知被探测物的种类、大小和地理位置。例如：当探测到鱼群时，使用者需要根据经验判断这是什么鱼、大致在什么位置，而不能确切地知道是什么鱼、鱼的大小以及鱼群所在的具体经度、纬度信息。The existing underwater detecting device, for example, an underwater submersible using sonar detection technology, can only detect the approximate position and the approximate number of objects according to the sonar signal, and the user needs to judge the type and specific position of the detected object according to his own experience. And the specific quantity, and the type, size and geographical location of the detected object cannot be known exactly. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group.

由于上述的缺陷，急需要一种包含现有钓鱼无人船功能同时又可以实现一定深度下潜，并且能够实现和岸边的远距离通信，能实时回传水下图像信息的一种用于钓鱼领域的无人船。Due to the above-mentioned shortcomings, there is an urgent need for an existing fishing unmanned ship function that can achieve a certain depth of dive, and can realize long-distance communication with the shore, and can be used for real-time return of underwater image information. Unmanned boat in the fishing field.

发明内容Summary of the invention

针对上述问题，本发明的目的在于提供一种可以利用声呐探测水下物体信息，并可下潜一定深度，实现远距离水下水上无线通信，实时获取水下图像信息并回传给外部终端的无人船。In view of the above problems, an object of the present invention is to provide a sonar that can detect underwater object information, and can dive a certain depth to realize long-distance underwater maritime wireless communication, acquire underwater image information in real time, and transmit it to an external terminal in real time. Unmanned boat.

具体内容为：The specific content is:

一种无人船，其特征在于，包括：图像采集模块，声呐探测模块，通信模块，和中央控制器，其中：An unmanned ship, comprising: an image acquisition module, a sonar detection module, a communication module, and a central controller, wherein:

所述图像采集模块，用于录制和拍摄水下图像；The image acquisition module is configured to record and capture underwater images;

所述声呐探测模块，用于探测水下环境、及鱼群所在位置及深度； The sonar detection module is configured to detect an underwater environment and a location and depth of the fish group;

所述通信模块，用于将无人船的状态信息、图像采集模块获取的图像信息和声呐探测模块获取的信息传输至外部终端，同时将外部终端的控制指令传输至中央控制器；The communication module is configured to transmit state information of the unmanned ship, image information acquired by the image acquisition module, and information acquired by the sonar detection module to the external terminal, and simultaneously transmit the control command of the external terminal to the central controller;

所述中央控制器，与上述各个模块相连，控制无人船的行进动作，并协调各模块工作。The central controller is connected to each of the above modules to control the traveling motion of the unmanned ship and coordinate the work of each module.

进一步的，所述图像采集模块，声呐探测模块，通信模块，电缆收放模块和中央控制器设在无人船主体内，还包括一可漂浮的浮标，所述通信模块的至少天线部分设置在浮标内，所述浮标与无人船主体之间通过一可收放的电缆连接；还包括电缆收放模块，所述电缆收放模块获取的无人船的深度信息以及中央控制器发出的下潜或上浮指令，释放或收回对应长度的电缆，使得电缆长度与无人船所处深度相适应。Further, the image acquisition module, the sonar detection module, the communication module, the cable retracting module and the central controller are disposed in the unmanned ship body, and further comprise a floatable buoy, at least the antenna portion of the communication module is disposed on the buoy The buoy and the unmanned ship body are connected by a retractable cable; and the cable retracting module, the depth information of the unmanned ship obtained by the cable retracting module and the dive from the central controller Or the floating command, release or retract the cable of the corresponding length, so that the cable length is compatible with the depth of the unmanned ship.

进一步的，所述电缆收放模块包括一卷扬机控制器和一卷扬机，所述卷扬机设置在无人船主体上，所述可收放电缆盘绕设置在卷扬机上并通过卷扬机实现收放；或所述电缆收放模块由中央控制器直接控制。Further, the cable retracting module includes a hoisting machine and a hoisting machine, the hoisting machine is disposed on the unmanned vessel main body, and the retractable cable is coiled on the hoisting machine and retracted by the hoist; or The cable retracting module is directly controlled by the central controller.

进一步的，还包括动力模块，所述动力模块用于在中央控制器控制下驱动无人船实现上、下、前、后等方向的运动。所述动力模块包括电机驱动器，和与电机驱动器连接的两个水平驱动电机和一个竖直驱动电机。所述两个水平驱动电机设置在无人船尾部左右两侧，所述竖直驱动电机设置在无人船竖直方向。Further, the power module is further configured to drive the unmanned ship to perform movements in the up, down, front, and rear directions under the control of the central controller. The power module includes a motor driver, and two horizontal drive motors and a vertical drive motor coupled to the motor driver. The two horizontal drive motors are disposed on the left and right sides of the tail of the unmanned ship, and the vertical drive motor is disposed in the vertical direction of the unmanned ship.

进一步的，所述通信模块为DDL图数传一体传输模块，所述DDL图数传一体传输模块将图传信号和双向数据传输信号整合为单一链路进行传输；还包括与中央控制器连接的GPS模块，所述GPS模块设置在浮标内，所述GPS模块用于接收GPS卫星信号确定无人船的位置，并将无人船的GPS位置信息发送给外部终端。并通过DDL图传数传一体传输模块发送至外部终端。Further, the communication module is a DDL image transmission and transmission module, and the DDL image transmission and transmission module integrates the image transmission signal and the two-way data transmission signal into a single link for transmission; and further includes connecting to the central controller. The GPS module is disposed in a buoy, and the GPS module is configured to receive a GPS satellite signal to determine a location of the unmanned ship, and send the GPS location information of the unmanned ship to the external terminal. And transmitted to the external terminal through the DDL picture transmission and transmission integration module.

进一步的，所述中央控制器还包括一自动航行模块，所述自动航行模块接收并存储外部终端发来的航点信息，航点位置和顺序信息并在GPS地图上标定，根据GPS模块获取的无人船实时位置和航行方向，控制动力模块驱动无人船朝向航点行进。Further, the central controller further includes an automatic navigation module, and the automatic navigation module receives and stores the waypoint information, the waypoint location and the sequence information sent by the external terminal, and is calibrated on the GPS map, and is acquired according to the GPS module. The real-time position and navigation direction of the unmanned ship, the control power module drives the unmanned ship to travel toward the waypoint.

进一步的，还包括一持钩模块，所述持钩模块用于加持鱼钩或鱼线，并可在鱼上钩时松开鱼钩或鱼线。持钩模块包括一持钩器和控制器，所述持钩器为一加持机构，其上设置有传感器和电磁铁，当鱼上钩后，传感器发信号，控制器控制电磁铁吸引加持机构张开，松开鱼钩或鱼线；或所述持钩模块由中央控制器直接控制。Further, the utility model further includes a hook holding module, wherein the hook module is used for holding a fishing hook or a fishing line, and Loosen the hook or fishing line when the fish is hooked. The hooking module comprises a hook holder and a controller. The hook holder is a holding mechanism, and the sensor and the electromagnet are arranged thereon. When the fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the holding mechanism to open. , loosen the hook or fishing line; or the hook module is directly controlled by the central controller.

进一步的，所述声呐探测模块包括：发射器，换能器和接收机，且所述中央控制器对声呐探测模块的控制包括：控制声呐模块的开闭以及换能器发射声波的方向。Further, the sonar detection module comprises: a transmitter, a transducer and a receiver, and the control of the sonar detection module by the central controller comprises: controlling opening and closing of the sonar module and a direction in which the transducer emits sound waves.

进一步的，所述图像拍摄模块包括摄像头，LED照明灯和增稳云台，所述中央控制器对图像拍摄模块的控制包括：向摄像头发送开/关指令，向LED照明灯发送开/关指令，向增稳云台发送旋转角度指令。或者，根据对图像拍摄模块传来的图像信息或者根据外部终端发来的控制指令对图像拍摄模块进行控制。所述无人船前端为一透明的导流罩，所述摄像头，LED照明灯和增稳云台设置在导流罩内。Further, the image capturing module includes a camera, an LED lighting and a stabilization pan, and the control of the image capturing module by the central controller includes: sending an on/off command to the camera, and sending an on/off command to the LED illumination. Send a rotation angle command to the stabilization pan/tilt. Alternatively, the image capturing module is controlled according to image information transmitted to the image capturing module or according to a control command sent from an external terminal. The front end of the unmanned ship is a transparent shroud, and the camera, the LED illumination lamp and the stabilization pan are disposed in the shroud.

进一步的，还包括电源模块，传感器模块和存储模块；所述电源模块用于给无人船供电，包括电源管理模块和电源；所述传感器模块包括，压力传感器，深度传感器，三轴陀螺仪，三轴加速度计，三轴磁场计防漏检测器和惯性测量单元；所述存储模块用于存储无人船的航行数据，图像采集模块记录的图片或视频数据等；所述电缆为零浮通信电缆。Further, the method further includes a power module, a sensor module, and a storage module; the power module is configured to supply power to the unmanned ship, including a power management module and a power source; the sensor module includes a pressure sensor, a depth sensor, and a three-axis gyroscope. a three-axis accelerometer, a three-axis magnetic field meter leakage detector and an inertial measurement unit; the storage module is configured to store navigation data of an unmanned ship, picture or video data recorded by an image acquisition module, etc.; cable.

进一步的，所述中央控制器，控制声呐探测模块的声音发送装置和图像拍摄模块的摄像头处在同一方向和角度上。Further, the central controller controls the sound transmitting device of the sonar detecting module and the camera of the image capturing module to be in the same direction and angle.

进一步的，所述声呐探测模块的声音发送装置和图像拍摄模块的摄像头组合在一起；且当中央控制器控制换能器发出声波时，同时控制摄像头开始拍照，或/和当换能器接收到声音回波时，中央控制器控制摄像头拍照。Further, the sound transmitting device of the sonar detecting module and the camera of the image capturing module are combined; and when the central controller controls the transducer to emit sound waves, the camera is simultaneously controlled to start photographing, or/and when the transducer receives When the sound echoes, the central controller controls the camera to take a picture.

进一步的，所述中央控制器、声呐探测模块、图像拍摄模块、电缆收放模块、持钩模块和动力模块设置在无人船内部，所述通信模块的至少天线部分设置在浮标内，所述浮标通过电缆与无人船连接。Further, the central controller, the sonar detection module, the image capturing module, the cable retracting module, the hooking module and the power module are disposed inside the unmanned ship, and at least the antenna portion of the communication module is disposed in the buoy, The buoy is connected to the unmanned ship by cable.

一种无人船***，其特征在于，包括所述无人船和一外部终端，所述外部终端与无人船的通信模块无线连接，用于对所述无人船的运动、探测、拍摄过程进行远程控制，并接收无人船发来的声呐数据、图像数据、航行状态数据和GPS数据等。An unmanned ship system, comprising: the unmanned ship and an external terminal, wherein the external terminal is wirelessly connected with a communication module of the unmanned ship for moving, detecting, and photographing the unmanned ship Process Remote control and receiving sonar data, image data, navigation status data and GPS data from unmanned ships.

进一步的，所述外部终端包括CPU、显示模块、输入模块、终端通信模块和存储模块，其中：Further, the external terminal includes a CPU, a display module, an input module, a terminal communication module, and a storage module, where:

CPU与显示模块、输入模块、发射接收模块和存储模块连接，并对这些模块进行控制，通过发射接收模块向无人船发送控制指令；The CPU is connected to the display module, the input module, the transmitting and receiving module, and the storage module, and controls the modules, and sends a control instruction to the unmanned ship through the transmitting and receiving module;

显示装置：用于显示收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息；Display device: used to display image data, sonar data, GPS data, navigation data and sensors of the received unmanned ship;

终端通信模块：用于向无人船发射无线信号和接收来自无人船的无线信号，可采用WIFI，蓝牙,射频和光通信等通信模式；Terminal communication module: used to transmit wireless signals to unmanned ships and receive wireless signals from unmanned ships, and can adopt communication modes such as WIFI, Bluetooth, radio frequency and optical communication;

输入模块：用于将外部指令输入给CPU，所述输入模块可以是操纵杆、键盘、触摸屏、语音输入和手势输入中的一种或几种的组合；Input module: for inputting an external command to the CPU, the input module may be a combination of one or more of a joystick, a keyboard, a touch screen, a voice input, and a gesture input;

存储模块：用于存储收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息或用户的输入信息或事先预存的无人船航行模式和自动航行信息。Storage module: used to store the received image data of the unmanned ship, sonar data, GPS data, navigation data and sensors or user input information or pre-stored unmanned ship navigation mode and automatic navigation information.

进一步的，还具有电源模块，UBS接口；所述终端为手机、平板电脑、计算机或者其它移动终端。Further, there is a power module, a UBS interface; the terminal is a mobile phone, a tablet computer, a computer or other mobile terminal.

进一步的，所述外部终端，还具有语音播报模块，所述语音播报模块用于将接收到的航行数据等信息转换成音频信息并通过扬声器进行播报。Further, the external terminal further has a voice broadcast module, and the voice broadcast module is configured to convert the received navigation data and the like into audio information and broadcast the message through a speaker.

进一步的，所述终端的存储模块进一步用于，存储预设的水中被探测物的信息，所述CPU可将无人船的通信模块发送来的图像信息及其他信息与存储模块存储的预设的水中被探测物的信息进行比对，向显示模块或语音播报模块发送比对结果及建议信息。Further, the storage module of the terminal is further configured to store preset information of the detected object in the water, and the CPU may use the image information and other information sent by the communication module of the unmanned ship and the preset stored by the storage module. The information of the detected object in the water is compared, and the comparison result and the suggestion information are sent to the display module or the voice broadcast module.

进一步的，所述无人船预设有一键返航模式，所述终端上预设有返航键，存储模块预存返航坐标点，当终端检测到用户按下返航键时，向无人船发出返航控制指令。Further, the unmanned ship presets a key return mode, and the terminal has a return button pre-stored, and the storage module pre-stores the return coordinate point. When the terminal detects that the user presses the return button, the return control is sent to the unmanned ship. instruction.

本发明一种无人船，包含现有钓鱼无人船的功能，可利用声呐模块探测水下物体，同时又可以实现一定深度下潜，通过在无人船上设置图像采集模块，实现水下图像采集，并且能够实现和岸边的远距离通信，实时回传水下图像信息。本发明的无人船可行驶在水面上，声呐模块探测到水下鱼群信息时，可进行下潜观测，并通过一漂浮在水面上的与无人船通过电缆连接的内置通信天线的浮标，将图像采集模块实时传输水下图像给水上的外部终端，通过外部终端显示模块向用户展示无人船探测到的信息和拍摄的图像信息。可以确定是否有鱼群，以及是什么种类的鱼，以及其他详细的水下物体信息。The invention discloses an unmanned ship, which comprises the function of an existing fishing unmanned ship, and can detect underwater by using a sonar module At the same time, the object can realize a certain depth dive. By setting an image acquisition module on the unmanned ship, underwater image acquisition can be realized, and long-distance communication with the shore can be realized, and the underwater image information can be returned in real time. The unmanned ship of the present invention can travel on the water surface, and when the sonar module detects the underwater fish school information, it can perform the dive observation and pass the floating buoy of the built-in communication antenna connected to the unmanned ship through the cable on the water surface. The image acquisition module transmits the underwater image to the external terminal on the water in real time, and displays the information detected by the unmanned ship and the captured image information through the external terminal display module. You can determine if there are fish, what kind of fish, and other detailed underwater objects.

附图说明DRAWINGS

图1是本发明实施例中无人船与外部终端实现交互的关系框图1 is a block diagram showing the relationship between an unmanned ship and an external terminal in an embodiment of the present invention;

图2是本发明实施例中无人船的结构框图2 is a block diagram showing the structure of an unmanned ship in the embodiment of the present invention.

图3是本发明实施例中电缆收放模块卷扬机示意图3 is a schematic view of a cable hoisting module hoist according to an embodiment of the present invention;

图4是本发明实施例中卷扬机设置在无人船外部的示意图Figure 4 is a schematic view showing the hoisting machine disposed outside the unmanned ship in the embodiment of the present invention;

图5是本发明实施例中卷扬机设置在无人船内部的示意图Figure 5 is a schematic view showing the hoisting machine disposed inside the unmanned ship in the embodiment of the present invention;

图6是本发明实施例中卷扬机设置在无人船外部凹槽的示意图Figure 6 is a schematic view showing the hoisting machine disposed on the outer groove of the unmanned ship in the embodiment of the present invention;

图7是本发明实施例中外部终端的结构框图7 is a structural block diagram of an external terminal in an embodiment of the present invention;

图8是本发明实施例应用场景示意图FIG. 8 is a schematic diagram of an application scenario according to an embodiment of the present invention;

无人船100，中央控制器110，图像采集模块120，声呐探测模块130，通信模块140，天线141，图数一体传输模块142，电缆收放模块150，卷扬机控制器151，卷扬机152，动力模块160，自动航行模块170，传感器模块180，电源模块190，GSP模块101，存储模块102，持钩模块103，外部终端200，CPU210，显示模块220，输入模块230，终端通信模块240，终端存储模块250，终端电源模块260，语音播报模块270，APP201，电缆300，浮标400 Unmanned ship 100, central controller 110, image acquisition module 120, sonar detection module 130, communication module 140, antenna 141, figure integration transmission module 142, cable retraction module 150, hoist controller 151, winch 152, power Module 160, automatic navigation module 170, sensor module 180, power module 190, GSP module 101, storage module 102, hook module 103, external terminal 200, CPU 210, display module 220, input module 230, terminal communication module 240, terminal storage Module 250, terminal power module 260, voice broadcast module 270, APP 201, cable 300, buoy 400

具体实施方式detailed description

随着无人机技术的兴起，各种无人设备得到广泛应用，无人船在钓鱼领域开始得到越来越多的应用，但现有无人船在钓鱼领域具有很多缺陷。因此本发明提供一种无人船，可利用声呐模块探测水下物体，同时又可以实现一定深度下潜，通过在无人船上设置图像采集模块，实现水下图像采集，并且能够实现从水下至岸边的远距离通信，实时回传水下图像信息的。提升了钓鱼的成功率，提升了垂钓活动的娱乐性和可操作性，为用户带来了不一样的远程控制体验。With the rise of drone technology, various unmanned devices have been widely used, and unmanned ships are opening in the fishing field. More and more applications have begun, but existing unmanned vessels have many drawbacks in the field of fishing. Therefore, the present invention provides an unmanned ship that can detect underwater objects by using a sonar module, and at the same time can realize a certain depth of dive, and realize an underwater image collection by setting an image acquisition module on the unmanned ship, and can realize underwater from underwater. Long-distance communication to the shore, real-time return of underwater image information. Improve the success rate of fishing, improve the entertainment and operability of fishing activities, and bring a different remote control experience for users.

下面结合附图及具体实施例对本发明再作进一步详细的说明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

图1为本申请实施例提供的无人船***的组成以及与外部终端实现交互的关系框图，该***主要包括：外部终端200和无人船100，本发明无人船100可浮在水面，也可以潜入水下。其中，1 is a block diagram showing the composition of an unmanned ship system and the interaction with an external terminal according to an embodiment of the present application. The system mainly includes an external terminal 200 and an unmanned ship 100. The unmanned ship 100 of the present invention can float on the water surface. You can also dive into the water. among them,

外部终端200：用于对无人船100的运动控制及探测、和/或拍摄过程进行远程控制，以及下潜和上浮控制，并接收无人船100发来的被探测物的信息、位置信息和图像信息。The external terminal 200 is configured to remotely control the motion control and detection of the unmanned ship 100, and/or the shooting process, and to dive and float control, and receive information and position information of the detected object sent by the unmanned ship 100. And image information.

无人船100：用于在终端200的远程控制下实现运动控制及进行探测、和/或拍摄，并通过其上的通信模块将获得的被探测物的信息、位置信息和图像信息发送给外部终端200。The unmanned ship 100 is configured to implement motion control and perform detection, and/or photographing under remote control of the terminal 200, and transmit the obtained information of the detected object, position information, and image information to the outside through the communication module thereon. Terminal 200.

如图2所示，图2为本申请实施例提供的一种无人船的结构框图，其特征在于，包括：图像采集模块120，声呐探测模块130，通信模块140，电缆收放模块150，和中央控制器110，其中：As shown in FIG. 2, FIG. 2 is a structural block diagram of an unmanned ship according to an embodiment of the present invention, which includes: an image acquisition module 120, a sonar detection module 130, a communication module 140, and a cable retracting module 150. And a central controller 110, wherein:

所述图像采集模块120，用于录制和拍摄水下图像；The image acquisition module 120 is configured to record and capture underwater images;

所述声呐探测模块130，用于探测水下环境、鱼群所在位置及深度；The sonar detection module 130 is configured to detect an underwater environment, a location and a depth of the fish group;

所述通信模块140，用于将无人船100的状态信息、图像采集模块120获取的图像信息和声呐探测模块130获取的信息传输至外部终端200，同时将外部终端200的控制指令传输至中央控制器110；The communication module 140 is configured to transmit the state information of the unmanned ship 100, the image information acquired by the image acquisition module 120, and the information acquired by the sonar detection module 130 to the external terminal 200, and simultaneously transmit the control command of the external terminal 200 to the center. Controller 110;

所述电缆收放模块150根据中央控制器110发出的下潜或上浮指令，释放或收回对应长度的电缆300，使得电缆300长度与无人船所处深度相适应；The cable retracting module 150 releases or retracts the cable 300 of the corresponding length according to the dive or floating command issued by the central controller 110, so that the length of the cable 300 is adapted to the depth of the unmanned ship;

所述中央控制器110，与上述各个模块相连，控制无人船100的行进动作，并协调各模块工作。The central controller 110 is connected to each of the above modules to control the traveling motion of the unmanned ship 100 and coordinate the operation of each module.

本发明无人船同时具有声呐探测模块130和图像采集模块120，现有钓鱼用无人船一般不具有摄像头，即使有摄像头也只能采集水面附近的图像，对于水下一定深度的探测只能根据声呐信号探测到物体的大致位置和大致数量，使用者需要根据自己的经验判断被探测物的种类和具***置及具体数量，而无法确切得知被探测物的种类、大小和地理位置。例如：当探测到鱼群时，使用者需要根据经验判断这是什么鱼、大致在什么位置，而不能确切地知道是什么鱼、鱼的大小以及鱼群所在的具体经度、纬度信息。本发明的无人船100可以下潜并具有图像采集模块，因而可以获取到准确的图像信息，可以准确看到探测的物体是什么，是否为鱼群，鱼为什么种类等。大大提高了垂钓成功率和用户体验。The unmanned ship of the invention has both the sonar detection module 130 and the image acquisition module 120, and the existing fishing Unmanned ships generally do not have a camera. Even if there is a camera, only images near the water surface can be collected. For a certain depth of underwater detection, the approximate position and approximate number of objects can only be detected according to the sonar signal. The user needs to judge according to his own experience. The type, specific location and specific quantity of the object to be detected cannot accurately know the type, size and geographical location of the object to be detected. For example, when a fish school is detected, the user needs to judge according to experience what fish is, roughly where, and can not know exactly what fish, fish size and specific longitude and latitude information of the fish group. The unmanned ship 100 of the present invention can dive and have an image acquisition module, so that accurate image information can be obtained, and it is possible to accurately see what the detected object is, whether it is a fish group, and why the fish is. Greatly improved fishing success rate and user experience.

进一步的，所述图像采集模块120，声呐探测模块130，通信模块140，电缆收放模块和中央控制器设在无人船主体内，所述通信模块140的至少天线141部分设置在一可漂浮的浮标400内，所述浮标400与无人船100主体之间通过一可收放的电缆300连接；还包括电缆收放模块150，所述电缆收放模块150获取的无人船的深度信息以及中央控制器110发出的下潜或上浮指令，释放或收回对应长度的电缆300，使得电缆300长度与无人船所处深度相适应。Further, the image acquisition module 120, the sonar detection module 130, the communication module 140, the cable retracting module and the central controller are disposed in the unmanned ship body, and at least the antenna 141 of the communication module 140 is partially disposed in a floatable manner. In the buoy 400, the buoy 400 is connected to the main body of the unmanned ship 100 through a retractable cable 300; and further includes a cable retracting module 150, the depth information of the unmanned ship acquired by the cable retracting module 150, and The dive or floating command issued by the central controller 110 releases or retracts the cable 300 of the corresponding length such that the length of the cable 300 is adapted to the depth of the unmanned ship.

这样设置的好处是确保水下正常通信，由于水下电磁波衰减严重，而且在水面和空气的交界面处电磁波又会衰减掉一大部分。而且钓鱼时无人船通常会航行至深水区域距离岸边的用户较远，此时无人船与用户之间的连线并不是垂直于水面，而是近乎水平的，信号有相当一段距离是在水中传播，所以此时即使下潜很小的深度都会导致信号中断。The advantage of this setting is to ensure normal underwater communication, because the underwater electromagnetic wave attenuation is severe, and the electromagnetic wave will attenuate a large part at the interface between the water surface and the air. Moreover, when fishing, unmanned ships usually sail to the deep water area far away from the users on the shore. At this time, the connection between the unmanned ship and the user is not perpendicular to the water surface, but is nearly horizontal, and the signal has a considerable distance. Spread in the water, so even a small depth of dive will cause a signal interruption.

因此设置本发明无人船100还连接一浮标400，所述无人船100的通信模块140至少天线部分141设置在浮标400内(或也可以将通信模块140设置在浮标内)，浮标400与无人船100通过电缆300连接。浮标400漂浮在水面上，相当于中继站，起到了连接水上和水下通信的功能，浮标400与外部终端200之间为水上通信，浮标400与无人船100之间通过电缆300进行有线通信，信号在空气和电缆中衰减很小，因此保证了通信的稳定，降低了能耗。Therefore, the unmanned ship 100 of the present invention is further connected to a buoy 400, and at least the antenna portion 141 of the communication module 140 of the unmanned ship 100 is disposed in the buoy 400 (or the communication module 140 may also be disposed in the buoy), the buoy 400 and The unmanned boat 100 is connected by a cable 300. The buoy 400 floats on the water surface, which is equivalent to a relay station, and functions to connect water and underwater communication. The buoy 400 and the external terminal 200 are maritime communication, and the buoy 400 and the unmanned ship 100 are wired and communicated via the cable 300. The signal is less attenuated in air and cable, thus ensuring communication stability and reducing energy consumption.

进一步的，设置有述电缆收放模块150，电缆收放模块根据中央控制器110发出的下潜或上浮指令，释放或收回对应长度的电缆300，使得电缆300长度与无人船所处深度相适应。 Further, the cable retracting module 150 is provided, and the cable retracting module releases or retracts the cable 300 of the corresponding length according to the dive or floating command issued by the central controller 110, so that the length of the cable 300 is opposite to the depth of the unmanned ship. adapt.

现有无人船很彻底实现水上行情和水下行情的切换，要么只能水上航行，要么只进行水下航行。具有一定缺陷，例如只进行水下行情的无人船，虽然可以获得水下图像，但是在从岸边浅水区到深水区的航行过程中，容易被水草缠绕，尤其在宽阔水域垂钓时，航行距离较远，用户无法目视到无人船的航行位置，给垂钓带来很大不便。The existing unmanned ships are completely able to switch between water and water, or they can only sail on water or only underwater. A ship with certain defects, such as an unmanned ship that only carries out the water, although it can obtain underwater images, it is easy to be entangled by water plants during the voyage from the shallow waters of the shore to the deep waters, especially when fishing in wide waters. The distance is far away, and the user cannot visually see the navigation position of the unmanned ship, which brings great inconvenience to the fishing.

水上和水下航行的切换，除了通信问题的困扰，无人船的浮力改变也是一个技术难题，如使用潜艇远离设置浮力舱和排水舱，成本大大增加，结构复杂不适合民用领域。若将钓鱼船设置为零浮力(密度与水近似)，虽然可以确保正常下潜，但又难以实现水面行情，并且水面航行时需要竖直方向的推进器一直工作提供上浮力，无疑大大增加能耗。并且水下行情的阻力要远远大于水面航行，这会大大增加在寻找钓鱼点过程中的能量损耗。Switching between water and underwater navigation, in addition to communication problems, the buoyancy of unmanned ships is also a technical problem. For example, the use of submarines to move away from the buoyancy and drainage compartments increases the cost and complexity of the structure is not suitable for civilian use. If the fishing boat is set to zero buoyancy (density is similar to water), although it can ensure normal dive, it is difficult to achieve the surface of the water, and the vertical propeller needs to work up to provide buoyancy when sailing on the surface, which will undoubtedly increase the energy. Consumption. And the resistance of the water is far greater than the surface navigation, which will greatly increase the energy loss in the process of finding fishing spots.

这样设置的好处是可以利用浮标400实现无人船水上和水下航行的切换，当需要进行水面航行时，通过将电缆300收回，使得无人船100和浮标400接触贴合，无人船100利用浮标400的浮力可以一直在贴近水面的范围行驶，不需要竖直方向的电机驱动，也不需要在无人船内设置浮力仓等复杂结构来实现上浮。简化了结构，节省了能耗，增加了续航时间。The advantage of this arrangement is that the buoy 400 can be used to realize the switching of the unmanned ship on the water and underwater navigation. When the surface navigation is required, the unmanned ship 100 and the buoy 400 are brought into contact by the retraction of the cable 300, and the unmanned ship 100 The buoyancy of the buoy 400 can always be driven close to the water surface, no vertical motor drive is required, and no complicated structure such as a buoyancy bin is required in the unmanned ship to achieve floating. Simplifies the structure, saves energy and increases battery life.

在实际使用中，无人船100首先保持电缆300回收的开始在水面行情由岸边像深水区域行驶，并在合适的水域利用声呐探测模块130对水下环境进行探测，当探测到有疑似鱼群的物体出现时，可以通过外部终端200发出下潜指令(外部终端200还可设置有一键下潜功能键，在终端存储模块250中预先存好下潜深度速度等数据)，发出下潜指令，此时电缆收放模块150释放电缆300的长度，无人船100可设置为与水的密度相仿或略大，此时无人船实现下潜，下潜过程可以通过竖直方向的驱动电机来加速，同时电缆收放模块150接收无人船深度传感器181的深度数据，确定释放电缆300的长度，以确保电缆300长度与无人船所处深度相适应。当下潜至一定深度时，可通过图像采集模块120，实时传输水下画面，用户可通过外部终端200上的显示模块220，实时观察到水下物体的详细特征，是否为鱼群，鱼的种类，数量等信息。根据图像信息做出进一步的垂钓判断。结合图像信息大大提高声呐探测的准确性，提高了钓鱼体验。本发明无人船还可以设置定深模式，根据深度传感器181的信息，控制竖直方向推进器转速，实现定深控制。In actual use, the unmanned vessel 100 first keeps the beginning of the recovery of the cable 300 on the surface of the water from the shore like a deep water area, and uses the sonar detection module 130 to detect the underwater environment in suitable waters when a suspected fish is detected. When the object of the group appears, the dive command can be sent through the external terminal 200 (the external terminal 200 can also be provided with a key dive function key, and the dive depth speed data is pre-stored in the terminal storage module 250), and the dive command is issued. At this time, the cable retracting module 150 releases the length of the cable 300, and the unmanned ship 100 can be set to be similar to or slightly larger than the density of the water. At this time, the unmanned ship realizes the dive, and the dive process can pass the vertical driving motor. To accelerate, while the cable retracting module 150 receives the depth data of the unmanned vessel depth sensor 181, the length of the release cable 300 is determined to ensure that the length of the cable 300 is compatible with the depth of the unmanned vessel. When dive to a certain depth, the underwater image can be transmitted in real time through the image acquisition module 120. The user can observe the detailed features of the underwater object in real time through the display module 220 on the external terminal 200, whether it is a fish group or a fish type. , quantity and other information. Further fishing judgments are made based on the image information. Combining image information greatly improves the accuracy of sonar detection and improves the fishing experience. The unmanned ship of the present invention can also set a depth mode. According to the information of the depth sensor 181, the vertical direction propeller speed is controlled to realize the depth control.

进一步的，如图3所示，本发明实施例采用一设置在无人船100上的卷扬机实现电缆300的收放。所述电缆收放模块150包括一卷扬机控制器151和一卷扬机152，所述卷扬机设置在无人船100主体上，所述可收放电缆300盘绕设置在卷扬机152上并通过卷扬机152实现收放。Further, as shown in FIG. 3, the embodiment of the present invention implements the retracting and detaching of the cable 300 by using a hoist provided on the unmanned ship 100. The cable retracting module 150 includes a hoisting controller 151 and a hoisting machine 152. The hoisting machine is disposed on the main body of the unmanned vessel 100. The retractable cable 300 is coiled on the hoisting machine 152 and retracted by the hoisting machine 152. .

进一步的，如图4所示，所述卷扬机152可设置在无人船100的外部，其与无人船100内部的卷扬机控制器151通过密封防水的方式电连接。所述电缆收放模块也可以由中央控制器直接控制，具体为中央控制器可直接控制卷扬机152的开启和关闭以及调整旋转方向。Further, as shown in FIG. 4, the hoisting machine 152 may be disposed outside the unmanned ship 100, and is electrically connected to the hoisting machine controller 151 inside the unmanned ship 100 by sealing and waterproofing. The cable retracting module can also be directly controlled by the central controller. Specifically, the central controller can directly control the opening and closing of the hoisting machine 152 and adjust the rotation direction.

进一步的，如图5所示，所述卷扬机152还可设置在无人船100内部，具体的是在无人船内部设置一卷扬机舱，电缆300通过舱体顶部一动密封口伸出无人船100外，并与浮标400连接。Further, as shown in FIG. 5, the hoisting machine 152 may also be disposed inside the unmanned ship 100. Specifically, a hoisting cabin is disposed inside the unmanned ship, and the cable 300 extends out of the unmanned ship through a movable sealing port at the top of the cabin. Outside 100, and connected to the buoy 400.

在一较佳实施例中，如图6所示，还可以在无人船100船体外设置一凹槽结构，所述凹槽结构用于和浮标400的下表面配合，这样可以在收回电缆300后，使得浮标400嵌入凹槽中，浮标400与无人船成为一整体，有利于水面航行时的稳定性。In a preferred embodiment, as shown in FIG. 6, a recess structure can also be disposed outside the hull of the unmanned vessel 100, and the recessed structure is configured to cooperate with the lower surface of the buoy 400 so that the cable 300 can be retracted. After that, the buoy 400 is embedded in the groove, and the buoy 400 is integrated with the unmanned ship, which is favorable for stability when sailing on the surface.

进一步的，还包括动力模块160，所述动力模块160用于在中央控制器110控制下驱动无人船100实现上、下、前、后等方向的运动。所述动力模块160包括电机驱动器161，和与电机驱动器连接的两个水平驱动电机162和一个竖直驱动电机163。所述两个水平驱动电机162设置在无人船尾部左右两侧，所述竖直驱动电机163设置在无人船下侧。所述电机驱动器161接收中央控制器110的指令，根据指令对电机进行转速和方向控制。无人船100中的动力模块160为无人船提供动力，无人船100进行整体运动控制，如：驱动无人船100在水中进行各方位的运动(例如：向上运动、向下运动、或前进、后退、旋转运动等)，并可通过电机驱动器161与控制器110进行信息交换。此种控制指令也可以由外部终端200发出，经通信模块140接收然后传送给中央控制器110，中央控制器110根据部终端200的指令控制动力模块160,。动力模块160还将其动力状态信息发送给中央控制器110并经通信模块140发送给外部终端200。设置的水平驱动电机162须确保无人船100具有一定的航速和抗风浪能力，设计无人船100可抵抗1.5-2.0米/秒的海流，水平航速可达到3-4节。电机采用无刷直流电机驱动，内置电机FOC控制与速度、电流反馈闭环。Further, the power module 160 is further configured to drive the unmanned ship 100 to achieve upper, lower, front, rear, and the like movement under the control of the central controller 110. The power module 160 includes a motor driver 161, and two horizontal drive motors 162 and one vertical drive motor 163 that are coupled to the motor driver. The two horizontal drive motors 162 are disposed on the left and right sides of the tail of the unmanned ship, and the vertical drive motor 163 is disposed on the underside of the unmanned ship. The motor driver 161 receives an instruction from the central controller 110 to perform rotational speed and direction control of the motor in accordance with the command. The power module 160 in the unmanned vessel 100 provides power to the unmanned vessel, and the unmanned vessel 100 performs overall motion control, such as driving the unmanned vessel 100 to perform various movements in the water (eg, upward movement, downward movement, or Forward, backward, rotary motion, etc., and information exchange with the controller 110 via the motor driver 161. Such control commands may also be issued by the external terminal 200, received by the communication module 140 and then transmitted to the central controller 110, which controls the power module 160 in accordance with the instructions of the department terminal 200. The power module 160 also transmits its power state information to the central controller 110 and to the external terminal 200 via the communication module 140. Set horizontal drive The motor 162 must ensure that the unmanned vessel 100 has a certain speed and resistance to wind and waves. The unmanned vessel 100 is designed to withstand sea currents of 1.5-2.0 m/s and the horizontal speed can reach 3-4 knots. The motor is driven by a brushless DC motor, with built-in motor FOC control and speed and current feedback closed loop.

进一步的，为了优化通信效果，减少信号干扰，本发明实施例采用所述通信模块为DDL图数传一体传142输模块，所述DDL图数传一体传输模块142将图传信号和双向数据传输信号整合为单一链路进行传输(信号包括无人船行驶数据，声呐数据，图像数据)，使用一根天线。避免了分别设置图传天线和数传天线两路信号传输时发生干扰的情况，同时降低能耗。外部终端200的终端通讯模块240也可以设置成DDL图数传一体传输模块，所述图数传模块将无人船100和外部端200上的图像信号和数据信号整合为同一链路信号进行发送，并将无人船100和外部终端200接收到的同一链路信号解码为图像信号和数据信号，实现无人船100和外部终端200的双向数据传输。信号可采用WIFI，蓝牙,射频，长期演进(Long Term Evolution，LTE)模式,遥测调频射频(Telemetry FM Radio)方式、卫星方式等方式传输和光通信等通信模式。Further, in order to optimize the communication effect and reduce the signal interference, the embodiment of the present invention adopts the communication module to transmit the 142 transmission module for the DDL image number, and the DDL image transmission and transmission module 142 transmits the image transmission signal and the bidirectional data transmission. The signals are integrated into a single link for transmission (signals including unmanned ship travel data, sonar data, image data) using an antenna. It avoids the interference when the two signals of the picture transmission antenna and the digital transmission antenna are separately transmitted, and reduces the energy consumption. The terminal communication module 240 of the external terminal 200 can also be configured as a DDL image transmission and transmission module, and the image transmission module integrates the image signal and the data signal on the unmanned ship 100 and the external terminal 200 into the same link signal for transmission. And decoding the same link signal received by the unmanned ship 100 and the external terminal 200 into an image signal and a data signal, thereby realizing bidirectional data transmission between the unmanned ship 100 and the external terminal 200. Signals can be transmitted by WIFI, Bluetooth, RF, Long Term Evolution (LTE) mode, Telemetry FM Radio, satellite, and other communication modes.

进一步的，还包括GPS模块101，所述GPS模块101用于接收GPS卫星信号确定无人船100的位置，并将无人船100的GPS位置信息发送给外部终端200。所述发射给外部终端的过程可以通过DDL图传数传一体传输模块141发送至外部终端200。需要说明的是，为了保证探测到信号，GPS天线应该始终保持露在水面上。因此需要将GPS模块101设置在浮标400内。GPS天线可以是全向天线(Multi-angel antenna)、智能天线(Smart antenna)或平板天线。设置GPS模块的优点在于可以实时获得无人船的位置，并且可以进一步通过在GSP地图上存储坐标点来实现自动航行和定点钓鱼。Further, the GPS module 101 is further configured to receive the GPS satellite signal to determine the location of the unmanned ship 100, and transmit the GPS location information of the unmanned ship 100 to the external terminal 200. The process of transmitting to the external terminal may be transmitted to the external terminal 200 through the DDL map transmission and transmission integration module 141. It should be noted that in order to ensure the detection of the signal, the GPS antenna should always remain exposed to the water. It is therefore necessary to place the GPS module 101 within the buoy 400. The GPS antenna can be a multi-angel antenna, a smart antenna or a patch antenna. The advantage of setting up the GPS module is that the location of the unmanned ship can be obtained in real time, and the automatic navigation and fixed-point fishing can be further realized by storing coordinate points on the GSP map.

进一步的，还包括一自动航行模块170，所述自动航行模块170接收并存储外部终端200发来的航点信息，将航点位置和顺序信息并在GPS地图上标定，根据GPS模块101获取的无人船实时位置和航行方向，控制动力模块160实时调整转速和方向，以驱动无人船朝向航点行进。自动航行的控制方法采用一自动定向回路，使无人船100保持给定的航行角度，中央控制器110由AHRS航行姿态参考***获得航向角度以后，根据航向误差与模糊PID控制算法得到产品推力大小和防线个，进一步进行推进力分配，得到各驱动电机的转速与方向，从而实现闭环控制，确保自动航行的准确定。Further, an automatic navigation module 170 is further included, and the automatic navigation module 170 receives and stores the waypoint information sent by the external terminal 200, and calibrates the waypoint location and sequence information on the GPS map, according to the GPS module 101. The real-time position and navigation direction of the unmanned ship, the control power module 160 adjusts the rotational speed and direction in real time to drive the unmanned ship to travel toward the waypoint. The automatic navigation control method adopts an automatic directional loop to maintain the unmanned vessel 100 at a given navigation angle. After the central controller 110 obtains the heading angle from the AHRS navigation attitude reference system, the product thrust is obtained according to the heading error and the fuzzy PID control algorithm. And the line of defense, further propulsion distribution, get the speed and direction of each drive motor, so as to achieve closed-loop control, to ensure the accuracy of the automatic navigation.

进一步的，还包括一持钩模块103，所述持钩模块用于加持鱼钩或鱼线，并可在鱼上钩时松开鱼钩或鱼线。持钩模块包括一持钩器和控制器，所述持钩器为一加持机构，其上设置有传感器和电磁铁，当鱼上钩后，传感器发信号，控制器控制电磁铁吸引加持机构张开，松开鱼钩或鱼线。所述持钩模块也可以由中央控制器直接控制。具体为，所述中央控制器直接控制持钩器的开闭。Further, a hook module 103 is used for holding the hook or the fishing line, and the hook or the fishing line can be loosened when the fish is hooked. The hooking module comprises a hook holder and a controller. The hook holder is a holding mechanism, and the sensor and the electromagnet are arranged thereon. When the fish is hooked, the sensor sends a signal, and the controller controls the electromagnet to attract the holding mechanism to open. , loosen the hook or fishing line. The hook module can also be directly controlled by the central controller. Specifically, the central controller directly controls opening and closing of the hook holder.

进一步的，所述声呐探测模块包括130：发射器，换能器和接收机，且所述中央处控制器对声呐探测模块的控制包括：控制声呐模块的开闭以及换能器发射声波的方向。声呐探测模块130利用声波探测水的周边环境，例如：距离多远有鱼、是否有障碍物、距离水面或探测目标有多深等信息；将获得的周边环境信息通过通信模块140发送给外部终端200；外部终端200对声呐探测模块130发来的信息进行处理，根据处理结果或者根据用户的输入生成控制指令，发送给无人船100的通信模块140，从而对声呐探测模块130进行控制。例如：控制声呐探测模块140的发出声波的大小、水平方向、俯仰方向和旋转方向的调节(如：向左、向右、向下或向上的调节)，以便更快、更准地探测到用户所需要的被探测物。Further, the sonar detection module includes 130: a transmitter, a transducer and a receiver, and the control of the sonar detection module by the central controller includes: controlling opening and closing of the sonar module and direction of sound waves emitted by the transducer . The sonar detection module 130 uses sound waves to detect the surrounding environment of the water, for example, how far the fish is, whether there is an obstacle, how much the water surface or the detection target is deep, and the like; and the obtained surrounding environment information is transmitted to the external terminal through the communication module 140. 200; The external terminal 200 processes the information sent by the sonar detection module 130, generates a control command according to the processing result or according to the input of the user, and transmits it to the communication module 140 of the unmanned ship 100, thereby controlling the sonar detection module 130. For example, controlling the adjustment of the size, horizontal direction, pitch direction and rotation direction of the sound wave detecting module 140 (for example, adjustment to the left, right, down or upward), so as to detect the user faster and more accurately. The required object to be detected.

在实际应用中，无人船100还包括用于探测水温等的传感器。中央控制器110将传感器的状态信息通过通信模块205传送给终端10。In practical applications, the unmanned ship 100 also includes sensors for detecting water temperature and the like. The central controller 110 transmits the status information of the sensor to the terminal 10 through the communication module 205.

进一步的，所述图像采集模块120包括摄像头121，LED照明灯123和增稳云台122，所述中央控制器110对图像拍摄模块120的控制包括：向摄像头发送开/关指令，向LED照明123灯发送开/关指令，向增稳云台122发送旋转角度指令。或者，根据对图像拍摄模块传来的图像信息或者根据外部终端发来的控制指令对图像拍摄模块进行控制。所述无人船前端为一透明的导流罩，所述摄像头，LED照明灯和增稳云台设置在导流罩内。所述LED照明123灯设置两组，可调节亮度，亮度可通过PWM信号控制相应的驱动电路来进行调节。所述摄像头121支持可见光，也可以安装红外模块，可采用广角镜头进一步获得全面的画面，可满足1080P高清拍摄。所述增稳云台122为两轴云台或多轴云台。Further, the image acquisition module 120 includes a camera 121, an LED illumination lamp 123 and a stabilization platform 122. The control of the image capture module 120 by the central controller 110 includes: sending an on/off command to the camera to illuminate the LED The 123 lamp sends an on/off command to send a rotation angle command to the stabilization pan/tilt 122. Alternatively, the image capturing module is controlled according to image information transmitted to the image capturing module or according to a control command sent from an external terminal. The front end of the unmanned ship is a transparent shroud, and the camera, the LED illumination lamp and the stabilization pan are disposed in the shroud. The LED illumination 123 lamps are arranged in two groups, and the brightness can be adjusted, and the brightness can be adjusted by controlling the corresponding driving circuit by the PWM signal. The camera 121 supports visible light, and can also be installed with an infrared module, and can obtain a comprehensive picture by using a wide-angle lens. Foot 1080P HD shooting. The stabilization platform 122 is a two-axis pan/tilt or a multi-axis pan/tilt.

图像采集模块接收到来由中央控制器110的控制对周边环境进行拍摄，并将获得的图像信息通过通信模块140传输给外部终端200；外部终端200接收图像信息处理后，显示给用户。且外部终端200对图像信息进行处理，根据处理结果或者根据用户的输入生成控制指令，向通过无人船100的通信模块140发送指令，从通过中央控制器110对图像采集模块120进行控制，例如：控制图像采集模块120的摄像头的方向及角度调节(如：向左、向右、向下或向上调节、水平角度和俯仰角度调节)、打开/关闭摄像头的LED灯等，以便更快、更准地拍摄到用户所需要的被探测物。The image acquisition module receives the image taken by the central controller 110 to capture the surrounding environment, and transmits the obtained image information to the external terminal 200 through the communication module 140; the external terminal 200 receives the image information and displays it to the user. And the external terminal 200 processes the image information, generates a control command according to the processing result or according to the input of the user, sends an instruction to the communication module 140 passing through the unmanned ship 100, and controls the image acquisition module 120 from the central controller 110, for example, : Control the direction and angle adjustment of the camera of the image acquisition module 120 (such as: left, right, down or upward adjustment, horizontal angle and pitch angle adjustment), turn on/off the LED light of the camera, etc., so as to be faster and more The subject is required to photograph the object to be detected.

一较佳实施例中，图像采集模块120还包含一智能摄像头，该智能摄像头通过一伸缩装置(如：缆绳、伸缩杆等)设于无人船100上，所述智能摄像头上设置有LED灯。当被探测物离无人船100较远时(例如：在5米以外时)，中央控制器110向智能摄像头的伸缩装置发送控制命令来控制伸缩装置，从而实现摄像头的伸缩，同时可向摄像头控制模块发送控制命令以打开摄像头上的LED灯，从而使得拍摄/摄影效果更佳。In a preferred embodiment, the image capturing module 120 further includes a smart camera. The smart camera is disposed on the unmanned ship 100 through a telescopic device (such as a cable, a telescopic rod, etc.), and the smart camera is provided with an LED light. . When the object to be detected is far away from the unmanned ship 100 (for example, when it is 5 meters away), the central controller 110 sends a control command to the telescopic device of the smart camera to control the telescopic device, thereby realizing the telescopic expansion of the camera and simultaneously to the camera. The control module sends a control command to turn on the LEDs on the camera, resulting in better shooting/photography.

进一步的，还包括电源模块190，传感器模块180和存储模块102；所述电源模块用于给无人船供电，包括电源管理模块和电源；设计满足1小时连续工作，电源管理模块可以智能调节用电量，增加续航时间。无人船100主体上设置有脐带缆防水接口，必要时可以提供电缆供电以及控制数据通信。Further, the power module 190, the sensor module 180 and the storage module 102 are included; the power module is used to supply power to the unmanned ship, including the power management module and the power supply; the design meets one hour of continuous operation, and the power management module can be intelligently adjusted. Power, increase battery life. The main body of the unmanned ship 100 is provided with an umbilical cable waterproof interface, which can provide cable power supply and control data communication if necessary.

进一步的，所述传感器模180块包括，压力传感器，深度传感器，三轴陀螺仪，三轴加速度计，三轴磁场计，防漏检测器和惯性测量单元；本发明无人船100通过传感器模块180获取无人船的速度、加速度、姿态等信息。利用航行姿态参考***AHRS能够提供实时的姿态、加速度和角速度信息，采用扩展Kalman滤波对三轴陀螺仪、三轴加速度计和三轴磁场计的数据进行融合，计算结果通过RS232接口输出至控制器。Further, the sensor module 180 includes a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic field meter, a leak proof detector and an inertial measurement unit; the unmanned ship 100 of the present invention passes the sensor module 180 acquires information such as the speed, acceleration, and attitude of the unmanned ship. The navigation attitude reference system AHRS can provide real-time attitude, acceleration and angular velocity information. The extended Kalman filter is used to fuse the data of the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetic field meter. The calculation result is output to the controller through the RS232 interface. .

进一步的，所述存储模块102用于存储无人船的航行数据，图像采集模块120记录的图片或视频数据，声呐探测模130探测的环境数据，外部终端200发送来的自动航线数据等； Further, the storage module 102 is configured to store navigation data of the unmanned ship, picture or video data recorded by the image acquisition module 120, environmental data detected by the sonar detection module 130, and automatic route data sent by the external terminal 200;

进一步的，所述电缆300为采用零浮通信电缆。采用零浮力通信电缆的优点在于，不会对无人船下潜造成影响，并且电缆在水中的姿态较稳定，不容易缠绕。Further, the cable 300 is a zero-floating communication cable. The advantage of using a zero buoyancy communication cable is that it does not affect the unmanned ship's dive, and the cable has a stable attitude in the water and is not easily entangled.

进一步的，所述中央控制器110控制声呐探测模块130的声音发送装置和图像采集模块120的摄像头处在同一方向和角度上。Further, the central controller 110 controls the sound transmitting device of the sonar detecting module 130 and the camera of the image capturing module 120 to be in the same direction and angle.

进一步的，所述声呐探测模块的声音发送装置和图像拍摄模块的摄像头组合在一起；且当中央控制器控制换能器发出声波时，同时控制摄像头开始拍照，或/和当换能器接收到声音回波时，中央控制器控制摄像头拍照。优选的，当被探测物离涉无人船100较近时(例如：在5米以内时)，声呐探测模块130的声音发送装置和图像采集模块120的摄像头组合在一起，如并排组合在一起；中央控制器110控制声呐探测模块130发出声波时，同时控制图像采集模块120拍照；这样，就能得知同一被探测物的详细信息，包括：离水面多深？是什么物体(如是什么鱼)？被探测物多大？被探测物的数量是多少？等等，并将这些详细信息通过外部终端200显示给用户。Further, the sound transmitting device of the sonar detecting module and the camera of the image capturing module are combined; and when the central controller controls the transducer to emit sound waves, the camera is simultaneously controlled to start photographing, or/and when the transducer receives When the sound echoes, the central controller controls the camera to take a picture. Preferably, when the detected object is closer to the unmanned ship 100 (for example, within 5 meters), the sound transmitting device of the sonar detecting module 130 and the camera of the image capturing module 120 are combined, such as side by side. When the central controller 110 controls the sonar detection module 130 to emit sound waves, the image acquisition module 120 is simultaneously controlled to take a picture; thus, the detailed information of the same object to be detected can be known, including: how deep is the water surface? What is the object (such as what fish)? How big is the detected object? What is the number of objects to be detected? And so on, and these details are displayed to the user through the external terminal 200.

一实施例中，外部终端200的终端存储模块250中预先存储了不同种类的鱼的匹配信息，例如：不同种类的鱼的形状、颜色、喜欢的鱼饵及建议采用的钓竿、网和垂钓技巧、撒网技巧等信息。当外部终端200收到无人船100发送来的鱼所处的位置信息和图像信息，外部终端的CPU210调用终端存储模块250中预先存储的信息，并进行比对，然后根据比对结果，显示给用户，如鱼的名称、颜色、喜欢的鱼饵，垂钓技巧和撒网技巧等，用户根据这些信息，很容易就能钓到自己想要的鱼。In an embodiment, the terminal storage module 250 of the external terminal 200 pre-stores matching information of different types of fish, for example, different types of fish shapes, colors, favorite fishing lures, and recommended fishing rods, nets, and fishing techniques. Information such as casting techniques. When the external terminal 200 receives the location information and the image information of the fish sent by the unmanned ship 100, the CPU 210 of the external terminal calls the information stored in the terminal storage module 250 in advance, performs comparison, and then displays according to the comparison result. To the user, such as the name of the fish, color, favorite bait, fishing skills and netting skills, the user can easily catch the fish they want based on this information.

进一步的，所述中央控制器110、声呐探测模块130、图像拍摄模块120、电缆收放模块150、持钩模块103和动力模块160设置在无人船100内部，所述通信模块的至少天线141部分设置在浮标内400，所述浮标400通过电缆与无人船连接。Further, the central controller 110, the sonar detection module 130, the image capturing module 120, the cable retracting module 150, the hooking module 103 and the power module 160 are disposed inside the unmanned ship 100, and at least the antenna 141 of the communication module Partially disposed within the buoy 400, the buoy 400 is coupled to the unmanned vessel by a cable.

具体的，本发明实施例的无人船100各个功能模块单元采用独立舱体设计，如推进舱、图像仓、主体仓分别独立密封设计，电机转轴采用机械动密封方式进行工程实现。Specifically, each functional module unit of the unmanned ship 100 of the embodiment of the present invention adopts an independent cabin design, such as a propulsion cabin, an image warehouse, and a main body warehouse, respectively, and the motor shaft is mechanically sealed.

进一步的，本发明实施例一种无人船的中央控制器110还可以根据实际应用划分为两个单元模块：主控制器111和辅助控制器112，所述主控制器111用于连接控制无人船100行驶的各个模块：如传感器模块180，驱动模块160，通信模块140，电源模块等190，自动行驶模块170，GSP模块101等；所述辅助控制器112用来连接观测水下信息的各个模块：如声呐探测模块130，图像采集模块120，LED照明灯等。Further, the central controller 110 of an unmanned ship according to an embodiment of the present invention may further be applied according to an actual application. Divided into two unit modules: a main controller 111 and an auxiliary controller 112, the main controller 111 is used to connect and control various modules of the unmanned ship 100: such as the sensor module 180, the driving module 160, the communication module 140, the power supply Modules 190, automatic travel module 170, GSP module 101, etc.; the auxiliary controller 112 is used to connect various modules for observing underwater information: such as sonar detection module 130, image acquisition module 120, LED illumination, and the like.

本发明实施例一种无人船***，如图5所示，包括所述无人船100和一外部终端200，所述外部终端200与无人船的通信模块140无线连接，用于对所述无人船的运动、探测、拍摄过程进行远程控制，并接收无人船发来的声呐数据、图像数据、航行状态数据和GPS数据等。An unmanned ship system, as shown in FIG. 5, includes the unmanned ship 100 and an external terminal 200, and the external terminal 200 is wirelessly connected with the communication module 140 of the unmanned ship for use in The unmanned ship's movement, detection, and shooting process are remotely controlled, and the sonar data, image data, navigation status data, and GPS data sent by the unmanned ship are received.

进一步的，所述外部终端包括CPU210、显示模块220、输入模块230、终端通信模块240和终端存储模块250，其中：Further, the external terminal includes a CPU 210, a display module 220, an input module 230, a terminal communication module 240, and a terminal storage module 250, where:

CPU210与显示模块、输入模块、发射接收模块和存储模块连接，并对这些模块进行控制，通过发射接收模块向无人船发送控制指令；The CPU 210 is connected to the display module, the input module, the transmitting and receiving module, and the storage module, and controls the modules, and sends a control instruction to the unmanned ship through the transmitting and receiving module;

显示模块220：用于显示收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息；The display module 220 is configured to display image data, sonar data, GPS data, navigation data, and sensors of the received unmanned ship;

终端通信模块240：用于向无人船发射无线信号和接收来自无人船的无线信号，可采用WIFI，蓝牙,射频，长期演进(Long Term Evolution，LTE)模式,遥测调频射频(Telemetry FM Radio)方式、卫星方式等方式传输和光通信等通信模式。可采用433Mhz电台(或2.4G、5.8G等)进行双向通信。终端通信模块240也可采用图数传一体模块，可以将无人船100发送的整合后的单一链路信号拆分为图像和数据信号。The terminal communication module 240 is configured to transmit wireless signals to the unmanned ship and receive wireless signals from the unmanned ship, and can adopt WIFI, Bluetooth, radio frequency, Long Term Evolution (LTE) mode, and telemetry FM radio (Telemetry FM Radio) Communication mode such as mode and satellite mode, and optical communication. Two-way communication can be performed using 433Mhz radio (or 2.4G, 5.8G, etc.). The terminal communication module 240 can also adopt an image integration module to split the integrated single link signal transmitted by the unmanned ship 100 into image and data signals.

输入模块230：用于将外部指令输入给CPU，所述输入模块可以是操纵杆、键盘、触摸屏、语音输入和手势输入中的一种或几种的组合；具体的，对无人船100的输入模块可以包括遥控手柄，无人船100的水平运动通过两轴操纵杆进行控制。无人船100的潜伏运动方向和速度、LED照明灯的亮度以及摄像头的焦距等，可通过设置旋转电位计进行控制，遥控手柄的操作杆、旋钮和开关的输入由CPU210采集后进行控制。The input module 230 is configured to input an external command to the CPU, and the input module may be a combination of one or more of a joystick, a keyboard, a touch screen, a voice input, and a gesture input; specifically, for the unmanned ship 100 The input module can include a remote control handle, and the horizontal movement of the unmanned vessel 100 is controlled by a two-axis joystick. The latency direction and speed of the unmanned vessel 100, the brightness of the LED illumination, and the focal length of the camera can be controlled by setting a rotary potentiometer. The input of the operation lever, knob and switch of the remote control is controlled by the CPU 210.

终端存储模块250：用于存储收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息或用户的输入信息或事先预存的无人船航行模式和自动航行信息。Terminal storage module 250: for storing image data, sonar data, and GPS number of the received unmanned ship According to information such as navigation data and sensors or user input information or pre-stored unmanned ship navigation mode and automatic navigation information.

进一步的，还具有终端电源模块260，UBS接口；所述终端为手机、平板电脑、计算机或者其它移动终端。所述终端上安装有用于控制无人船各种功能并查看无人船信息和图像APP。Further, there is a terminal power module 260, a UBS interface; the terminal is a mobile phone, a tablet computer, a computer or other mobile terminal. The terminal is equipped with various functions for controlling the unmanned ship and viewing the unmanned ship information and the image APP.

进一步的，所述外部终端200，还具有语音播报模块270，所述语音播报模块用于将接收到的航行数据等信息转换成音频信息并通过扬声器进行播报。Further, the external terminal 200 further has a voice broadcast module 270, which is configured to convert information such as received navigation data into audio information and broadcast it through a speaker.

进一步的，所述终端的存储模250块进一步用于，存储预设的水中被探测物的信息，所述CPU可将无人船100的通信模块发送来的图像信息及其他信息与存储模块存储的预设的水中被探测物的信息进行比对，向显示模块或语音播报模块发送比对结果及建议信息。Further, the storage module 250 of the terminal is further configured to store information of a preset object in the water, and the CPU may store image information and other information sent by the communication module of the unmanned ship 100 and the storage module. The preset information of the detected object in the water is compared, and the comparison result and the suggestion information are sent to the display module or the voice broadcast module.

进一步的，所述无人船100预设有一键返航模块280，所述外部终端200上预设有返航键，终端存储模块250预存返航坐标点，当终端检测到用户按下返航键时，向无人船100发出返航控制指令。Further, the unmanned ship 100 presets a key returning module 280. The external terminal 200 is pre-set with a returning button, and the terminal storage module 250 prestores the returning coordinate point. When the terminal detects that the user presses the returning button, the terminal The unmanned ship 100 issues a return control command.

本发明一种无人船，包含现有钓鱼无人船的功能，可利用声呐模块探测水下物体，同时又可以实现一定深度下潜，通过在无人船上设置图像采集模块，实现水下图像采集，并且能够实现和岸边的远距离通信，实时回传水下图像信息的。本发明的无人船可行驶在水面上，声呐模块探测到水下鱼群信息时，可进行下潜观测，并通过一漂浮在水面上的与无人船通过电缆连接的内置通信天线的浮标，将图像采集模块实时传输水下图像给水上的外部终端，通过外部终端显示模块向用户展示无人船探测到的信息和拍摄的图像信息，提供了前所未有的可视化潜钓体验。The utility model relates to an unmanned ship, which comprises the function of an existing fishing unmanned ship, can use the sonar module to detect underwater objects, and at the same time can realize a certain depth dive, and realize an underwater image by setting an image acquisition module on the unmanned ship. Acquisition, and can realize long-distance communication with the shore, and return underwater image information in real time. The unmanned ship of the present invention can travel on the water surface, and when the sonar module detects the underwater fish school information, it can perform the dive observation and pass the floating buoy of the built-in communication antenna connected to the unmanned ship through the cable on the water surface. The image acquisition module transmits the underwater image to the external terminal on the water in real time, and displays the information detected by the unmanned ship and the captured image information through the external terminal display module, thereby providing an unprecedented visualized submersible experience.

上述实施例中的实施方案可以进一步组合或者替换，且实施例仅仅是对本发明的优选实施例进行描述，并非对本发明的构思和范围进行限定，在不脱离本发明设计思想的前提下，本领域中专业技术人员对本发明的技术方案作出的各种变化和改进，均属于本发明的保护范围。 The embodiments of the present invention may be further combined or substituted, and the embodiments are merely described for the preferred embodiments of the present invention, and are not intended to limit the scope and scope of the present invention. Various changes and modifications made by those skilled in the art to the technical solutions of the present invention are within the scope of the present invention.

Claims

一种无人船，其特征在于，包括：图像采集模块，声呐探测模块，通信模块和中央控制器，其中：An unmanned ship, comprising: an image acquisition module, a sonar detection module, a communication module and a central controller, wherein:

所述图像采集模块，用于录制和拍摄水下图像；The image acquisition module is configured to record and capture underwater images;

所述声呐探测模块，用于探测水下环境、及鱼群所在位置及深度；The sonar detection module is configured to detect an underwater environment and a location and depth of the fish group;

所述通信模块，用于将无人船的状态信息、图像采集模块获取的图像信息和声呐探测模块获取的信息传输至外部终端，同时将外部终端的控制指令传输至中央控制器；The communication module is configured to transmit state information of the unmanned ship, image information acquired by the image acquisition module, and information acquired by the sonar detection module to the external terminal, and simultaneously transmit the control command of the external terminal to the central controller;

所述中央控制器，与上述各个模块相连，控制无人船的行进动作，并协调各模块工作。The central controller is connected to each of the above modules to control the traveling motion of the unmanned ship and coordinate the work of each module.
根据权利要求1所述一种无人船，其特征在于，还包括一浮标，所述通信模块的至少天线部分设置在一可漂浮的浮标内，所述浮标与无人船主体之间通过一可收放的电缆连接；还包括电缆收放模块，所述电缆收放模块获取的无人船的深度信息以及中央控制器发出的下潜或上浮指令，释放或收回对应长度的电缆，使得电缆长度与无人船所处深度相适应。An unmanned ship according to claim 1, further comprising a buoy, at least an antenna portion of said communication module being disposed in a floatable buoy, said buoy passing through a body of the unmanned vessel Retractable cable connection; further comprising a cable retracting module, the depth information of the unmanned ship acquired by the cable retracting module, and a dive or floating command issued by the central controller, releasing or retracting the cable of the corresponding length, so that the cable The length is adapted to the depth of the unmanned ship.
根据权利要求2所述一种无人船，其特征在于，所述电缆收放模块包括一卷扬机控制器和一卷扬机，所述卷扬机设置在无人船主体上，所述可收放电缆盘绕设置在卷扬机上并通过卷扬机实现收放；或所述电缆收放模块由中央控制器控制。An unmanned boat according to claim 2, wherein said cable retracting module comprises a hoisting controller and a hoisting machine, said hoisting machine being disposed on the unmanned vessel body, said retractable cable coiling arrangement Retracting on the hoist and through the hoist; or the cable retracting module is controlled by the central controller.
根据权利要求1-3任一所述一种无人船，其特征在于，还包括动力模块，所述动力模块用于在中央控制器控制下驱动无人船实现上、下、前、后等方向的运动,所述动力模块包括电机驱动器，和与电机驱动器连接的两个水平驱动电机和一个竖直驱动电机,所述两个水平驱动电机设置在无人船尾部左右两侧，所述竖直驱动电机设置在无人船竖直方向。The unmanned ship according to any one of claims 1 to 3, further comprising a power module, wherein the power module is configured to drive the unmanned ship under the control of the central controller to implement upper, lower, front, rear, etc. Directional motion, the power module includes a motor driver, and two horizontal drive motors and a vertical drive motor coupled to the motor driver, the two horizontal drive motors being disposed on the left and right sides of the tail of the unmanned ship, the vertical The direct drive motor is placed in the vertical direction of the unmanned ship.
根据权利要求1所述一种无人船，其特征在于，所述通信模块为DDL图数一体传输模块，所述DDL图数一体传输模块将图传信号和双向数据传输信号整合为单一链路进行传输；还包括与中央控制器连接的GPS模块，所述GPS模块设置在浮标内，所述GPS模块用于接收GPS卫星信号确定无人船的位置，并将无人船的GPS位置信息发送给外部终端,并通过DDL图传数传一体传输模块发送至外部终端。The unmanned ship according to claim 1, wherein the communication module is a DDL map integrated transmission module, and the DDL map integrated transmission module integrates the image transmission signal and the bidirectional data transmission signal into a single The link transmits; further includes a GPS module connected to the central controller, the GPS module is configured Positioned in the buoy, the GPS module is configured to receive GPS satellite signals to determine the location of the unmanned ship, and transmit the GPS position information of the unmanned ship to the external terminal, and send the same to the external terminal through the DDL image transmission and transmission module. .
根据权利要求1所述一种无人船，其特征在于，还包括一自动航行模块，所述自动航行模块接收并存储外部终端发来的航点信息，航点位置和顺序信息并在GPS地图上标定，根据GPS模块获取的无人船实时位置和航行方向，控制动力模块驱动无人船朝向航点行进；The unmanned ship according to claim 1, further comprising an automatic navigation module, wherein the automatic navigation module receives and stores the waypoint information, the waypoint location and the sequence information sent by the external terminal and is in the GPS map. On the upper calibration, according to the real-time position and navigation direction of the unmanned ship acquired by the GPS module, the control power module drives the unmanned ship to travel toward the waypoint;

还包括一持钩模块，所述持钩模块用于加持鱼钩或鱼线，并可在鱼上钩时松开鱼钩或鱼线,持钩模块包括一持钩器和控制器，所述持钩器为一加持机构，其上设置有传感器和电磁铁，当鱼上钩后，传感器发信号，控制器控制电磁铁吸引加持机构张开，松开鱼钩或鱼线；或所述持钩模块由中央控制器控制。The utility model further comprises a hook module for holding a fishing hook or a fishing line, and releasing the hook or the fishing line when the fish is hooked, the hook module comprising a hook holder and a controller, the holding The hook device is a holding mechanism, and is provided with a sensor and an electromagnet. When the fish is hooked, the sensor sends a signal, the controller controls the electromagnet to attract the holding mechanism to open, and releases the hook or the fishing line; or the hook module Controlled by a central controller.
根据权利要求1所述一种无人船，其特征在于，所述图像拍摄模块包括摄像头，可调亮度LED照明灯和增稳云台，所述中央控制器对图像拍摄模块的控制包括：向摄像头发送开/关指令，向LED照明灯发送开/关亮度调节指令，向增稳云台发送旋转角度指令，或根据对图像拍摄模块传来的图像信息或者根据外部终端发来的控制指令对图像拍摄模块进行控制；所述无人船前端为一透明的导流罩，所述摄像头，可调亮度LED照明灯和增稳云台设置在导流罩内。The unmanned ship according to claim 1, wherein the image capturing module comprises a camera, an adjustable brightness LED illumination lamp and a stabilization pan/tilt, and the control of the image capture module by the central controller comprises: The camera sends an on/off command, sends an on/off brightness adjustment command to the LED illumination, sends a rotation angle command to the stabilization pan/tilt, or according to image information transmitted to the image capture module or according to a control command sent by the external terminal. The image capturing module performs control; the front end of the unmanned ship is a transparent air guiding cover, and the camera, the adjustable brightness LED lighting lamp and the stabilization cloud platform are disposed in the air guiding cover.
根据权利要求1-7任一所述一种无人船，其特征在于，还包括为电源模块，传感器模块和存储模块；所述电源模块用于给无人船供电，包括电源管理模块和电源；所述传感器模块包括，压力传感器，深度传感器，三轴陀螺仪，三轴加速度计，三轴磁场计防漏检测器和惯性测量单元；所述存储模块用于存储无人船的航行数据，图像采集模块记录的图片或视频数据等；所述电缆为零浮力通信电缆；所述中央控制器、声呐探测模块、图像拍摄模块、电缆收放模块、持钩模块和动力模块设置在无人船内部，所述通信模块的至少天线部分设置在浮标内，所述浮标通过电缆与无人船连接。The unmanned ship according to any one of claims 1 to 7, further comprising a power module, a sensor module and a storage module; wherein the power module is used to supply power to the unmanned ship, including the power management module and the power supply. The sensor module includes: a pressure sensor, a depth sensor, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic field leak detector and an inertial measurement unit; and the storage module is configured to store navigation data of the unmanned ship, The picture or video data recorded by the image acquisition module; the cable is a zero buoyancy communication cable; the central controller, the sonar detection module, the image capture module, the cable retraction module, the hook module and the power module are disposed in the unmanned ship Internally, at least an antenna portion of the communication module is disposed within a buoy that is coupled to the unmanned vessel by a cable.
根据权利要求1-8任一所述无人船的无人船***，其特征在于，包括所述无人船和一外部终端，所述外部终端与无人船的通信模块无线连接，用于对所述无人船的运动、探测、拍摄过程进行远程控制，并接收无人船发来的声呐数据、图像数据、航行状态数据和GPS数据等。An unmanned ship system for an unmanned ship according to any one of claims 1-8, comprising: said unmanned ship and an external terminal, said external terminal being wirelessly connected with a communication module of the unmanned ship, Remotely controlling the movement, detection, and shooting process of the unmanned ship, and receiving sonar data sent by the unmanned ship, Image data, navigation status data, GPS data, etc.
根据权利要求9所述无人船***，其特征在于，所述外部终端包括CPU、显示模块、输入模块、终端通信模块和存储模块，其中：The unmanned ship system according to claim 9, wherein the external terminal comprises a CPU, a display module, an input module, a terminal communication module, and a storage module, wherein:

CPU与显示模块、输入模块、发射接收模块和存储模块连接，并对这些模块进行控制，通过发射接收模块向无人船发送控制指令；The CPU is connected to the display module, the input module, the transmitting and receiving module, and the storage module, and controls the modules, and sends a control instruction to the unmanned ship through the transmitting and receiving module;

显示装置：用于显示收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息；Display device: used to display image data, sonar data, GPS data, navigation data and sensors of the received unmanned ship;

终端通信模块：用于向无人船发射无线信号和接收来自无人船的无线信号，可采用WIFI，蓝牙,射频和光通信等通信模式；Terminal communication module: used to transmit wireless signals to unmanned ships and receive wireless signals from unmanned ships, and can adopt communication modes such as WIFI, Bluetooth, radio frequency and optical communication;

输入模块：用于将外部指令输入给CPU，所述输入模块可以是操纵杆、键盘、触摸屏、语音输入和手势输入中的一种或几种的组合；Input module: for inputting an external command to the CPU, the input module may be a combination of one or more of a joystick, a keyboard, a touch screen, a voice input, and a gesture input;

存储模块：用于存储收到的无人船的图像数据、声呐数据、GPS数据、航行数据和传感器等信息或用户的输入信息或事先预存的无人船航行模式和自动航行信息。 Storage module: used to store the received image data of the unmanned ship, sonar data, GPS data, navigation data and sensors or user input information or pre-stored unmanned ship navigation mode and automatic navigation information.