Unmanned ship control system based on Internet of Things

Abstract

The invention relates to the technical field of unmanned ship control systems, and discloses an unmanned ship control system based on the Internet of Things, which comprises a ground control system and a ship body control system, and is characterized in that the ground control system comprises a remote controller and a remote server; the ship body control system comprises an Internet of Things module, a paddle current sensor, a satellite positioning module and a main control chip, the main control chip performs equal-interval time accumulation on the paddle current sensor to obtain a current accumulated value, the main control chip obtains position information through the satellite positioning module and sends the position information and the current accumulated value to a remote server, and the remote server sends the position information and the current accumulated value to the ship body. And the remote server obtains other ship bodies within a preset range of the position information according to the position information of each ship body. According to the invention, the connection with the remote controller can be automatically established when the ship body abnormally advances.

Description

Technical Field

[0001] The present invention relates to the field of unmanned ship control systems, and in particular to an unmanned ship control system based on the Internet of Things. Background Art

[0002] An unmanned ship based on the Internet of Things is a ship that uses the Internet of Things technology to achieve intelligent and unmanned operation. It is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and its own sensors. It is the product of the combination of modern science and technology and navigation technology. Their development and application will greatly promote the safety and efficiency of marine activities, and also provide new tools and means for marine scientific research. When an unmanned ship is performing a mission, there may be abnormal situations that require remote personnel intervention.

[0003] In the prior art, there is the Chinese invention patent application 201710432205.0, "An unmanned ship cloud control system based on 4G Internet of Things technology". This patent discloses an unmanned ship cloud control system based on 4G Internet of Things technology, which is applied to unmanned ships. The monitoring system includes: a ship-borne system, a cloud server forwarding system, and a ground station control system. Through dual 4G channels, the information transmission rate is high and the real-time performance is good; and it supports multimedia data transmission, which is suitable for more complex unmanned ship applications; through the 4G video communication module and the RTMP audio and video transmission protocol, the video stream is forwarded to the cloud server, which is more real-time than the existing unmanned ship communication system using GPRS communication technology.

[0004] This patent still does not detect and judge abnormal situations where human intervention is required for the unmanned ship. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies of the prior art, the present invention provides an unmanned ship control system based on the Internet of Things, which solves the problem that the prior art fails to detect and judge abnormal situations of unmanned ships that require human intervention.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned ship control system based on the Internet of Things, including a ground control system and a hull control system, the ground control system including a remote controller and a remote server, the hull control system including an Internet of Things module, a paddle current sensor, a satellite positioning module and a main control chip, the main control chip accumulates the paddle current sensor at equal intervals to obtain a current cumulative value, the main control chip obtains position information through the satellite positioning module, and sends the position information and the current cumulative value to the remote server, the remote server obtains other hulls within a preset range with the position information of each hull according to the position information of the hull, obtains the current cumulative values ​​of other hulls within the range, calculates the difference between the current cumulative values ​​of each hull and other hulls within the position range, obtains the hull ID information with the largest difference value and greater than the warning value, establishes communication between the remote controller and the main control chip corresponding to the hull ID information according to the hull ID information, the remote controller sends control information to the main control chip corresponding to the hull ID information, and the main control chip responds to the control information.

[0009] As a preferred technical solution of the present invention, the control information includes hull navigation control information and hull operation control information, and the remote controller includes a hull navigation control information activation button and a hull operation control information activation button. After the hull navigation control information activation button is activated, the remote controller sends the hull navigation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic navigation control system, accepts the hull navigation control information of the remote controller and responds. After the hull operation information activation button is activated, the remote controller sends the hull operation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic operation control system, accepts the hull operation control information of the remote controller and responds; after the hull navigation control activation information or the hull operation control activation information is canceled, the main control chip starts its own automatic navigation control system or automatic operation control system accordingly.

[0010] As a preferred technical solution of the present invention, the hull control system includes a camera and an object recognition model unit. The main control chip obtains an image according to the camera and uses the object recognition model unit to identify the object in the image. Under the upload instruction of the remote server, the main control chip uploads the names of the objects identified within a period of time to the remote server. The remote server obtains the names of the objects of other hulls within the position range according to the position information of each hull, and highlights the different object names on the display screen of the remote server and on the hull schematic diagram of the object with the difference.

[0011] As a preferred technical solution of the present invention, the remote controller includes multiple ones. After the remote server establishes communication between the remote controller and the main control chip corresponding to the hull ID information, the remote server excludes the hull information and remote controller with which communication has been established. When the remote server obtains the next hull ID information with the largest difference value and greater than the warning value, the remote server establishes communication between the next remote controller and the main control chip corresponding to the next hull ID information according to the next hull ID information.

[0012] As a preferred technical solution of the present invention, the ground control system includes a base connected to the remote controller; a fixed column is fixedly connected to the top of the base, an adjusting groove is provided on the top of the fixed column, an adjusting plate is fixedly connected to the inner wall of the adjusting groove, a toothed plate is fixedly connected to the inner wall of the adjusting plate, a hydraulic rod is rotatably connected to the inner bottom wall of the adjusting groove, a lifting column is fixedly connected to the top of the hydraulic rod, a groove is provided on the outer wall of the lifting column, a first spring is fixedly connected to the inner side wall of the groove, a moving block is fixedly connected to one end of the first spring, a card block is fixedly connected to one side of the moving block, a handle is fixedly connected to the top of the remote controller, and the remote controller The bottom of the handle is fixedly connected with a rotating block, and the bottom of the rotating block is provided with a rotating groove, and the rotating groove is rotatably connected with the lifting column. Through the provided lifting column, the first spring, the card block and the remote controller, the remote controller is directly moved upward or downward by the handle, and the card block will be disengaged from the tooth plate, and the card block no longer limits the tooth plate, thereby realizing the remote controller to move upward or downward. After the height of the remote controller is adjusted to the required height, the card block and the tooth plate are movably connected again, thereby realizing the positioning of the remote controller, and realizing that the height of the device can be adjusted without the staff having to operate with both hands at the same time, thereby greatly improving the applicability of the device.

[0013] As a preferred technical solution of the present invention, the top of the lifting column passes through the adjustment groove and extends to the outside of the fixed column, the adjustment plate is shaped like a "cylindrical" structure, and the block is shaped like an "isosceles triangle" structure. When the two sides of the block are subjected to the squeezing force, they will move toward the inside of the groove.

[0014] As a preferred technical solution of the present invention, the outer wall of the moving block is slidably connected to the inner wall of the groove, and the clamping block is movably clamped to the tooth plate, and the lifting column will not automatically move downward.

[0015] As a preferred technical solution of the present invention, a slide groove is provided on the outer wall of the lifting column, a second spring is fixedly connected to the inner wall of the slide groove, one end of the second spring is fixedly connected to a limiting block, and the limiting block will not automatically move into the inside of the slide groove.

[0016] As a preferred technical solution of the present invention, the limit block is shaped as a "ball" structure, and the limit block is slidably connected to the slide groove. When the outer wall of the limit block receives a large force, it will move into the interior of the slide groove.

[0017] As a preferred technical solution of the present invention, a limit groove is provided on the inner wall of the rotating groove, and the limit block is movably engaged with the limit groove to achieve the function of fixing the rotating block and the remote controller.

[0018] (III) Beneficial effects

[0019] Compared with the prior art, the present invention provides an unmanned ship control system based on the Internet of Things, which has the following beneficial effects: when the hull is moving abnormally, the present invention can collect the working condition of the paddle through the data of the paddle current sensor through the main control chip, and then the remote server will comprehensively analyze the hull conditions within the range, calculate the differences and automatically establish a connection with the remote controller to realize automatic control in the event of an abnormality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural block diagram of an unmanned ship control system based on the Internet of Things;

[0021] Figure 2 It is a structural diagram of a remote controller in an unmanned ship control system based on the Internet of Things;

[0022] Figure 3 It is a front cross-sectional view of a remote controller in an unmanned ship control system based on the Internet of Things;

[0023] Figure 4 for Figure 3 A magnified view of the structure at center A;

[0024] Figure 5 for Figure 3 A magnified view of the structure at B in the middle.

[0025] In the figure: 1. base; 2. fixed column; 3. adjustment slot; 4. adjustment plate; 5. tooth plate; 6. hydraulic rod; 7. lifting column; 8. groove; 9. first spring; 10. moving block; 11. clamping block; 12. slide slot; 13. second spring; 14. limit block; 15. rotating block; 16. rotating slot; 17. remote controller; 18. handle; 19. limit slot. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0027] Reference Figure 1-Figure 5, which is the first embodiment of the present invention, provides an unmanned ship control system based on the Internet of Things, including a ground control system and a hull control system, wherein the ground control system includes a remote controller (including a display screen and control buttons) and a remote server (including a host and a display screen connected to the Internet), and the hull control system includes an Internet of Things module (NB-IOT module), a propeller current sensor (a current sensor connected in series to a propeller, such as a precision resistor connected in series, and the voltage across the resistor can be collected when the propeller is working), a satellite positioning module (such as a Beidou module) and a main control chip (such as an STM32 chip), the main control chip accumulates the propeller current sensor at equal intervals (such as 100ms) to obtain a current accumulation value (after accumulation, the influence of a single acquisition can be avoided), and the main control chip obtains position information (the position of its own hull) through the satellite positioning module, and collects the current at intervals (such as 100ms) The remote server sends the position information and the accumulated current value (the accumulated value within these 10 seconds and the accumulated value within a certain interval) to the remote server, and the remote server obtains other hulls within a preset range (such as within 50 meters, the wave conditions encountered by these hulls are closer) with the position information of each hull according to the position information of each hull, obtains the accumulated current values ​​of other hulls within the range, calculates the difference between the accumulated current values ​​of each hull and other hulls within the position range (which can be the difference between the arithmetic mean of the current hull and other hulls), obtains the hull ID information with the largest difference value that is greater than the warning value (which can be pre-set, such as 200A, and can be determined according to the size of the hull and the number of accumulations), establishes communication between the remote controller and the main control chip corresponding to the hull ID information according to the hull ID information, and the remote controller sends control information to the main control chip corresponding to the hull ID information, and the main control chip responds to the control information.

[0028] In this way, when the hull encounters an abnormal situation while moving, the main control chip collects data from the paddle current sensor to collect the working conditions of the paddles, and then the remote server will comprehensively analyze the hull conditions within the range and calculate the abnormal hull. For example, if it is stranded, the current value will be smaller, or if there is abnormal entanglement or obstruction, the current value will be larger. These will cause abnormal difference values, and then the remote server can automatically establish a connection with the remote controller, so that personnel can view the hull condition in real time and control the hull, realizing automatic control in case of abnormalities.

[0029] As a preferred technical solution of the present invention, the control information includes hull navigation control information and hull operation control information, and the remote controller includes a hull navigation control information activation button and a hull operation control information activation button. After the hull navigation control information activation button is activated, the remote controller sends the hull navigation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic navigation control system, accepts the hull navigation control information of the remote controller and responds. After the hull operation information activation button is activated, the remote controller sends the hull operation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic operation control system, accepts the hull operation control information of the remote controller and responds; after the hull navigation control activation information or the hull operation control activation information is cancelled, the main control chip starts its own automatic navigation control system or automatic operation control system accordingly. The navigation control information includes the forward and backward movement of the propeller, and the left turn or rotation of the rudder. The hull operation control information is the control information of the main operation function of the hull. For example, for a salvage ship, the operation is salvage, and the operation control information is a mechanical arm. For example, for a detection ship, the operation is detection, and the operation control information is the rotation angle of the detection sensor, etc. According to different information, the hull and manual control can be combined, and manual control of navigation can be used to help the hull get out of trouble, but the operation still relies on the hull's own system to perform operations, thereby achieving uninterrupted operation tasks.

[0030] As a preferred technical solution of the present invention, the hull control system includes a camera and an object recognition model unit, the main control chip obtains an image according to the camera, and uses the object recognition model unit to identify the image. The main control chip uploads the name of the object identified within a period of time to the remote server under the upload instruction of the remote server, and the remote server obtains the name of the object of other hulls within the position range according to the position information of each hull, and highlights the different object names on the display screen of the remote server, and highlights them on the hull schematic diagram of the object with the difference. When access control is performed, the image of the camera can be sent to the display screen of the remote controller, and the remote control personnel can view it in real time. Through the identification of the object, the abnormal object encountered by the hull can be automatically determined, and then the remote control personnel can analyze whether to perform access control. Of course, it is also possible to automatically access control after determining the preset object, that is, after the remote server obtains the preset object, it obtains the corresponding hull ID information according to the object, and establishes communication between the remote controller and the main control chip corresponding to the hull ID information according to the hull ID information, and the remote controller sends control information to the main control chip corresponding to the hull ID information, and the main control chip responds to the control information.

[0031] As a preferred technical solution of the present invention, the remote controller includes multiple ones. After the remote server establishes the communication between the remote controller and the main control chip corresponding to the hull ID information, the remote server excludes the hull information and remote controller that have established communication. When the remote server obtains the next hull ID information with the largest difference value and greater than the warning value, the remote server establishes the communication between the next remote controller and the main control chip corresponding to the next hull ID information according to the next hull ID information. In this way, one-to-one multiple controls of abnormal hulls can be achieved. Avoid the situation where only one can be controlled. Of course, the server can also establish communication between the remote controller and a corresponding main control chip under the control of the control personnel as needed, and the remote controller sends control information to the main control chip, and the main control chip responds to the control information.

[0032] Further, the invention comprises a base 1, and a remote controller 17 is the remote controller of the above-mentioned embodiment, which will not be explained in detail here. A fixed column 2 is fixedly connected to the top of the base 1, an adjusting groove 3 is provided on the top of the fixed column 2, an adjusting plate 4 is fixedly connected to the inner wall of the adjusting groove 3, a tooth plate 5 is fixedly connected to the inner wall of the adjusting plate 4, a hydraulic rod 6 is rotatably connected to the inner bottom wall of the adjusting groove 3, a lifting column 7 is fixedly connected to the top of the hydraulic rod 6, a groove 8 is provided on the outer wall of the lifting column 7, a first spring 9 is fixedly connected to the inner side wall of the groove 8, a moving block 10 is fixedly connected to one end of the first spring 9, a clamping block 11 is fixedly connected to one side of the moving block 10, a handle 18 is fixedly connected to the top of the remote controller 17, a rotating block 15 is fixedly connected to the bottom of the remote controller 17, a rotating groove 16 is provided on the bottom of the rotating block 15, and the rotating groove 16 is rotatably connected to the lifting column 7.

[0033] The top of the lifting column 7 passes through the adjustment groove 3 and extends to the outside of the fixed column 2. The shape of the adjustment plate 4 is a "cylindrical" structure, and the shape of the block 11 is an "isosceles triangle" structure. The two sides of the block 11 are inclined surfaces. When the two sides of the block 11 are subjected to the extrusion force, they will move toward the inside of the groove 8.

[0034] The outer wall of the moving block 10 is slidably connected to the inner wall of the groove 8, and the clamping block 11 is movably engaged with the tooth plate 5. Through the engagement of the clamping block 11 with the tooth plate 5, a limiting effect can be achieved, and the lifting column 7 will not automatically move downward.

[0035] During use, first, the remote controller 17 is moved upward or downward directly through the handle 18, and then the lifting column 7 moves upward or downward. At this time, the inclined surfaces on both sides of the block 11 are squeezed by the inclined surface of the inner wall of the tooth plate 5, and the block 11 moves into the inside of the groove 8, and then the block 11 is separated from the tooth plate 5;

[0036] Secondly, when the block 11 is separated from the tooth plate 5, the block 11 no longer limits the tooth plate 5, so that the lifting column 7 can move upward or downward, thereby realizing the upward or downward movement of the remote controller 17;

[0037] Finally, after the height of the remote controller 17 is adjusted to the required height, the block 11 will be reset by the elastic force of the first spring 9, so that the block 11 and the tooth plate 5 can be movably engaged again, thereby positioning the remote controller 17, and the height of the device can be adjusted without the operator having to operate it with both hands at the same time.

[0038] In some embodiments, a slide groove 12 is provided on the outer wall of the lifting column 7, and a second spring 13 is fixedly connected to the inner wall of the slide groove 12. One end of the second spring 13 is fixedly connected to a limit block 14. The second spring 13 can support and limit the limit block 14, and the limit block 14 will not automatically move into the inside of the slide groove 12.

[0039] The limiting block 14 is in a "spherical" structure, and the limiting block 14 is slidably sleeved with the slide groove 12 . When a large force is applied to the outer wall of the limiting block 14 , it will move into the inner part of the slide groove 12 .

[0040] The inner wall of the rotating groove 16 is provided with a limit groove 19 , and the limit block 14 is movably engaged with the limit groove 19 . There are multiple limit grooves 19 , and the engagement of the limit block 14 with the limit groove 19 achieves the function of fixing the rotating block 15 and the remote controller 17 .

[0041] During use, the remote controller 17 is directly rotated, the outer wall of the limit block 14 will receive the squeezing force, and the limit block 14 will move inside the slide groove 12, so that the limit block 14 is disengaged from the limit groove 19, and then the angle of the remote controller 17 can be rotated. After the remote controller 17 is adjusted to the required working angle, the limit block 14 will be engaged with the corresponding limit groove 19 through the elastic force of the second spring 13, and then the angle of the remote controller 17 can be adjusted.

[0042] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An unmanned ship control system based on the Internet of Things, characterized by: It includes a ground control system and a hull control system. The ground control system includes a remote controller and a remote server. The hull control system includes an Internet of Things module, a paddle current sensor, a satellite positioning module and a main control chip. The main control chip accumulates the paddle current sensor at equal intervals to obtain an accumulated current value. The main control chip obtains position information through the satellite positioning module, and sends the position information and the accumulated current value to the remote server. The remote server obtains other hulls within a preset range with the position information of each hull according to the position information of the hull, obtains the accumulated current values ​​of other hulls within the range, calculates the difference between the accumulated current values ​​of each hull and other hulls within the position range, obtains the hull ID information with the largest difference value and greater than the warning value, establishes communication between the remote controller and the main control chip corresponding to the hull ID information according to the hull ID information, and the remote controller sends control information to the main control chip corresponding to the hull ID information, and the main control chip responds to the control information.

2. The unmanned ship control system based on the Internet of Things according to claim 1 is characterized in that: The control information includes hull navigation control information and hull operation control information, and the remote controller includes a hull navigation control information activation button and a hull operation control information activation button. After the hull navigation control information activation button is activated, the remote controller sends the hull navigation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic navigation control system, accepts the hull navigation control information of the remote controller and responds. After the hull operation information activation button is activated, the remote controller sends the hull operation control activation information to the main control chip corresponding to the hull ID information, and the main control chip turns off its own automatic operation control system, accepts the hull operation control information of the remote controller and responds; after the hull navigation control activation information or the hull operation control activation information is canceled, the main control chip starts its own automatic navigation control system or automatic operation control system accordingly.

3. The unmanned ship control system based on the Internet of Things according to claim 1 is characterized in that: The hull control system includes a camera and an object recognition model unit. The main control chip obtains an image based on the camera and uses the object recognition model unit to identify the object in the image. Under the upload instruction of the remote server, the main control chip uploads the names of the objects recognized within a period of time to the remote server. The remote server obtains the names of the objects of other hulls within the position range based on the position information of each hull, and highlights the different object names on the display screen of the remote server and on the hull schematic diagram of the object with the difference.

4. The unmanned ship control system based on the Internet of Things according to claim 1 is characterized in that: The remote controller includes multiple ones. After the remote server establishes communication between the remote controller and the main control chip corresponding to the hull ID information, the remote server excludes the hull information and remote controller with which communication has been established. When the remote server obtains the next hull ID information with the largest difference value and greater than the warning value, the remote server establishes communication between the next remote controller and the main control chip corresponding to the next hull ID information according to the next hull ID information.

5. The unmanned ship control system based on the Internet of Things according to claim 1 is characterized in that: The ground control system includes a base connected to a remote controller; The top of the base is fixedly connected with a fixing column, the top of the fixing column is provided with an adjusting groove, the inner wall of the adjusting groove is fixedly connected with an adjusting plate, the inner wall of the adjusting plate is fixedly connected with a toothed plate, the inner bottom wall of the adjusting groove is rotatably connected with a hydraulic rod, the top of the hydraulic rod is fixedly connected with a lifting column, the outer wall of the lifting column is provided with a groove, the inner side wall of the groove is fixedly connected with a first spring, one end of the first spring is fixedly connected with a moving block, one side of the moving block is fixedly connected with a clamping block, the top of the remote controller is fixedly connected with a handle, the bottom of the remote controller is fixedly connected with a rotating block, the bottom of the rotating block is provided with a rotating groove, and the rotating groove is rotatably connected to the lifting column.

6. The unmanned ship control system based on the Internet of Things according to claim 5 is characterized in that: The top of the lifting column passes through the adjustment slot and extends to the outside of the fixed column. The shape of the adjustment plate is a "cylindrical" structure, and the shape of the block is an "isosceles triangle" structure.

7. The unmanned ship control system based on the Internet of Things according to claim 5 is characterized in that: The outer wall of the moving block is slidably connected to the inner wall of the groove, and the clamping block is movably clamped to the tooth plate.

8. The unmanned ship control system based on the Internet of Things according to claim 5 is characterized by: A sliding groove is provided on the outer wall of the lifting column, a second spring is fixedly connected to the inner wall of the sliding groove, and one end of the second spring is fixedly connected to a limiting block.

9. The unmanned ship control system based on the Internet of Things according to claim 8, characterized in that: The shape of the limit block is a "ball" structure, and the limit block is slidably connected with the slide groove.

10. The unmanned ship control system based on the Internet of Things according to claim 9, characterized in that: The inner wall of the rotating groove is provided with a limiting groove, and the limiting block is movably engaged with the limiting groove.

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