The invention provides a full-autonomous water quality detection unmanned ship system which is characterized by comprising a sensor, a controller and an actuator, a laser radar and an industrial camera are used for sensing the surrounding environment, an inertial measurement unit and a GPS module are used for sensing the position, posture and other information of a ship body, and a water quality detection module is used for measuring related indexes of a water body. The sensors belong to the system; the operator upper computer, the artificial intelligence development board, the single-chip microcomputer and the electronic speed regulator are main control modules for unmanned ship operation, make decisions through a built-in algorithm according to input and belong to controllers of the system. The underwater propeller, the cooling water pump and the lithium battery pack are used for executing decisions of the controller and belong to executors of the system; according to the invention, a plurality of sensors are fused to well sense the information of the ship body and the environment, normal work can be realized by reducing manual control, autonomous cruise is realized by using a more advanced main control module, and indexes which can only be detected in a laboratory can be predicted according to water quality indexes detected on the ship in real time.

    本发明提供了一种全自主水质检测无人船系统,其特征在于,包括传感器、控制器和执行器三部分,激光雷达和工业相机用于感知周围环境,惯性测量单元和GPS模块用于感知船体自身位置、姿态等信息,水质检测模块用于测量水体相关指标,都属于系统的传感器;操控者电脑上位机、人工智能开发板、单片机和电子调速器是无人船作业的主控模块,根据输入通过内置算法做出决策,属于系统的控制器;水下推进器、冷却水泵及锂电池组用于执行控制器的决策,属于系统的执行器;本发明融合多个传感器能很好感知船体自身及环境信息,减少人为控制也能正常工作,利用更先进的主控模块实现自主巡航,还能根据船上实时检测的水质指标,预测出在实验室才能检测的指标。


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    Title :

    Full-autonomous water quality detection unmanned ship system


    Additional title:

    一种全自主水质检测无人船系统


    Contributors:
    FU ANQI (author) / TENG YINGXUAN (author) / LIU QIANZE (author) / WANG ZICHEN (author) / FENG JINCHEN (author) / MO YUANHAO (author) / SHEN BOYANG (author) / QIAO JUNFEI (author)

    Publication date :

    2023-08-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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