CN107172184A - A kind of unmanned boat cloud control system based on 4G technology of Internet of things - Google Patents

Abstract

The embodiment of the present invention discloses an unmanned ship cloud control system based on 4G Internet of Things technology, which is applied to an unmanned ship. 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 RTMP audio and video transmission protocol, the video flow to the cloud server is completed. Forwarding, compared with the existing unmanned ship communication system using GPRS communication technology, the real-time performance is stronger; using 4G communication technology to realize the control of unmanned ship, compared with the existing communication system using digital radio to control the unmanned ship The way, the control distance is longer, the rate is higher, it is easier to deploy, and the implementation is simpler; through the cloud data forwarding technology, it can reduce the data flow of the unmanned ship, reduce the energy consumption of the unmanned ship system, and prolong the operation time of the unmanned ship.

Description

A cloud control system for unmanned ships based on 4G Internet of Things technology

technical field

The invention relates to the field of unmanned ship monitoring, in particular to an unmanned ship cloud control system based on 4G Internet of Things technology.

Background technique

Unmanned ship is a new type of small-scale surface autonomous navigation vehicle integrating intelligence, networking, integration, motorization and unmanned. It is mainly used to perform tasks in various water environment. Wide application prospects.

Among them, the miniature unmanned ship has the characteristics of flexible maneuverability, easy manipulation, convenient carrying and use, easy to carry out experiments, low cost, high efficiency, and low requirements for the monitoring environment. It has been widely used in lake and inland river water quality monitoring, wetland environment, etc. Monitoring, marine environment monitoring, aquaculture environment monitoring, underwater environment measurement and many other civilian and military fields in various water environment.

However, the existing unmanned ship control system mainly realizes the communication between the unmanned ship and the ground control center through digital radio stations. The communication rate of this method is low, and multiple relay stations are needed to realize long-distance communication. The deployment workload is heavy, the cost is high, and the real-time performance and practicability are poor. In terms of wireless communication technology between the unmanned ship and the ground control center, the existing unmanned ship control system is mainly based on GPRS communication technology, the system has poor real-time performance and cannot be applied to more complex applications. Therefore, there is an urgent need for a new technical solution to solve the above technical problems.

Contents of the invention

Aiming at the defects in the prior art, the present invention proposes an unmanned ship cloud control system based on 4G Internet of Things technology to overcome the defects in the prior art.

Specifically, the present invention proposes the following specific embodiments:

The embodiment of the present invention proposes 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; wherein,

The shipborne system includes a control information 4G serial port transceiver module, a positioning module, a drive control module, an operation video acquisition module, and an operation video 4G transmission module;

The control information 4G serial port transceiver module is used to receive the control parameter data forwarded by the cloud server forwarding system, and send the state information of the unmanned ship to the cloud server forwarding system;

The positioning module is used to determine the real-time state information of the unmanned ship, and send the determined real-time state information to the drive control module;

The drive control module is used to obtain the status information of the positioning module, and sends the status information to the control information 4G serial port transceiver module; it is also used to obtain the control parameter data of the control information 4G serial port transceiver module, and controlling the unmanned ship based on the control parameter data;

The operation video acquisition module is used to obtain the real-time operation video of the unmanned ship, and send it to the operation video 4G sending module;

The operation video 4G sending module is used to push the real-time operation video obtained by the operation video acquisition module to the cloud server forwarding system through the RTMP protocol;

The cloud server forwarding system is used to receive and forward the status information and the operation video to the ground station control system; it is also used to receive the control parameter data of the ground station control system, and send the control parameter data forwarded to said onboard system;

The ground station control system sends the control parameter data to the cloud server forwarding system through the MavLink protocol; receives the state information of the unmanned ship forwarded by the cloud server forwarding system; and obtains the cloud through the RTMP protocol. The server forwards the operation video of the system.

In a specific embodiment, the operation video acquisition module includes a shipboard camera on the unmanned ship;

The operation video is captured by the on-board camera on the unmanned ship, wherein the operation video 4G sending module sends the operation video acquired by the on-board camera.

In a specific embodiment, the cloud server forwarding system includes: a control information forwarding system and a real-time video forwarding system; wherein,

The control information forwarding system is used to forward the control parameter data of the ground station control system to the shipboard system; and forward the state information of the unmanned ship to the ground station control system;

The real-time video forwarding system is used to forward the real-time operation video of the shipboard system to the ground station control system.

In a specific embodiment, the status information includes real-time heading, real-time speed, and real-time position information.

In a specific embodiment, the ground station control system includes: a ground control module, a system communication performance statistics function module, and a background service processing module; wherein,

The ground control module is used to control the route and speed of the unmanned ship and display the operation video of the unmanned ship in real time;

The system communication performance statistical function module is used to calculate transmission delay, transmission rate communication performance and perform visual display;

The background service processing module is used to forward the control parameter data to the shipboard system through the cloud server forwarding system in the form of MavLink protocol, and receive the state of the shipboard system through the cloud server forwarding system information; and obtain the operation video forwarded by the cloud server forwarding system based on the RTMP protocol.

In a specific embodiment, the ground control module is used to set the speed of the unmanned ship and the route of the unmanned ship through the satellite map, and display the operation video of the unmanned ship in real time with a VLC player.

In a specific embodiment, the positioning module is specifically a GPS satellite positioning module.

In a specific embodiment, the operation video acquisition module specifically includes a shipboard camera module and a video processing module; Perform format conversion processing, wherein the operation video 4G sending module obtains the operation video through the video processing module.

In a specific embodiment, the control information 4G serial port transceiver module is specifically a 4G serial port transparent transmission module.

In a specific embodiment, the shipboard system further includes: a power supply battery, wherein the power supply battery is used to provide the control information 4G serial port transceiver module, the positioning module, the drive control module, the operation The video acquisition module and the 4G transmission module of the operation video are powered.

Therefore, the embodiment of the present invention discloses an unmanned ship cloud control system based on 4G Internet of Things technology, which is applied to an unmanned ship. The monitoring system includes: a ship-borne system, a cloud server forwarding system, and a ground station control system; , the shipborne system includes a control information 4G serial port transceiver module, a positioning module, a drive control module, an operation video acquisition module, and an operation video 4G transmission module; The forwarded control parameter data, and the status information of the unmanned ship is sent to the cloud server forwarding system; the positioning module is used to determine the real-time status information of the unmanned ship, and send the determined real-time status information sent to the drive control module; the drive control module is used to obtain the state information of the positioning module, and send the state information to the control information 4G serial port transceiver module; also used to obtain the control information 4G The control parameter data of the serial port transceiver module, and control the unmanned ship based on the control parameter data; the operation video acquisition module is used to obtain the real-time operation video of the unmanned ship; the operation video 4G sending module It is used to push the real-time operation video acquired by the operation video acquisition module to the cloud server forwarding system through the RTMP protocol; the cloud server forwarding system is used to receive and forward the status information and the operation video to the ground Station control system; also used to receive the control parameter data of the ground station control system, and forward the control parameter data to the shipboard system; the ground station control system sends the control parameter data through the MavLink protocol Forwarding the system to the cloud server; receiving the state information of the unmanned ship forwarded by the cloud server forwarding system; and obtaining the real-time operation video of the unmanned ship of the cloud server forwarding system through the RTMP protocol. 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 RTMP audio and video transmission protocol, the video stream is forwarded to the server , Compared with the existing unmanned ship communication system using GPRS communication technology, the real-time performance is stronger; the use of 4G communication technology to realize the control of unmanned ships, compared with the existing communication methods that use digital radio stations to control unmanned ships , the control distance is longer, the rate is higher, it is easier to deploy, and the implementation is simpler; through the cloud data forwarding technology, it can reduce the data flow of the unmanned ship, reduce the energy consumption of the unmanned ship system, and prolong the operation time of the unmanned ship.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of an unmanned ship cloud control system based on 4G Internet of Things technology proposed by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an overall architecture of an unmanned ship cloud control system based on 4G Internet of Things technology proposed by an embodiment of the present invention;

3 is a schematic diagram of a specific structure of an unmanned ship cloud control system based on 4G Internet of Things technology proposed by an embodiment of the present invention;

4 is a schematic diagram of a control information and status information transmission process in an unmanned ship cloud control system architecture based on 4G Internet of Things technology proposed by an embodiment of the present invention;

5 is a schematic diagram of a real-time operation video transmission process in an unmanned ship cloud control system architecture based on 4G Internet of Things technology proposed by an embodiment of the present invention.

detailed description

Hereinafter, various embodiments of the present disclosure will be described more fully. The present disclosure is capable of various embodiments, and adaptations and changes are possible therein. It is to be understood, however, that there is no intention to limit the various embodiments of the present disclosure to the particular embodiments disclosed herein, but that the present disclosure be construed to cover those falling within the spirit and scope of various embodiments of the present disclosure. All adjustments, equivalents and/or alternatives.

Hereinafter, the terms "comprising" or "may include" that may be used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the existence of one or more functions, operations, or elements. Increase. In addition, as used in various embodiments of the present disclosure, the terms "comprising", "having" and their cognates are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing, And it should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or adding one or more features, numbers, steps, operations, elements, components or a combination of the foregoing possibilities.

In various embodiments of the present disclosure, the expression "or" or "at least one of A or/and B" includes any or all combinations of words listed at the same time. For example, the expression "A or B" or "at least one of A or/and B" may include A, may include B, or may include both A and B.

Expressions (such as 'first', 'second', etc.) used in various embodiments of the present disclosure may modify various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and/or importance of the elements described. The above expressions are used only for the purpose of distinguishing one element from other elements. For example, a first user device and a second user device indicate different user devices although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present disclosure.

It should be noted that if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and there may be "connection" between the first constituent element and the second constituent element. "The third component. Conversely, when one constituent element is "directly connected" to another constituent element, it can be understood that there is no third constituent element between the first constituent element and the second constituent element.

The term 'user' used in various embodiments of the present disclosure may indicate a person using the electronic device or a device using the electronic device (eg, an artificial intelligence electronic device).

Terms used in various embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the various embodiments of the present disclosure. As used herein, singular forms are intended to include plural forms as well, unless the context clearly dictates otherwise. Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present disclosure belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, Unless clearly defined in various embodiments of the present disclosure.

Example 1

Embodiment 1 of the present invention discloses an unmanned ship cloud control system based on 4G Internet of Things technology, which is applied to unmanned ships. As shown in Figure 1 and Figure 2, the monitoring system includes: a ship-borne system, a cloud server forwarding system , ground station control system; where,

The shipborne system includes a control information 4G (the 4th Generation mobile communication technology, the fourth generation mobile communication technology) serial port transceiver module, a positioning module, a drive control module, an operation video acquisition module, and an operation video 4G transmission module;

The control information 4G serial port transceiver module is used to receive the control parameter data forwarded by the cloud server forwarding system, and push the state information of the unmanned ship to the cloud server forwarding system;

The positioning module is used to determine the real-time state information of the unmanned ship, and send the determined real-time state information to the drive control module;

The drive control module is used to obtain the status information of the positioning module, and sends the status information to the control information 4G serial port transceiver module; it is also used to obtain the control parameter data of the control information 4G serial port transceiver module, and controlling the unmanned ship based on the control parameter data;

The operation video acquisition module is used to obtain the real-time operation video of the unmanned ship, and send it to the operation video 4G sending module;

The operation video 4G sending module is used to push the real-time operation video obtained by the operation video acquisition module to the cloud server forwarding system through the RTMP protocol;

The cloud server forwarding system is used to receive and forward the status information and the operation video to the ground station control system; it is also used to receive the control parameter data of the ground station control system, and send the control parameter data forwarded to said onboard system;

The ground station control system sends the control parameter data to the cloud server forwarding system through the MavLink (Micro Air Vehicle Link, micro aircraft connection protocol) protocol; Status information; and obtain the operation video of the cloud server forwarding system by RTMP (Real Time Messaging Protocol, real-time message transmission protocol) protocol.

In a specific embodiment, the operation video acquisition module includes a shipboard camera on the unmanned ship;

The operation video is captured by the on-board camera on the unmanned ship, wherein the operation video 4G sending module sends the operation video acquired by the on-board camera.

In another embodiment, the operation video acquisition module specifically includes a shipboard camera module and a video processing module; the operation video is captured by the shipboard camera on the unmanned ship, and is processed by the video processing module. Format conversion processing, wherein the operation video 4G sending module obtains the operation video through the video processing module.

In a specific embodiment, the cloud server forwarding system includes: a control information forwarding system and a real-time video forwarding system; wherein,

The control information forwarding system is used to forward the control parameter data of the ground station control system to the shipboard system; it is also used to forward the status information of the unmanned ship to the ground station control system.

The real-time video forwarding system is used to forward the real-time operation video of the shipboard system to the ground station control system.

In a specific embodiment, the status information includes real-time heading, real-time speed, and real-time position information.

In a specific embodiment, the ground station control system includes: a ground control module, a system communication performance statistics function module, and a background service processing module; wherein,

The ground control module is used to control the route and speed of the unmanned ship and display the operation video of the unmanned ship in real time;

The system communication performance statistics function module is used to calculate and visualize communication performance; specifically, the communication performance may include, for example, transmission delay and transmission rate.

The background service processing module is used to forward the control parameter data to the shipboard system through the cloud server forwarding system in the form of MavLink protocol, and receive the state of the shipboard system through the cloud server forwarding system information; and obtain the operation video forwarded by the cloud server forwarding system based on the RTMP protocol.

In a specific embodiment, the ground control module is used to set the speed of the unmanned ship and the route of the unmanned ship through the satellite map, and display the operation video of the unmanned ship in real time with a VLC player.

In a specific embodiment, the positioning module is specifically a GPS (Global Positioning System, Global Positioning System) satellite positioning module.

Of course, in addition to GPS, it can also be Beidou satellite positioning system, Galileo satellite positioning system or GLONASS satellite positioning system.

In a specific embodiment, the control information 4G serial port transceiver module is specifically a 4G serial port transparent transmission module.

In a specific embodiment, the shipboard system further includes: a power supply battery, wherein the power supply battery is used to provide the control information 4G serial port transceiver module, the positioning module, the drive control module, the operation The video acquisition module and the 4G transmission module of the operation video are powered.

Example 2

In order to further illustrate the present invention, in a specific embodiment, Embodiment 2 of the present invention also discloses an unmanned ship cloud control system based on 4G Internet of Things technology, see Fig. 3, Fig. 4, Fig. 5, including Shipboard system, cloud server forwarding system, ground station control system. The shipboard system includes a 4G serial port transceiver module, a video acquisition module, and a 4G video transmission module, which can receive route control information and send its own real-time course, speed, position and other information and operation videos to the cloud server forwarding system. The cloud server forwarding system is used to forward control information, unmanned ship real-time course, speed and position information and unmanned ship operation video. The ground station control system can control the route and speed of the unmanned ship, monitor the operating status of the unmanned ship in real time, and count the communication performance of the control system in real time.

The shipborne system further includes a positioning module and a drive control module. Onboard systems are powered by batteries. The unmanned ship is small in size, easy to carry, and can be flexibly used in various water environment.

The above-mentioned unmanned ship control information and real-time course, speed, position and other information transmission systems use the network transparent transmission mode to send and receive data. Users do not need to pay attention to the data conversion process between serial port data and network data packets, only need to set the relevant parameters, the data transparent communication between the serial port device and the network server can be realized.

The unmanned ship real-time video monitoring system includes a video acquisition module, a 4G video transmission module, a cloud server forwarding system, and a ground station control system. The video acquisition module collects the real-time operation video of the unmanned ship, and transmits it to the cloud server forwarding system in the form of RTMP protocol using 4G technology. The ground station control system accesses the cloud server forwarding system based on the RTMP protocol to obtain the real-time operation video of the unmanned ship. monitor.

The monitoring interface of the ground station control system can monitor the working status of the unmanned ship in actual waters in real time.

The ground station control system can monitor the communication performance of the control system in real time.

The working process of an unmanned ship cloud control system based on 4G Internet of Things technology is as follows:

Step 1. After the unmanned ship is powered on and running, the positioning module obtains the current position information, and sends it to the cloud server forwarding system in the MavLink protocol data format through the 4G serial port transceiver module, and forwards it via the cloud server forwarding system to said ground station control system;

Step 2. The ground station control system receives the location information of the unmanned ship, calculates the route of the unmanned ship, and forwards it to the 4G serial port of the unmanned ship for transmission and reception in the MavLink protocol data format through the cloud server forwarding system module.

Step 3. After the 4G serial port transceiver module of the unmanned ship receives the route information, the drive control module controls the unmanned ship to carry out autonomous navigation, and transmits real-time course, speed, position and other information through the 4G The serial port transceiver module sends data in the MavLink protocol data format to the cloud server forwarding system, and forwards to the ground station control system via the cloud server forwarding system.

Step 4, the video acquisition module of the unmanned ship and step 3) work simultaneously, collect the real-time operation video of the unmanned ship, and send it to the cloud server forwarding system in the form of RTMP protocol through the 4G video transmission module, the The ground station control system accesses the cloud server forwarding system to obtain the real-time operation video of the unmanned ship, which is played by the VLC in real time, and the communication performance of the monitoring system is counted and displayed at the same time.

Therefore, the embodiment of the present invention discloses a 4G-based unmanned ship cloud control system, which is applied to unmanned ships. The control system includes: a ship-borne system, a cloud server forwarding system, and a ground station control system; wherein, the The shipborne system includes a control information 4G serial port transceiver module, a positioning module, a drive control module, an operation video acquisition module, and an operation video 4G transmission module; the control information 4G serial port transceiver module is used to receive the control information forwarded by the cloud server forwarding system parameter data, and push the state information of the unmanned ship to the cloud server forwarding system; the positioning module is used to determine the real-time state information of the unmanned ship, and send the determined real-time state information to the The drive control module; the drive control module is used to obtain the status information of the positioning module, and sends the status information to the control information 4G serial port transceiver module; it is also used to obtain the control information 4G serial port transceiver module control parameter data, and control the unmanned ship based on the control parameter data; the operation video acquisition module is used to obtain the real-time operation video of the unmanned ship; the operation video 4G sending module is used to pass The RTMP protocol pushes the real-time operation video obtained by the operation video acquisition module to the cloud server forwarding system; the cloud server forwarding system is used to receive and forward the status information and the operation video to the ground station control system ; Also used to receive the control parameter data of the ground station control system, and forward the control parameter data to the shipborne system; the ground station control system sends the control parameter data to the A cloud server forwarding system; receiving the status information of the unmanned ship forwarded by the cloud server system; and obtaining the operation video of the unmanned ship forwarded by the cloud server forwarding system through the RTMP protocol. 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 RTMP audio and video transmission protocol, the video flow to the cloud server is completed. Forwarding, compared with the existing communication system using GPRS communication technology, it has stronger real-time performance; using 4G communication technology to realize the control of unmanned ships, compared with the existing communication methods using digital radio stations to control unmanned ships, the control The distance is longer, the rate is higher, it is easier to deploy, and the implementation is simpler; through the cloud data forwarding technology, it can reduce the data traffic of the unmanned ship, reduce the energy consumption of the unmanned ship system, and prolong the operation time of the unmanned ship.

Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present invention.

Those skilled in the art can understand that the modules in the devices in the implementation scenario can be distributed among the devices in the implementation scenario according to the description of the implementation scenario, or can be located in one or more devices different from the implementation scenario according to corresponding changes. The modules of the above implementation scenarios can be combined into one module, or can be further split into multiple sub-modules.

The above serial numbers of the present invention are for description only, and do not represent the pros and cons of the implementation scenarios.

The above disclosures are only some specific implementation scenarios of the present invention, however, the present invention is not limited thereto, and any changes conceivable by those skilled in the art shall fall within the protection scope of the present invention.

Claims (10)

1. A cloud control system for unmanned ships based on 4G Internet of Things technology, characterized in that it is applied to unmanned ships, and the monitoring system includes: a ship-borne system, a cloud server forwarding system, and a ground station control system; wherein, The shipborne system includes a control information 4G serial port transceiver module, a positioning module, a drive control module, an operation video acquisition module, and an operation video 4G transmission module; The control information 4G serial port transceiver module is used to receive the control parameter data forwarded by the cloud server forwarding system, and send the state information of the unmanned ship to the cloud server forwarding system; The positioning module is used to determine the real-time state information of the unmanned ship, and send the determined real-time state information to the drive control module; The drive control module is used to obtain the status information of the positioning module, and sends the status information to the control information 4G serial port transceiver module; it is also used to obtain the control parameter data of the control information 4G serial port transceiver module, and controlling the unmanned ship based on the control parameter data; The operation video acquisition module is used to obtain the real-time operation video of the unmanned ship, and send it to the operation video 4G sending module; The operation video 4G sending module is used to push the real-time operation video obtained by the operation video acquisition module to the cloud server forwarding system through the RTMP protocol; The cloud server forwarding system is used to receive and forward the status information and the operation video to the ground station control system; it is also used to receive the control parameter data of the ground station control system, and send the control parameter data forwarded to said onboard system; The ground station control system sends the control parameter data to the cloud server forwarding system through the MavLink protocol; receives the state information of the unmanned ship forwarded by the cloud server forwarding system; and obtains the cloud through the RTMP protocol. The server forwards the operation video of the system. 2. A kind of unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, is characterized in that, described operation video acquisition module comprises the onboard camera on described unmanned ship; The operation video is captured by the on-board camera on the unmanned ship, wherein the operation video 4G sending module sends the operation video acquired by the on-board camera. 3. A kind of unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, is characterized in that, described cloud server forwarding system comprises: control information forwarding system and real-time video forwarding system; Wherein, The control information forwarding system is used to forward the control parameter data of the ground station control system to the shipboard system; and forward the state information of the unmanned ship to the ground station control system; The real-time video forwarding system is used to forward the real-time operation video of the shipboard system to the ground station control system. 4. A kind of unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, is characterized in that, described state information comprises real-time course, real-time speed, real-time position information. 5. A kind of unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, is characterized in that, described ground station control system comprises: ground control module, system communication performance statistical function module, background service processing module; among them, The ground control module is used to control the route and speed of the unmanned ship and display the operation video of the unmanned ship in real time; The system communication performance statistical function module is used to calculate transmission delay, transmission rate communication performance and perform visual display; The background service processing module is used to forward the control parameter data to the shipboard system through the cloud server forwarding system in the form of MavLink protocol, and receive the state of the shipboard system through the cloud server forwarding system information; and obtain the operation video forwarded by the cloud server forwarding system based on the RTMP protocol. 6. The unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 5, wherein the ground control module is used to set the speed of the unmanned ship and set the route of the unmanned ship through satellite maps, And use the VLC player to display the unmanned ship operation video in real time. 7. The unmanned ship cloud control system based on 4G Internet of Things technology according to claim 1, wherein the positioning module is specifically a GPS satellite positioning module. 8. A kind of unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, is characterized in that, described operation video acquisition module specifically comprises shipboard camera module and video processing module; Described operation video passes The on-board camera on the unmanned ship is photographed, and the video processing module performs format conversion processing, wherein the operation video 4G sending module obtains the operation video through the video processing module. 9. The unmanned ship cloud control system based on 4G Internet of Things technology as claimed in claim 1, wherein the control information 4G serial port transceiver module is specifically a 4G serial port transparent transmission module. 10. A kind of unmanned ship cloud control system based on 4G Internet of things technology as claimed in claim 1, it is characterized in that, described on-board system also comprises: power supply battery, wherein said power supply battery is used for described control The information 4G serial port transceiver module, the positioning module, the drive control module, the operation video acquisition module, and the operation video 4G transmission module supply power.