The invention relates to the technical field of unmanned ship berthing, in particular to an automatic accurate berthing system of a small unmanned ship and a control method of the automatic accurate berthing system. The automatic accurate berthing system comprises a power supply, a driving motor, a single-chip microcomputer, a motor driving chip, a Hall sensor, a permanent magnet and the like; magnetic field signals of the permanent magnets on the two sides of the ship garage are collected through the Hall sensors on the two sides of the ship body, the intensity of the magnetic field signals of the Hall sensors is compared through the single-chip microcomputer, and therefore the deviation direction of the ship body is judged, and finally the single-chip microcomputer sends out control signals to the motor driving chip. And the motor driving chip drives the motor to rectify the advancing direction of the unmanned ship, so that the unmanned ship is accurately put in storage and berthed. The unmanned ship can be automatically warehoused and berthed without manual operation, the method has the advantages that the berthing position is accurate, the efficiency is high, the labor cost is reduced and the like, and the requirements of related industries for the safety, the working efficiency, the cost return rate and the like of the small unmanned ship are met.

    本发明涉及无人船停泊技术领域,具体为一种小型无人船的自动精准停泊系统及其控制方法,包括电源、驱动电机、单片机、电机驱动芯片、霍尔传感器、永磁体等部件,通过船体两侧的霍尔传感器对船库两侧的永磁体进行磁场信号采集并由单片机对多个霍尔传感器的磁场信号强度进行比较,从而判断出船体的偏移方向,最后单片机向电机驱动芯片发出控制信号,由电机驱动芯片驱动电机对无人船前进方向进行纠偏,使其准确入库停泊。本发明使得无人船不需人工操作即可自动完成入库停泊,具有停泊位置准确、效率高、降低人力成本等优点,满足相关行业对小型无人船的安全、工作效率及成本回报率等方面的要求。


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    Titel :

    Automatic accurate mooring system of small unmanned ship and control method of automatic accurate mooring system


    Weitere Titelangaben:

    一种小型无人船的自动精准停泊系统及其控制方法


    Beteiligte:
    QIN JIAHAN (Autor:in) / DENG RENKE (Autor:in) / WU YIFAN (Autor:in) / YAN YU'ER (Autor:in) / HUANG ZIYI (Autor:in)

    Erscheinungsdatum :

    2023-10-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01R Messen elektrischer Größen , MEASURING ELECTRIC VARIABLES



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