CN106976527A - A kind of marine observation robot - Google Patents
A kind of marine observation robot Download PDFInfo
- Publication number
- CN106976527A CN106976527A CN201710325791.9A CN201710325791A CN106976527A CN 106976527 A CN106976527 A CN 106976527A CN 201710325791 A CN201710325791 A CN 201710325791A CN 106976527 A CN106976527 A CN 106976527A
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- main hull
- component
- hull
- rudder
- water
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 3
- 230000002349 favourable effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Sustainable Development (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of marine observation robot, is characterized in：Hull assembly includes main hull, solar power system and the steady component of hull；Drive device includes main hull and obtains the sail component of power, control main hull the wind rudder component at angle and the water rudder component in control main hull course windward；Communication system includes communication antenna, GPS and controller.Main hull is used as direct drive power using wind energy, wind rudder component is used to adjust sail in the angle windward favorably navigated by water, water rudder component control main hull is turned to, and controller is used to realize marine observation robot autonomous cruise control using the location information of communication system, and is navigated by water along desired trajectory.The various hydrographic informations that detection sensor component is obtained are transferred to by earth station by communication system by controller.The self-contained energy is not needed to be driven, with preferable mobility and endurance.
Description
Technical field
The invention belongs to ocean environment monitoring equipment technical field, it is related to the motor-driven observation device in ocean, specifically one kind
Sea observation robot.
Background technology
Oceanographic observation robot is a kind of motor-driven observation device in ocean, in scientific research of seas, marine resources development, ocean
Rights and interests safeguard and played an important role in terms of marine environmental protection that it can carry out autonomous according to instruction and ambient conditions
Position and move, be to build long-time, the crucial of continuous, large-scale ocean stereopsis system to constitute equipment.To realizing " thoroughly
Bright ocean " is significant.However, the motor-driven observation device in ocean is promoted using motor or engine driving mostly at present
Device produce the motion of automobile, it is necessary to the self-contained energy, so limit they for a long time, large-scale observing capacity with
And take load-carrying ability.So, a kind of marine observation robot of utilization regenerative resource driving is found, the energy can be reduced
The limitation of supply, realizes long-time, large-scale observing capacity.
The content of the invention
There is provided a kind of marine observation robot to solve the above mentioned problem that prior art is present by the present invention, it is not necessary to itself
Carry the energy to be driven, with preferable mobility and endurance.
The purpose of the present invention is achieved through the following technical solutions：
A kind of marine observation robot, including hull assembly, drive device, communication system and detection sensor component, its feature
It is, described hull assembly includes：Main hull, solar power system and the steady component of hull；Described drive device bag
Include：Main hull obtains the sail component of power, control main hull the wind rudder component at angle and the water rudder in control main hull course windward
Component；Described communication system includes：Communication antenna, GPS and controller；The solar power system is used to be main hull
Consuming parts power, the main hull is using wind energy as direct drive power, and wind rudder component, which is used to adjusting sail, is in favourable boat
Capable angle windward, water rudder component controls the main hull to turn to, and controller is used to realize sea using the location information of communication system
Upper observation robot autonomous cruise control, and being navigated by water along desired trajectory, by controller by communication system by detection sensor
The various hydrographic informations that component is obtained are transferred to earth station.
Improvement to above-mentioned technical proposal：Fore hold and rear cabin are respectively arranged with the rear and front end of the main hull,
The front hatch cover of configuration and rear hatchcover are respectively intended to sealing fore hold and rear cabin；Solar energy in described solar power system
Cell panel is arranged on the top surface of front hatch cover and rear hatchcover, and the electrical storage device in solar power system is lithium battery, the lithium electricity
Pond is arranged in fore hold or rear cabin；The steady component of described hull includes subtracting shaking body, keel and plummet, and described subtract shakes body bag
The left side for including the left and right sides for being arranged on the main hull subtracts and shakes body and the right side subtracts and shakes body, and the keel are embedded in the bottom of the main hull
Portion, the plummet is arranged on the bottom of the keel.
Further improvement to above-mentioned technical proposal：Described sail component includes mainsail and tail sail, the mainsail rotation
Rotating shaft is connected with the main hull, and the tail sail is linked into an integrated entity with support bar with mainsail；The wind rudder component include empennage and
Empennage steering wheel, the empennage is arranged on tail sail, and the empennage steering wheel connecting rod is connected with empennage；The water rudder component includes
Water rudder and water rudder steering wheel, the water rudder are arranged on the tail end bottom of the main hull, the water rudder steering wheel connecting rod and water rudder
Connection.
Further improvement to above-mentioned technical proposal：Communication antenna in described communication system is arranged on the mainsail
Top, the GPS is fixed on the front end of the main hull, and the controller is fixed in fore hold or rear cabin.
Further improvement to above-mentioned technical proposal：Various hydrographic information sensors in described detection sensor component
It is mounted on the main hull, keel or plummet, the signal output part of the various hydrographic information sensors is connected to the control
Device processed.
Advantages and positive effects of the present invention are：
The present invention is powered using solar power system to consuming parts, and direct drive power is used as by the use of green energy resource wind energy.Tail
Wing servos control empennage, which is rotated, causes mainsail to have the angle windward most useful for navigation always, and water rudder servos control water rudder, which is rotated, to be realized
Turning function.And controlled by the autonomous cruise of controller, and realize the purpose of marine observation Robot desired trajectory navigation.
The various hydrographic informations that detection sensor component is obtained are transferred to by earth station by communication system by controller.Itself is not needed
The energy is carried, with preferable mobility and endurance.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of marine observation robot of the present invention；
Fig. 2 is a kind of sail modular construction schematic diagram of marine observation robot of the present invention；
Fig. 3 is a kind of water rudder modular construction schematic diagram of marine observation robot of the present invention.
Serial number in figure：Hatchcover after cabin, 1.3- after 1- hull assemblies, 1.1- main hulls, 1.2-, 1.4- front hatch covers,
1.5- fore holds, the 1.6- right sides subtract shake body, a 1.7- left sides subtract shake body, 1.8- lithium batteries, 1.9- keel, 1.10- plummets, 2- driving dress
Put, 2.1- mainsails, 2.2- tails sail, 2.3- empennages, 2.4- connecting rods, 2.5- empennages steering wheel, 2.6- support bars, 2.7- rotary shafts,
2.8- water rudders, 2.9- connecting rods, 2.10- water rudders steering wheel, 3- communication systems, 3.1- communication antennas, 3.2- GPS, 3.3- control
Device.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing：
Referring to Fig. 1, the embodiment for the marine observation robot that a kind of Novel wind of the invention is promoted, including hull assembly 1, driving
Device 2, communication system 3 and detection sensor component 4.Above-mentioned hull assembly 1 includes：Main hull 1.1, solar power system
With the steady component of hull.Drive device 2 includes：Main hull obtains the sail component of power, the wind rudder at control main hull angle windward
Component and the water rudder component in control main hull course.Communication system 3 includes communication antenna 3.1, GPS3.2 and controller 3.3.On
Stating solar power system is used to power for the consuming parts on main hull 1.1, and main hull 1.1 is used as direct drive using wind energy
Power, wind rudder component is used to adjust sail in the angle windward favorably navigated by water, and water rudder component controls the steering of main hull 1.1, control
Device 3.3 is used to realize marine observation robot autonomous cruise control using the location information of communication system 3, and along desired trajectory
The various hydrographic informations that detection sensor component 4 is obtained are transferred to earth station by navigation by controller 3.3 by communication system 3.
Specifically：Fore hold 1.5 and rear cabin 1.2 are respectively arranged with the rear and front end of above-mentioned main hull 1.1, is configured
Front hatch cover 1.4 and rear hatchcover 1.3 be respectively intended to sealing fore hold 1.5 and rear cabin 1.2.In above-mentioned solar power system
Solar panel is arranged on the top surface of front hatch cover 1.4 and rear hatchcover 1.3, and the electrical storage device in solar power system is lithium electricity
Pond 1.8, lithium battery 1.8 is arranged in fore hold 1.5 or rear cabin 1.2, and in the embodiment shown in fig. 1, lithium battery 1.8 is installed
In rear cabin 1.2, solar panel is connected with lithium battery 1.8, among the electrical power storage of conversion to lithium battery, is electricity consumption
Part is powered.
The above-mentioned steady component of hull includes subtracting shaking body, keel 1.9 and plummet 1.10, and above-mentioned subtract shakes body including being arranged on main ship
A left side for the left and right sides of body 1.1, which subtracts, shakes body 1.7 and the right side subtracts and shakes body 1.6, and keel 1.9 are embedded in the bottom of main hull 1.1, the lead
Hammer 1.10 is arranged on the bottom of keel 1.9, assists main hull to preserve the stable equilibrium.
Above-mentioned sail component includes mainsail 2.1 and tail sail 2.2, and mainsail 2.1 is connected with rotary shaft 2.7 with main hull 1.1
Connect, realize rotary motion；Tail sail 2.2 is linked into an integrated entity with support bar 2.6 with mainsail 2.1.Above-mentioned wind rudder component includes empennage
2.3 and empennage steering wheel 2.5, empennage 2.3 is arranged on tail sail 2.2, empennage steering wheel 2.5 is connected with connecting rod 2.4 with empennage 2.3
Connect, realize the angle windward of control tail sail 2.2 and mainsail 2.1.Above-mentioned water rudder component includes water rudder 2.8 and water rudder steering wheel 2.10, will
Water rudder 2.8 is arranged on the tail end bottom of main hull 1.1, and water rudder steering wheel 2.10 is connected with connecting rod 2.9 with water rudder 2.8, realizes
Control the purpose in course.
Communication antenna 3.1 in above-mentioned communication system 3 is arranged on the top of mainsail 2.1, is easy to make controller 3.3 and ground
Face station carries out real-time Data Transmission.GPS3.2 is fixed on to the front end of main hull 1.1, is easy to measure real time position, it is accurate to realize
Positioning.Controller 3.3 is fixed in fore hold 1.5 or rear cabin 1.2, in the embodiment shown in fig. 1, controller 3.3 is consolidated
It is scheduled in front hatch cover 1.4.
Various hydrographic information sensors in above-mentioned detection sensor component 4 are mounted in the main hull 1.1, keel 1.9
Or on plummet 1.10, the signal output part of various hydrographic information sensors is connected to the controller 3.3.Collect in controller 3.3
Into STM32 development boards, the information gathering of steering wheel and sensor can be controlled.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, the present invention essential scope in, the variations, modifications, additions or substitutions made should also belong to this hair
Bright protection domain.
Claims (6)
1. a kind of marine observation robot, including hull assembly, drive device, communication system and detection sensor component, it is special
Levy and be, described hull assembly includes：Main hull, solar power system and the steady component of hull；Described drive device
Including：Main hull obtains the sail component of power, control main hull the wind rudder component at angle and the water in control main hull course windward
Rudder component；Described communication system includes：Communication antenna, GPS and controller；The solar power system is used to be main hull
On consuming parts power, the main hull using wind energy as direct drive power, wind rudder component be used to adjusting sail be in it is favourable
The angle windward of navigation, water rudder component controls the main hull to turn to, and controller is used to realize using the location information of communication system
The autonomous cruise control of sea observation robot, and navigated by water along desired trajectory, it will be detected and sensed by communication system by controller
The various hydrographic informations that device assembly is obtained are transferred to earth station.
2. according to the marine observation robot of one kind described in claim 1, it is characterised in that in the rear and front end of the main hull
Fore hold and rear cabin are respectively arranged with, the front hatch cover of configuration and rear hatchcover are respectively intended to sealing fore hold and rear cabin；It is described
Solar power system in solar panel be arranged on the top surface of front hatch cover and rear hatchcover, in solar power system
Electrical storage device be lithium battery, the lithium battery is arranged in fore hold or rear cabin；The steady component of described hull includes subtracting shaking
Body, keel and plummet, described subtract shake the left side of the left and right sides that body includes being arranged on the main hull and subtract and shake body and the right side subtracts and shakes body, institute
The bottom that keel are embedded in the main hull is stated, the plummet is arranged on the bottom of the keel.
3. according to the marine observation robot of one kind described in claim 1 or 2, it is characterised in that described sail component includes
Mainsail and tail sail, the mainsail rotary shaft are connected with the main hull, and the tail sail is linked into an integrated entity with support bar with mainsail；
The wind rudder component includes empennage and empennage steering wheel, and the empennage is arranged on tail sail, the empennage steering wheel connecting rod and tail
The wing is connected；The water rudder component includes water rudder and water rudder steering wheel, and the water rudder is arranged on the tail end bottom of the main hull, described
Water rudder steering wheel connecting rod is connected with water rudder.
4. according to the marine observation robot of one kind described in claim 1 or 2, it is characterised in that in described communication system
Communication antenna is arranged on the top of the mainsail, and the GPS is fixed on the front end of the main hull, before the controller is fixed on
In cabin or rear cabin.
5. according to the marine observation robot of one kind described in claim 3, it is characterised in that the communication in described communication system
Antenna is arranged on the top of the mainsail, and the GPS is fixed on the front end of the main hull, and the controller is fixed on fore hold
Or in rear cabin.
6. according to the marine observation robot of one kind described in claim 2, it is characterised in that in described detection sensor component
Various hydrographic information sensors be mounted on the main hull, keel or plummet, the letter of the various hydrographic information sensors
Number output end is connected to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710325791.9A CN106976527A (en) | 2017-05-10 | 2017-05-10 | A kind of marine observation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710325791.9A CN106976527A (en) | 2017-05-10 | 2017-05-10 | A kind of marine observation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106976527A true CN106976527A (en) | 2017-07-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710325791.9A Pending CN106976527A (en) | 2017-05-10 | 2017-05-10 | A kind of marine observation robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106976527A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674622A (en) * | 2018-05-21 | 2018-10-19 | 武汉理工大学 | A kind of intelligent controller and control method of marine solar sail |
| CN109121110A (en) * | 2018-09-04 | 2019-01-01 | 佛山豆萁科技有限公司 | Marine environment intelligence sensing system |
| CN109720569A (en) * | 2018-11-12 | 2019-05-07 | 中航通飞研究院有限公司 | A kind of large size amphibious aircraft water rudder |
| CN111169597A (en) * | 2020-02-11 | 2020-05-19 | 中国科学院沈阳自动化研究所 | Unmanned sailing boat for marine environment observation |
| CN113022832A (en) * | 2021-04-23 | 2021-06-25 | 王曰英 | Sea-air amphibious unmanned aircraft and deployment and recovery method |
| WO2021248268A1 (en) * | 2020-06-08 | 2021-12-16 | 天津大学 | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid |
| FR3119368A1 (en) * | 2021-02-04 | 2022-08-05 | Ixblue | Autonomous motorized monohull vessel with weighted keel convertible into a trimaran |
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| JP2015009785A (en) * | 2013-07-02 | 2015-01-19 | スズキ株式会社 | Sailboat |
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| CN105228893A (en) * | 2013-03-14 | 2016-01-06 | 无人风动力装置航行公司 | Autonomous sea-going ship |
| CN106428495A (en) * | 2016-10-20 | 2017-02-22 | 中国海洋大学 | Marine unmanned vehicle directly driven by wind energy |
| CN207060341U (en) * | 2017-05-10 | 2018-03-02 | 中国海洋大学 | A kind of marine observation robot |
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| CN202557781U (en) * | 2012-05-08 | 2012-11-28 | 薛飞 | Movable sail hydraulic environmental-protection sailship |
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| CN106428495A (en) * | 2016-10-20 | 2017-02-22 | 中国海洋大学 | Marine unmanned vehicle directly driven by wind energy |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674622A (en) * | 2018-05-21 | 2018-10-19 | 武汉理工大学 | A kind of intelligent controller and control method of marine solar sail |
| CN109121110A (en) * | 2018-09-04 | 2019-01-01 | 佛山豆萁科技有限公司 | Marine environment intelligence sensing system |
| CN109720569A (en) * | 2018-11-12 | 2019-05-07 | 中航通飞研究院有限公司 | A kind of large size amphibious aircraft water rudder |
| CN111169597A (en) * | 2020-02-11 | 2020-05-19 | 中国科学院沈阳自动化研究所 | Unmanned sailing boat for marine environment observation |
| CN111169597B (en) * | 2020-02-11 | 2023-08-18 | 中国科学院沈阳自动化研究所 | Unmanned sailing boat for marine environment observation |
| WO2021248268A1 (en) * | 2020-06-08 | 2021-12-16 | 天津大学 | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid |
| FR3119368A1 (en) * | 2021-02-04 | 2022-08-05 | Ixblue | Autonomous motorized monohull vessel with weighted keel convertible into a trimaran |
| WO2022167490A1 (en) | 2021-02-04 | 2022-08-11 | Ixblue | Autonomous motorised monohull ship with weighted keel transformable into a trimaran |
| CN113022832A (en) * | 2021-04-23 | 2021-06-25 | 王曰英 | Sea-air amphibious unmanned aircraft and deployment and recovery method |
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Application publication date: 20170725 |