CN205707188U - A kind of semi-submersible type unmanned boat - Google Patents
A kind of semi-submersible type unmanned boat Download PDFInfo
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- CN205707188U CN205707188U CN201620596636.1U CN201620596636U CN205707188U CN 205707188 U CN205707188 U CN 205707188U CN 201620596636 U CN201620596636 U CN 201620596636U CN 205707188 U CN205707188 U CN 205707188U
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Abstract
This utility model provides a kind of semi-submersible type unmanned boat, and when using a kind of semi-submersible type unmanned boat of the present utility model, telecommunication equipment can carry communication equipment by ship and send control signal to controlling device, thus controls propeller motion to control the movement of hull；Navigator receives terminal can obtain positional information forming position signal, then carries communication equipment by ship and sends telecommunication equipment to, so can be in the position remotely learning hull；Supervision equipment monitors and is formed supervision signal to surrounding, then carries communication equipment by ship and sends telecommunication equipment to, so can be at the ambient condition remotely learnt around hull.So, during a kind of semi-submersible type unmanned boat operation of the present utility model, in remote tracing job position and understanding working environment state, and the movement of hull can be controlled, it is possible to perform unmanned operation in relevant waters.
Description
Technical field
This utility model relates to a kind of semi-submersible type unmanned boat and using method thereof.
Background technology
Unmanned boat is exactly a kind of operatorless naval vessels, can be suitable according to certain mode independent navigation and obstacle avoidance
Close perform dangerous and other be unsuitable for the task of personnel's operation.Utilize unmanned boat can perform multiple war and non-war operations
Task, such as, scouts, searches for, detects and removes mines；Search and rescue, navigate and hydro_geography prospecting；Anti-submarine warfare, anti-special operations with
And patrol, strike pirate, anti-terrorism attack etc..
Underwater propeller is also frogman's booster, is naval frogman or diving fan carries out the important of shallow sea diving and helps
One of assistant's section.Underwater propeller improves people's range of activity in water and speed, and it not only can allow people at the water surface certainly
By navigation, and into swimmer can be brought the world under water, carry out going sightseeing, the activity such as exploration.
In the diving operation of current condition, the diving operation personnel such as frogman are not it is generally required to be mounted on lash ship, or not
Can leave lash ship too remote, leaving lash ship too far just has risk out of touch with lash ship；From lash ship upper and lower water operation and from lash ship
Upper supplementary power supply and other supplies, and the lash ship scale of construction is very big, mobile inconvenience and the consuming energy；And, if needed a piece of
In the waters that scope is bigger, multiple spot carries out diving operation simultaneously, between each diving operation personnel and each diving operation personnel
And inevitable the most distant between lash ship, and in existing operating type, diving operation personnel it is generally required to be mounted on lash ship, or
It is the most remote that person can not leave lash ship, it is clear that can not meet this job requirements.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model be to provide a kind of semi-submersible type unmanned boat and
Its using method, can perform unmanned operation in waters.
For achieving the above object and other relevant purposes, this utility model provides a kind of semi-submersible type unmanned boat, uses as follows
Technical scheme: a kind of semi-submersible type unmanned boat, including hull；The bottom of described hull is provided with propeller；Control it is equiped with on hull
Device processed, navigator receive terminal, ship carries communication equipment and the equipment of supervision；Described control device controls angle of rake motion；
Described control device, navigator receive terminal, the equipment that monitors all carries communication apparatus communication with ship and is connected, and described ship carries communication and sets
Standby by communicating to connect between antenna and telecommunication equipment.
Preferably, described hull includes main nacelle and is located at the propelling nacelle of the main nacelle left and right sides, and described propeller sets
In the bottom advancing nacelle.
Preferably, in described propelling module body, it is provided with the accumulator powered for propeller, advances the outer surface of nacelle to be coated with
Solar panel, described solar panel is accumulator charging.
Preferably, described propeller is propeller, advances the bottom of nacelle to be provided with the propeller cabin for receiving propeller.
Preferably, described hull is provided with and carries, with ship, the depth gauge that communication apparatus communication is connected.
Further, being provided with charging device under water in described main nacelle, described charging device can be that propeller is powered.
Further, described charging device under water is provided with the charging inlet for charging for the diving apparatus of diver.
Further, described navigator receives terminal and GPS geo-location system or Beidou satellite navigation system leads to
Letter connects.
Further, described hull is additionally provided with side-scan sonar equipment and attitude transducer, side-scan sonar equipment and attitude
Sensor all carries communication apparatus communication with ship and connects.
With a kind of semi-submersible type unmanned boat of the present utility model correspondingly, this utility model also provides for a kind of semi-submersible type unmanned boat
Using method, adopt the following technical scheme that the using method of a kind of semi-submersible type unmanned boat, utilize such scheme and arbitrary preferably
The semi-submersible type unmanned boat described in technical scheme, comprise the steps:
1) navigator receives terminal and obtains positional information forming position signal, and then navigator receives terminal by shape
The position signalling become sends ship to and carries communication equipment；Ship carries communication equipment and navigator receives the position signalling that terminal transmission comes
Telecommunication equipment is sent to by antenna after processing；
2) supervision equipment monitors and is formed supervision signal to surrounding, then monitors the supervision letter that equipment will be formed
Number send ship to and carry communication equipment；Ship carries after the supervision signal that the transmission of supervision equipment comes is processed by communication equipment and passes through antenna
Send telecommunication equipment to.
3) telecommunication equipment carries communication equipment to ship and sends control signal, ship carry communication equipment to control signal at
Manage and pass to control device, controlling device and carry, according to from ship, the signal control propeller motion that communication equipment receives.
As it has been described above, a kind of semi-submersible type unmanned boat of the present utility model, have the advantages that and using this practicality new
During a kind of semi-submersible type unmanned boat of type, telecommunication equipment can carry communication equipment by ship send control signal to controlling device,
Thus control propeller motion to control the movement of hull；Navigator receives terminal can obtain positional information forming position
Signal, then carries communication equipment by ship and sends telecommunication equipment to, so can be in the position remotely learning hull；Supervision sets
For surrounding being monitored and formed supervision signal, then carry communication equipment by ship and send telecommunication equipment to, this
Sample can be at the ambient condition remotely learnt around hull.So, during a kind of semi-submersible type unmanned boat operation of the present utility model, permissible
In remote tracing job position and understanding working environment state, and control the movement of hull, it is possible to perform unmanned in relevant waters
Operation.With a kind of semi-submersible type unmanned boat of the present utility model correspondingly, the use of a kind of semi-submersible type unmanned boat of the present utility model
Method also has above-mentioned beneficial effect, and here is omitted.
Accompanying drawing explanation
Fig. 1 is shown as the front view of a kind of semi-submersible type unmanned boat of the present utility model.
Fig. 2 is shown as the top view of a kind of semi-submersible type unmanned boat of the present utility model.
Fig. 3 is shown as the left view of a kind of semi-submersible type unmanned boat of the present utility model.
Fig. 4 is shown as the connection diagram between the diving apparatus of charging device and propeller, diver under water.
The signal transmission signal that Fig. 5 is shown as between a kind of semi-submersible type unmanned boat of the present utility model and telecommunication equipment
Figure.
Piece mark explanation
1 hull 5 monitors equipment
2 main nacelle 6 antennas
3 advance nacelle 7 solar panel
4 propeller 8 handles
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages of the present utility model and effect easily.This utility model can also be by additionally
Different detailed description of the invention is carried out or applies, the every details in this specification can also based on different viewpoints with should
With, under without departing from spirit of the present utility model, carry out various modification or change.
Shown in Fig. 1, Fig. 2 and Fig. 3, this utility model provides a kind of semi-submersible type unmanned boat, including hull 1；Described hull 1
Bottom is provided with propeller 4；Be equiped with control device on hull 1, navigator receives terminal, ship carries communication equipment and supervision sets
Standby 5；Described control device controls the motion of propeller 4；Described control device, navigator receive terminal, monitor equipment 5 all with
Ship carries communication apparatus communication and connects, and described ship carries communication equipment by communicating to connect between antenna 6 and telecommunication equipment.Make
During with a kind of semi-submersible type unmanned boat of the present utility model, telecommunication equipment can carry communication equipment by ship and send to controlling device
Control signal, thus control propeller 4 and move to control the movement of hull 1；Navigator receives terminal can obtain position letter
Breath forming position signal, then carry communication equipment by ship and send telecommunication equipment to, so can remotely learn hull 1
Position；Supervision equipment 5 monitors and is formed supervision signal to surrounding, then carries communication equipment by ship and sends to far
Journey communication equipment, so can be at the ambient condition remotely learnt around hull 1.So, a kind of semi-submersible type of the present utility model without
During people's ship operation, in remote tracing job position and understanding working environment state, and the movement of hull 1 can be controlled, it is possible to
Relevant waters performs unmanned operation.
In a kind of semi-submersible type unmanned boat of the present utility model, described telecommunication equipment can be to be mounted in long-range mother
Communication equipment on ship, as such, it is possible to learn position and the environment shape about of semi-submersible type unmanned boat from long-range lash ship
State, and according to circumstances the load of the ship on semi-submersible type unmanned boat communication equipment sends signal, and by the control device control on hull 1
Propeller 4 processed, makes hull 1 move to predetermined position.As one preferred embodiment, in one of the present utility model half
In submersible unmanned boat, described propeller 4 is propeller, advances the bottom of nacelle 3 to be provided with the propeller cabin for receiving propeller.
So, when need not use propeller 4 to provide thrust power, propeller can be folded in income propeller cabin.Described spiral shell
Rotation can be conventional propeller, ducted propeller, adjustable pitch propeller etc., and the whether suitable of propeller directly determines product
The most important performance indications of product, such as speed and thrust.Driving motor can be used to drive propeller, drive motor permissible
Use polytype motors such as standard electromotor, submersible machine, customization motor.Drive the actuating device between motor and propeller
Machine driving and magnetic driver two ways can be used, according to the difference driving motor speed, it usually needs driving
Decelerator it is equipped with between motor and propeller.Described control device is for controlling the motion of propeller 4, and controlling device can control
The start-stop of propeller 4 governing speed, control device and can use the press button of contact or contactless magnetic switch
As the switch of control propeller 4 start-stop, controlling device can be to use the modes such as the rotating speed of vane angle mechanical switch or control motor
Regulate the running speed of propeller 4.
In a kind of semi-submersible type unmanned boat of the present utility model, described telecommunication equipment can also is that diving operation personnel
The communication equipment carried, so, when diving operation personnel carry out diving operation, hull 1 swims on the water surface, diving operation people
Member pull the plug, diving operation personnel can utilize its telecommunication equipment carried recognize under water hull 1 position and
Ambient condition around hull 1, Divers can carry to the ship semi-submersible type unmanned boat from utilizing telecommunication equipment under water
Communication equipment sends signal, and controls propeller 4 by the control device on hull 1, makes hull 1 move to the position specified.
Such mode, a kind of semi-submersible type unmanned boat of the present utility model can be that diving operation personnel provide Informational support, thus opens up
The wide execution efficiency of the operations such as search and rescue, exploration under water under water.
As shown in Figure 1, Figure 2 and Figure 3, as one preferred embodiment, a kind of semi-submersible type of the present utility model is unmanned
In ship, described hull 1 includes main nacelle 2 and is located at the propelling nacelle 3 of main nacelle 2 left and right sides, and described propeller 4 is located at propelling
The bottom of nacelle 3, the propelling nacelle 3 of main nacelle 2 left and right sides equivalently-sized, can be in the propelling of main nacelle 2 left and right sides
The bottom of nacelle 3 is respectively provided with propeller 4 and is symmetrical arranged about main nacelle 2, in such manner, it is possible to make the balance of hull 1 and stablize
Property preferable, two advance nacelle 3 to swim in water, can be that hull 1 provides buoyancy, so can increase the load energy of hull 1
Power, can be according to needs device mission payload on two propelling modules of the task of execution.Advancing, in nacelle 3, handle can also be set
Hands 8, it is simple under hang diver.
Main nacelle 2 can be arranged to the shape that front space is relatively big, back space is less, and diving operation personnel can take
Taking advantage of the front portion in main nacelle 2, before and after main nacelle 2, joint portion can arrange door handle device, and diver can hang over handle dress
Put following.Main nacelle 2 can be water-drop-shaped constant current contour shape.As one preferred embodiment, of the present utility model
In a kind of semi-submersible type unmanned boat, being provided with charging device under water in described main nacelle 2, described charging device can be that propeller 4 is powered,
The charging inlet for charging can be provided with for the diving apparatus of diver on described charging device under water.Fig. 4 is shown as under water
Charging device and propeller 4, diver diving apparatus between connection diagram, be provided with on charging device under water and advance
The interface that is electrically connected that device 4 connects, propeller 4 can be charged by the interface that is electrically connected, be additionally provided with charging inlet under water on charging device, when
During diving operation personnel operation under water, if the diving apparatus electricity of Divers is not enough, the diving of diver can be set
For being connected on charging inlet, supplement electricity by the diving apparatus that charging device under water is diving operation personnel, so can
The underwater performance time making Divers continues longer.An optical fiber folding and unfolding cabin can also be added, at light at the rear portion of main nacelle 2
Placing optical fiber in fine folding and unfolding cabin, optical fiber connects ship and carries communication equipment and telecommunication equipment and ship carries the data letter of communication equipment
Breath is to telecommunication equipment, and it is not far situation that this mode is applicable to hull 1 with telecommunication equipment distance.Can also be
Before and after main nacelle 2, junction has door handle device, can hang diver below, simultaneously in the middle of the most a set of in cabin charge under water
Device, under water supply, propeller 4 provides electric power support.
As the preferred mode of one, in a kind of semi-submersible type unmanned boat of the present utility model, described navigator receives
Terminal and GPS geo-location system or Beidou satellite navigation system communication connection, can receive navigator terminal and install
One advances in nacelle 3 wherein.In a kind of semi-submersible type unmanned boat of the present utility model, described supervision equipment 5 can use to be taken the photograph
Camera and surface monitoring device, can monitor the environment of 360 degree of scopes around hull 1, can be arranged on by supervision equipment 5
Another advances in nacelle 3.
As one preferred embodiment, in a kind of semi-submersible type unmanned boat of the present utility model, it is also possible at hull 1
On also set up side-scan sonar equipment and attitude transducer, side-scan sonar equipment and attitude transducer all with ship carry communication apparatus communication
Connect.So, ship carries sonar image information and the attitude transducer receipts that side scan sonar system can be collected by communication equipment
Collect to hull 1 attitude information send telecommunication equipment to.In a kind of semi-submersible type unmanned boat of the present utility model, described sky
Line 6 may be mounted at propelling nacelle 3 top or main nacelle 2 top, and it can be sighting distance and over the horizon that described ship carries communication equipment
Communication equipment, image information and navigator that supervision equipment 5 is collected by ship load communication equipment receive the position that terminal is collected
Confidence breath sends telecommunication equipment to by antenna 6.Preferably, it is also possible to be provided with on hull 1 and lead to ship load communication equipment
The depth gauge that letter connects, depth gauge can detect hull 1, apart from water-bed distance, depth gauge, the depth information of detection be formed letter
Number and send to ship carry communication equipment, then ship carry communication equipment send depth information to telecommunication equipment, thus may be used
With the degree of depth from remotely understanding waters, hull 1 place, if the degree of depth in waters, hull 1 place is the most shallow, telecommunication equipment will
Sending alarm, and send signal to ship load communication equipment, ship carries communication equipment and sends control signal to controlling device, controls device
Control propeller 4 action and change its course；In order to enable a kind of semi-submersible type unmanned boat of the present utility model to make quickly
Action, it is also possible to be directly connected to controlling device by depth gauge, if when the degree of depth in waters, hull 1 place is the most shallow, depth gauge is examined
Measure depth signal and send signal to controlling device, controlling device and control propeller 4 action and change its course.
As one preferred embodiment, in a kind of semi-submersible type unmanned boat of the present utility model, described propelling nacelle 3
Inside it is provided with the accumulator into propeller 4 power supply, advances the outer surface of nacelle 3 to be coated with solar panel 7, described solar-electricity
Pond plate 7 charges for accumulator.Described accumulator can use lithium battery group, it is also possible to arranges external charging in accumulator and connects
Mouthful, so, when semi-submersible type unmanned boat is reclaimed, in order to utilize external power source for accumulator charging so that subsequent job uses.
This utility model also provides for the using method of a kind of semi-submersible type unmanned boat, and Fig. 5 is shown as one of the present utility model
Signal transmission schematic diagram between semi-submersible type unmanned boat and telecommunication equipment, below in conjunction with Fig. 5 to one of the present utility model
The using method of semi-submersible type unmanned boat is explained, and the using method of a kind of semi-submersible type unmanned boat of the present utility model, in utilization
State the semi-submersible type unmanned boat described in technical scheme and arbitrary preferred technical scheme, comprise the steps:
1) navigator receiving terminal obtains positional information forming position signal, and then navigator receiving terminal is by shape
The position signalling become sends ship to and carries communication equipment；Ship carries communication equipment and navigator receiving terminal is transmitted the position signalling of coming
Telecommunication equipment is sent to by antenna 6 after processing；
2) supervision equipment 5 monitors and is formed supervision signal to surrounding, then monitors the supervision that equipment 5 will be formed
Signal sends ship to and carries communication equipment；The supervision signal that supervision equipment 5 is transmitted by ship load communication equipment passes through after processing
Antenna 6 sends telecommunication equipment to.
3) telecommunication equipment carries communication equipment to ship and sends control signal, ship carry communication equipment to control signal at
Manage and pass to control device, controlling device and move according to the signal control propeller 4 received from ship load communication equipment.
In above-mentioned steps 1) and step 2) in, carry, when telecommunication equipment receives ship, the position signalling that communication equipment transmits
Or after supervision signal, telecommunication equipment can carry communication equipment by antenna 6 to ship and send control signal, and ship carries communication
Control signal is sent to control device by equipment, and control device control propeller 4 moves thus controls the motion of hull 1.
When semi-submersible type unmanned boat is equipped with depth gauge, depth gauge can detect the degree of depth in marine site residing for hull 1 and by deep
Degree information forms depth signal and sends ship load communication equipment to, and ship carries communication equipment to be carried out the depth signal that depth gauge transmission comes
Telecommunication equipment is sent to by antenna 6 after process；Telecommunication equipment can after receiving the depth signal in marine site residing for hull 1
To send control signal by antenna 6 to ship load communication equipment, ship carries communication equipment and control signal sends to control device, control
Device processed control propeller 4 moves thus controls the motion of hull 1.
When semi-submersible type unmanned boat is equipped with side scan sonar system, side scan sonar system can detect marine site described in hull 1
Sonar image information and form sonar signal of video signal, then sonar signal of video signal is sent to ship and carries communication equipment, ship carries logical
Letter equipment sends telecommunication equipment to by antenna 6 after being processed by sonar signal of video signal；Telecommunication equipment is to residing for hull 1
Can carry communication equipment by antenna 6 to ship after the sonar signal of video signal in marine site and send control signal, ship carries communication equipment will control
Signal processed sends control device to, and control device control propeller 4 moves thus controls the motion of hull 1.
When semi-submersible type unmanned boat is equipped with attitude transducer, attitude transducer can detect the attitude information of hull 1 also
Forming hull 1 attitude signal, then hull 1 attitude signal sends to ship and carries communication equipment, ship carries communication equipment by hull 1 appearance
Telecommunication equipment is sent to by antenna 6 after state signal processing；Telecommunication equipment can pass through after hull 1 attitude signal
Antenna 6 carries communication equipment to ship and sends control signal, and ship carries communication equipment and control signal sends to control device, controls device
Control propeller 4 moves thus controls the motion of hull 1.
Certainly, above-mentioned a kind of semi-submersible type unmanned boat of the present utility model can also extend other electronic equipment of equipment
And sensing equipment；A kind of semi-submersible type unmanned boat of the present utility model can be used for diving and entertains, surveys, searches and rescues and some military use
On the way.
Above-described embodiment only illustrative principle of the present utility model and effect thereof are new not for limiting this practicality
Type.Above-described embodiment all can be carried out by any person skilled in the art under spirit and the scope of the present utility model
Modify or change.Therefore, art has usually intellectual such as without departing from the essence disclosed in this utility model
All equivalences completed under god and technological thought are modified or change, and must be contained by claim of the present utility model.
Claims (9)
1. a semi-submersible type unmanned boat, including hull (1)；It is characterized in that:
The bottom of described hull (1) is provided with propeller (4)；
Be equiped with control device on hull (1), navigator receives terminal, ship carries communication equipment and supervision equipment (5)；Described control
Device processed controls the motion of propeller (4)；
Described control device, navigator receive terminal, monitor that equipment (5) all carries communication apparatus communication with ship and is connected, described ship
Carry communication equipment by communicating to connect between antenna (6) and telecommunication equipment.
2. semi-submersible type unmanned boat as claimed in claim 1, is characterized in that: described hull (1) includes main nacelle (2) and is located at master
The propelling nacelle (3) of nacelle (2) left and right sides, described propeller (4) is located at the bottom advancing nacelle (3).
3. semi-submersible type unmanned boat as claimed in claim 2, is characterized in that: be provided with as propeller (4) in described propelling nacelle (3)
The accumulator of power supply, advances the outer surface of nacelle (3) to be coated with solar panel (7), and described solar panel (7) is for storing
Battery charges.
4. semi-submersible type unmanned boat as claimed in claim 2, is characterized in that: described propeller (4) is propeller, advances nacelle
(3) bottom is provided with the propeller cabin for receiving propeller.
5. semi-submersible type unmanned boat as claimed in claim 1, is characterized in that: described hull (1) is provided with and carries communication equipment with ship
The depth gauge of communication connection.
6. semi-submersible type unmanned boat as claimed in claim 2, is characterized in that: be provided with charging device under water in described main nacelle (2),
Described charging device can be propeller (4) power supply.
7. semi-submersible type unmanned boat as claimed in claim 6, is characterized in that: described charging device under water is provided with for for diving under water
The charging inlet of the diving apparatus charging of member.
8. semi-submersible type unmanned boat as claimed in claim 1, is characterized in that: it is fixed with the GPS whole world that described navigator receives terminal
Position system or Beidou satellite navigation system communication connection.
9. semi-submersible type unmanned boat as claimed in claim 1, is characterized in that: described hull is additionally provided with side-scan sonar equipment on (1)
And attitude transducer, side-scan sonar equipment and attitude transducer all carry communication apparatus communication with ship and connect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620596636.1U CN205707188U (en) | 2016-06-17 | 2016-06-17 | A kind of semi-submersible type unmanned boat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620596636.1U CN205707188U (en) | 2016-06-17 | 2016-06-17 | A kind of semi-submersible type unmanned boat |
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| CN205707188U true CN205707188U (en) | 2016-11-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923114A (en) * | 2016-06-17 | 2016-09-07 | 上海遨拓深水装备技术开发有限公司 | Semisubmersible unmanned ship and using method thereof |
| CN107672752A (en) * | 2017-09-21 | 2018-02-09 | 柳州环山科技有限公司 | Intelligent cruise unmanned boat |
| CN108706078A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | A kind of autonomous type aquafarm monitoring device |
| CN113031632A (en) * | 2021-03-15 | 2021-06-25 | 王曰英 | Control system and control method suitable for water surface recovery of underwater vehicle |
-
2016
- 2016-06-17 CN CN201620596636.1U patent/CN205707188U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923114A (en) * | 2016-06-17 | 2016-09-07 | 上海遨拓深水装备技术开发有限公司 | Semisubmersible unmanned ship and using method thereof |
| CN107672752A (en) * | 2017-09-21 | 2018-02-09 | 柳州环山科技有限公司 | Intelligent cruise unmanned boat |
| CN108706078A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | A kind of autonomous type aquafarm monitoring device |
| CN113031632A (en) * | 2021-03-15 | 2021-06-25 | 王曰英 | Control system and control method suitable for water surface recovery of underwater vehicle |
| CN113031632B (en) * | 2021-03-15 | 2022-09-20 | 王曰英 | Control system and control method suitable for water surface recovery of underwater vehicle |
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