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Patent

Unmanned dynamic ship model with localization and obstacle avoidance functions

TL;DR: In this paper, an unmanned dynamic ship model consisting of a ship body and two sets of propeller electric propulsion devices is presented, where a localization device is used for measuring the distance and position of an obstacle, so that the requirement of scientific research on automatic obstacle avoidance of the ship model is met.
Abstract: The invention provides an unmanned dynamic ship model with localization and obstacle avoidance functions. The unmanned dynamic ship model comprises a ship body and two sets of propeller electric propulsion devices, wherein a localization device, a laser detection device, a radio receiving and transmitting device, a ship model motion sensor, a ship model motion control module, a power supply conversion module and a storage battery are arranged on the sip body, the localization device can be used for localizing automatically and accurately, so that the requirements of indoor and outdoor scientific experiments on the ship model are met; the laser detection device is used for measuring the distance and position of an obstacle, so that the requirement of scientific research on automatic obstacle avoidance of the ship model is met; two bilaterally-symmetric stepless speed change electric power propellers are adopted for the ship model, and thrust force generated by the propellers can be changed, so that propelling and operation of the ship model are combined; and a computer controller and a radio communication system are adopted for the ship model, and automatic control and remote control for the ship model can be realized, so that convenience is brought to scientific research of the ship model.
Citations
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Patent
06 Aug 2014
TL;DR: In this article, an aquaculture online monitoring system consisting of a hull, an automatic ship control part, an environment and ecology online monitoring part, a wireless communication module, a hybrid power supply system and an automatic sleeping module is presented.
Abstract: The invention provides an aquaculture online monitoring system capable of automatically cruising. The aquaculture online monitoring system comprises an online monitoring ship, a hand-held remote control terminal and a remote monitoring platform. The online monitoring ship comprises a hull, an automatic ship control part, an environment and ecology online monitoring part, a wireless communication module, a hybrid power supply system and an automatic sleeping module, wherein the automatic ship control part is partially installed on the hull; the environment and ecology online monitoring part is used for monitoring the aquaculture environment and ecology and giving an early warning when environmental and ecological indicators exceed a set threshold range; the wireless communication module is connected with the automatic ship control part and the environment and ecology online monitoring part; the hybrid power supply system is installed on the hull; the automatic sleeping module is installed on the hull and used for automatically sleeping when the monitoring ship does not need to perform monitoring or sailing; the hand-held remote control terminal and the remote monitoring platform are both connected with the wireless communication module; the hull is made of aluminum alloy. The aquaculture online monitoring system has the advantages of being capable of automatically cruising, performing online monitoring and regulation on the environment and ecology and performing remote platform control.

21 citations

Patent
14 Jul 2017
TL;DR: In this paper, an online automatic control method for dual direction-changing side paddles of a lake and reservoir workboat is presented, where the working state of the boat is monitored by using a sensor, so that the flexibility of motion control for the work boat is enhanced.
Abstract: The invention discloses an online automatic control method for dual direction-changing side paddles of a lake and reservoir workboat The workboat mainly comprises a boat body, side paddles, a propeller and a monitoring system The monitoring system comprises a control unit, a navigation unit, an obstacle avoidance unit, a wind-wave monitoring unit, a wireless communication module and a power supply system The method comprises the steps of setting a sailing path of the workboat; detecting the working state of the workboat; controlling the moving state of the workboat; performing adjustment on deviation of the workboat from the sailing path; performing adjustment on obstacle avoidance of the workboat; and keeping a stable state of the workboat at a target point According to the invention, the propeller and dual side paddles capable of adjusting the speed in direction changing are used, and the control unit is utilized to control the direction and the rotating speed, so that efficient sailing of the workboat in various moving modes is realized Meanwhile, the working state of the workboat is monitored by using a sensor, so that the flexibility of motion control for the workboat is enhanced, influences imposed on the workboat by wind and water flow are effectively resisted, and the workboat is enabled to keep stable at the target point under interference of wind and waves

4 citations

Patent
30 Aug 2019
TL;DR: In this article, an autonomous propulsion device and control method of a small unmanned ship consisting of a hull and an outboard motor, and the outboard motors are arranged on the hull, where the hull is provided with the stepping motor which is connected with the worm and the worm wheel are engaged with each other.
Abstract: The invention discloses an autonomous propulsion device and control method of a small unmanned ship. The autonomous propulsion device comprises a hull and an outboard motor, and the outboard motor isarranged on the hull. The autonomous propulsion device is characterized in that the outboard motor is connected with a battery pack and a controller which are connected with each other; the outboard motor comprises a stepping motor, a transmission shaft, a worm wheel, a worm, a propeller and an outboard motor engine; the hull is provided with the stepping motor which is connected with the worm, and the worm and the worm wheel are engaged with each other; and the worm wheel is connected with the transmission shaft, one end of the transmission shaft is connected with the propeller, and the otherend of the transmission shaft is connected with the outboard motor engine. The torque output by the stepping motor is transmitted to the outboard motor through transmission of the worm wheel and theworm, thus the outboard motor rotates by a certain angle, the specific rotating angle magnitude and direction are adjusted by the mode that the controller outputs an electric pulse signal to the stepping motor, the turning radius and time loss of the ship are reduced, energy consumption is lowered, and the maneuvering property is better.
Patent
23 Dec 2015
TL;DR: In this paper, a marine positioning device consisting of a base station unit and an onboard unit is described, which is mounted on a tripod and connected with a first microcomputer controller and a first transmitting and receiving integrated machine via cables.
Abstract: The invention discloses a marine positioning device, and relates to the technical field of marine devices. The positioning device comprises a base station unit and an onboard unit, the base station unit comprises a laser receiver, the laser receiver is mounted on a tripod, and connected with a first microcomputer controller and a first transmitting and receiving integrated machine via cables, the onboard unit comprises a second microcomputer controller, the second microcomputer controller is connected with a display, a second transmitting-receiving integrated machine and a laser emitter via data transmission lines, and the onboard unit further comprises an antenna. Compared with the prior art, the concrete direction of a target ship can be accurately tracked and positioned.
References
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Patent
18 Nov 2009
TL;DR: In this paper, an automatic pilot for an aeromodelling, comprising a microprocessor, sensing systems and a remote control receiving and controlling interface, is presented, where the microprocessor is provided with a flight control data processing and fuzzy control system; the sensing systems include a position detection system, a height detection, a speed detection system and a power detection system.
Abstract: The utility model discloses an automatic pilot for an aeromodelling, comprising a microprocessor, sensing systems and a remote control receiving and controlling interface, wherein the microprocessor is provided with a flight control data processing and fuzzy control system; the sensing systems include a position detection system, a height detection system, a speed detection system and a power detection system; the remote control receiving and controlling interface is compatible between wireless remote control and stepless drive control. Aiming at the characteristics of the aeromodelling, the automatic pilot adopts various highly integrated and modularized sensing systems to detect the position, the height, the speed and the power of the flying aeromodelling, real time computation and analysis can be carried out by the microprocessor according to the data acquired by the sensing systems, and a pilot signal can be used for regulating the direction and the posture of the aeromodelling, so that the aeromodelling can automatically fly without human intervention. The functional modules of the automatic pilot are integrated on a circuit board, so that the automatic pilot has small volume, light weight, low cost as well as simple and convenient installation and detachment, and is especially suitable for the aeromodelling.

19 citations

Patent
25 Apr 2007
TL;DR: In this article, a rudder fin type miniature underwater robot is described, which realizes the navigation with set depth and direction by combining a double main propeller and a horizontal rudder wing.
Abstract: The utility model relates to a rudder fin type miniature underwater robot, which realizes the navigation with set depth and direction by combining a double main propeller and a rudder wing .Compared with the ordinary underwater robot, the utility model dispenses with transverse and vertical propellers. The main structure of the utility model includes a body, a right propeller and a left propeller, an adjustable attack angle horizontal rudder, a vertical stabilizing fin, a depth gauge, a magnetic compass, a stepping motor and a control computer. The body is about 1.0m in length with the length-width ratio of 2:1. In operation, the right and the left main propellers propel the underwater robot to navigate; the direction and depth signals are fed back to the control computer by the magnetic compass and the depth gauge in a real-time way. The control computer controls the main propellers and the adjustable attack angle horizontal rudder to keep a certain direction and a diving depth. The utility model has the advantages of simple structure, convenient control, reliable operation and low cost, and can automatically navigate in the sea with set direction and depth. The utility model is particularly suitable for ocean exploitation, scientific investigation in the ocean or military purposes.

10 citations

Patent
10 Sep 1991
TL;DR: In this article, a low-resolution detection system was used to enable safe and secure travel with a little secular change and vibrations inexpensively by complementing the lack of spatial resolution for a detection system with the hourly resolution of a control system not to be affected by the dirt of a floor.
Abstract: PURPOSE:To obtain the device for enabling safe and secure travel smoothly with a little secular change and vibrations inexpensively by complementing the lack of spatial resolution for a detection system with the hourly resolution of a control system not to be affected by the dirt of a floor, etc. CONSTITUTION:This device is equipped with the inexpensive low-resolution detection system arranging detectors at inequal intervals, reader holding lateral acceleration and lateral speed previously optimized to the resolution of the detection system, and control system to control a driving system held by the reader. Namely, detectors 1 are installed toward a floor 4 on the four sides of a car body 2, the car body 2 is equipped with three wheels 3, the floor 4 is equipped with a guide tape 5, and the position is detected by the detectors 1 provided forward and backward to the advancing direction of the car body 2. Then, the induced control of the truck is executed along the guide tape 5 provided on the floor 4. Thus, even when the inexpensive and low-resolution detection system is used, the truck can be smoothly and safely controlled.

5 citations