CN207510644U - A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling - Google Patents

A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling Download PDF

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Publication number
CN207510644U
CN207510644U CN201721515053.2U CN201721515053U CN207510644U CN 207510644 U CN207510644 U CN 207510644U CN 201721515053 U CN201721515053 U CN 201721515053U CN 207510644 U CN207510644 U CN 207510644U
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control device
aerofoil profile
arc
directional control
controller
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杨显原
吴家鸣
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The utility model discloses a kind of solar energy binary unmanned boat of long-distance remote control seawater sampling, including：Hull main body, aerofoil profile directional control device, electric system, propulsion system, water quality sampling system and control system；Wherein aerofoil profile directional control device is at least one set of, and the aerofoil profile directional control device main body and induction wing flap of each group of aerofoil profile directional control device are streamline type profile；The upper end of aerofoil profile directional control device rotary shaft is connect by connecting rod with aerofoil profile directional control device servo motor, and the lower end of aerofoil profile directional control device rotary shaft passes through box connecting bridge structure base slab and pillar, affixed with aerofoil profile directional control device main body；Induction wing flap is connected to aerofoil profile directional control device body rear by Flap rotation axis；The utility model has many advantages, such as that endurance is long, the radius of gyration is small, navigation stability is good, turnability is good, seagoing capacity is excellent, environmentally protective, round-the-clock can perform long-distance remote control water quality sampling task, be provided simultaneously with certain AUTONOMOUS TASK ability.

Description

A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling
Technical field
The utility model is related to unmanned boat field, more particularly to a kind of box connecting bridge structure of small swing radius is distant at a distance Control seawater sampling solar energy binary unmanned boat.
Background technology
Unmanned boat is a kind of to be navigated under the remote monitoring of the base station on ground or lash ship control centre with autonomous or remote control mode The Novel surface motion platform of particular task is gone in the water surface and completed, is marine environmental monitoring, oceanographic hydrological data observation, ocean One of the important means of disaster alarm.
The mainly artificial acquisition of traditional Offshore Waters sampling means, artificial acquisition need the whole scene of sample collector to participate in And needing large tonnage someone's ship safe with support personnel, this results in a large amount of manpower and materials waste；It is cold for some Cold, the bad environments marine site such as stormy waves is larger or pollutant is harmful, sample collector's spot sampling are very arduous and ten Divide danger, personal safety cannot ensure, even can not reach sampling area sometimes；Another drawback manually acquired is sampling week Phase is longer, can not quickly, accurately reflect water pollution situation, seriously affect prevention and control of marine pollution work development.
As the technologies such as positioning, communication, control, artificial intelligence develop rapidly, unmanned boat (USV), underwater remote-control robot (ROV), the unmanned mobile monitoring platform such as underwater unmanned autonomous navigation device nobody (AUV) is gradually applied to ocean water quality detection Field.Compared with ROV and AUV, unmanned boat is moved in ocean surface, few by external constraint, has higher flexibility, application Range is very extensive, and has many advantages, such as that of low cost, communication is reliable, positioning is convenient, easily controllable, is just gradually becoming ocean and is visiting One of the research hotspot in survey field.
One of greenization, intelligent emphasis by as ship domain next step development.Specifically, it is by breaking through ship Body Alignment Design technology, structure optimization technology, drag reduction consumption-reducing technological, efficient Push Technology, clean energy resource and regenerative resource profit With technology etc., energy conservation and environmental protection type ship is developed；By breaking through key application of the information technologies such as automatic technology on ship Technology realizes navigation automation, mechanical automation, loading automation, and realizes flight course planning, ship-handling, navigation attitude adjustment, sets Standby monitoring etc. improves the intelligent level of ship.
Commercialization water quality sampling unmanned boat product is set mostly for the sampling of the small ranges waters such as inland river, lake, harbour at present Meter, ship cruising ability it is small (<70km), the navigation performances such as stability, sea-keeping, rapidity are poor, can not carry out complicated long distance From marine sampling operation, requirement of the marine environmental monitoring department to the monitoring point dynamic detection far from seashore cannot be met.
In terms of unmanned boat hull platform, catamaran relies on its outstanding stability and larger load, just gradually As the popular ship type of scientific research of seas unmanned boat.Compared with monohull, hull is divided into two by catamaran, identical displacement Lower catamaran possesses more roomy floor space and volume of compartment compared with monohull, and hull becomes taller and thinner, can be by obtaining Wave-making interaction favorably is obtained to reduce ship drag overall, and its stability is preferable, survival ability is stronger under severe sea condition；In addition, Existing catamaran is usually respectively mounted propeller on each sheet body, can be generated on Heading control by changing two propellers Thrust realizes that hull turns to, and has good maneuverability；However, under severe sea condition, the smaller water quality sampling of displacement nobody Ship shipping-direction stability is often poor, needs constantly to manipulate to maintain course；In addition it is simple by frequently changing two propeller rotating speeds Realize that hull turns to not only energy consumption and greatly, can also shorten service life of equipment and even cause equipment damage, bring unnecessary economy Loss.
Therefore, there is an urgent need for a kind of endurance is remote, shipping-direction stability and turning quality are good, easy to operate, stability and seakeeping capacity are excellent Good binary water quality sampling unmanned boat.
Utility model content
The purpose of this utility model is to provide one kind using reproducible solar energy as main energy sources, endurance is remote, navigation Resistance is small, stability and seakeeping capacity are excellent, the solar energy binary unmanned boat of easy operation long-distance remote control seawater sampling.
The purpose of this utility model is addressed by following technical proposals：
A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling, including hull main body, aerofoil profile directional control device, Electric system, propulsion system, water quality sampling system and control system；Wherein, hull main body includes two sheet bodies, arc-shaped Box connecting bridge structure, two sheet bodies connect to form twin hull construction by arc-shaped box connecting bridge structure；Arc-shaped Box connecting bridge structure upper surface be provided with flexible solar film battery assembly, speech ciphering equipment, light units, picture pick-up device, Alarm equipment, communication and navigation equipment and avoidance equipment；
The aerofoil profile directional control device is at least one set of, and each group of aerofoil profile directional control device includes pillar, aerofoil profile directional control Device servo motor, connecting rod, aerofoil profile directional control device rotary shaft, aerofoil profile directional control device main body, induction wing flap, Flap rotation axis, Induce wing flap corner driving guide rail and induction wing flap guiding axis；Aerofoil profile directional control device main body and induction wing flap are streamlined cut open Face；Pillar is upper surface and the tangent umbrella plane frame structure in box connecting bridge structure lower surface, pillar upper surface with it is box Connecting bridge structure lower surface connects, and the lower end of pillar is socketed in aerofoil profile directional control device rotary shaft；Aerofoil profile directional control device revolves The upper end of shaft is connect by connecting rod with aerofoil profile directional control device servo motor, and the lower end of aerofoil profile directional control device rotary shaft passes through Box connecting bridge structure base slab and pillar, it is affixed with aerofoil profile directional control device main body；Induction wing flap is connected by Flap rotation axis In aerofoil profile directional control device body rear, induce wing flap and Flap rotation axis affixed, Flap rotation axis is grasped mounted on aerofoil profile direction Vertical device body rear, and stretch out aerofoil profile directional control device main body, induction wing flap corner driving guide rail one end and Flap rotation axis External part is affixed, and the other end is flexibly connected with being fixed on the induction wing flap guiding axis of lower rod end；
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery Intelligent supervisor and lithium battery group；Lithium battery group is composed in parallel by multiple lithium batteries；Each flexible solar film battery assembly Equipped with terminal box, multiple flexible solar film battery assemblies are connected in series with by terminal box, and and solar charging controller Connection, lithium battery intelligent manager are connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager；
The propulsion system includes propeller, high-strength carbon fiber pipe, propulsion electric machine；Propeller is arranged on the tail of sheet body End；High-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine, and the other end passes through the propulsion on sheet body Device mounting hole is connect with sheet body；Propeller is also connect with propulsion electric machine；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, peristaltic pump, wastewater discharge pipe；Pump head and Peristaltic pump and peristaltic pump are connected with peristaltic pump by pump line, and wastewater discharge pipe will be empty outside peristaltic pump discharge of wastewater mouth and hull Between connect；Tube rolling device, peristaltic pump are connect respectively with the tube rolling device controller of control system controller module, wriggling pump controller；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller Module, positioning navigation module, communication module, data acquisition module and controller module are connect respectively with main control computer.
Further to realize the utility model aim, it is preferable that the aerofoil profile directional control device has two groups, is separately positioned on Front and rear on binary unmanned boat central fore-and-aft vertical plane；The pillar with and box connecting bridge structure lower surface connect except horizontal stroke To extending to support construction；The aerofoil profile directional control device horizontal profile is fairshaped aerofoil profile cavity structure.Aerofoil profile direction Executor main body and induction wing flap are cavity structure；
Preferably, if two pieces set gradually from stern transom plate in vivo propeller cofferdam, propeller control cabin, Dry lithium battery cabin, forepeak；The sheet body is proclined stem, rectangular ship stern, the interior slack bulge type watertight sky for setting multiple compartments Chamber slender bodies structure.
Preferably, horizontal internal floor is set at the high 70mm of spread baseline, on inner bottom plating longitudinal centre line, in stern The propeller mounting hole of diameter 29mm is set in front of sealing plate at 44.5mm；Sheet body topside inner wall is away from setting water at the high 200mm of baseline Flat reinforcing frame, horizontal reinforcing frame are welded on topside inner wall；Horizontal reinforcing frame is widened to form lithium battery horizontal stroke at lithium battery cabin To support construction；On horizontal reinforcing frame longitudinal centre line, in front of the stern transom plate at 44.5mm a diameter of 29mm of setting propeller Mounting hole；Transverse bulkhead, transverse bulkhead lower part watertight are set between each cabin, and top sets the cable of a diameter of 40mm to pass through hole, electricity Cable sets sealing device by hole；Cable is located at more than Water Plane by hole lower edge；Transverse bulkhead top is arc-shaped, passes through welding It is connect with adjacent structure；The arc sealing cover support plate concentric with transverse bulkhead top circular arc, arc sealing cover are set at the top of sheet body Support plate lower surface and transverse bulkhead top are tangent, and at propeller cofferdam, propeller control cabin and each lithium battery cabin In order to sheet body internal unit installation and maintenance, above-mentioned support plate is welded on sheet body topside inner wall evolution shape hatch；Sheet body top Portion sets the arc sealing cover concentric with above-mentioned arc sealing cover support plate, on lower surface and above-mentioned arc sealing cover support plate Plane tangent, top edge are overlapped with sheet body top edge；Lithium battery cabin inner bottom plating longitudinal centre line nearby sets lithium battery base Seat；The sealing cover support plate, arc sealing cover arrange two groups of threaded holes corresponding with support construction bottom.
Preferably, the arc-shaped box connecting bridge structure both sides are connect respectively by a pair of of support construction with sheet body Between two sheet bodies；Support construction cross section is the class triangle being bent towards unmanned boat central fore-and-aft vertical plane, support construction bottom Portion is threaded hole；The box connecting bridge structure upper surface arc length is equal to flexible solar film battery assembly length.
Preferably, the arc-shaped box connecting bridge structure box house sets gradually electrical equipment along captain direction Room, sampling chamber, sample devices room；It sets and encircles between electrical equipment room and sampling chamber and sampling chamber and sample devices room Shape crossbeam, crossbeam lower edge are not less than 240mm away from connecting bridge structure babinet bottom plate heights；Sample setting arc watertight compartment above chamber Lid, arc watertight compartment cap upper surface are overlapped with arc-shaped box connecting bridge structure upper surface, arc watertight hatchcover size and list Part flexible solar film assembly size is consistent；Arc watertight hatchcover sets Simple handle.
Preferably, the main control computer is the PCM-9375 single board computers based on PC104 buses；
The positioning navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna Arc-shaped box connecting bridge structure rear portion is arranged on positioning differential antennae and is connect with GNSS signal receiver, GNSS signal Receiver accesses the RS-232 serial ports of main control computer；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission electricity Platform；Data transmission antenna is connect with data transmission radio station, and the RS-232 serial ports of main control computer is accessed in data transmission radio station；Screen Transmission antenna is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer.Data transmission day Line is arranged on the rear end of arc-shaped box connecting bridge structure, and data transmission radio station is arranged on the electrical equipment at platform deck rear portion In cabin；For screen transmission setting antenna in the rear end of arc-shaped box connecting bridge structure, screen transmission radio station is arranged on platform first The electrical equipment cabin of postlaminar part；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligence It can gyroscope, 3-axis acceleration sensor and water depth sensor；Video camera, three axis strapdown reluctance type electronics magnetic of ultrasonic sensor Compass, intelligent gyroscope, 3-axis acceleration sensor, water depth sensor are respectively connected to the RS-232 serial ports of main control computer；
The controller module includes：Propeller control device, tube rolling device controller, wriggling pump controller, video camera control Device processed, lamp dimmer, voice controller and aerofoil profile directional control device servomotor controller；Promote its controller, tube rolling device Controller, wriggling pump controller, camera control unit, lamp dimmer, voice controller are tapped into the RS- of main control computer 232 serial ports；In addition, propeller control device is also connect with propulsion electric machine, it is arranged on platform deck rear portion；Tube rolling device controller also with Tube rolling device connects；Wriggling pump controller is also connect with peristaltic pump；Camera control unit is also connect with video camera；Aerofoil profile directional control Device servomotor controller is also connect with aerofoil profile directional control device servo motor.
Preferably, the speech ciphering equipment includes loud speaker, the voice controller connection of loud speaker and control system；Light Equipment includes searchlight and red Bai Lvsan colors navigation lights, searchlight and red Bai Lvsan colors navigation lights respectively with the light of control system Controller connects；Picture pick-up device includes RS-232 serial ports and the camera control unit company of video camera, video camera and main control computer It connects；Alarm equipment includes alarm, the voice controller connection of alarm and control system；Communication and navigation equipment includes GNSS days Line, positioning differential antennae, data transmission antenna and screen transmission antenna, GNSS antenna and positioning differential antennae connect with GNSS radio station It connects, data transmission radio station and screen transmission antenna are connect respectively with data transmission radio station and screen transmission radio station；Avoidance equipment packet Include ultrasonic sensor, the RS-232 serial ports connection of ultrasonic sensor and main control computer；Loud speaker and red Bai Lvsan colors boat Portable lighter is arranged on arc-shaped box connecting bridge structure forepart；Searchlight and red Bai Lvsan colors navigation lights are arranged on arc-shaped case Formula connecting bridge structure forepart；Video camera setting is in arc-shaped box connecting bridge structure front end；Alarm is arranged on arc-shaped Box connecting bridge structure tail portions；GNSS antenna, positioning differential antennae, data transmission antenna and screen transmission antenna are arranged on circular arc The box connecting bridge structure tail portions of shape；Ultrasonic sensor is arranged on arc-shaped box connecting bridge structure front end.
Preferably, the sheet body, connecting bridge structure and aerofoil profile directional control device are made of 5086 aluminium alloys.
Preferably, the lithium battery intelligent manager and the propulsion electric machine of propulsion system connect, with water quality sampling system Tube rolling device, peristaltic pump, peristaltic pump connection, it is electric that output connect with loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm Energy；Lithium battery intelligent manager is also connect with control system main control computer, is believed with the GNSS of control system positioning navigation module The connection of number receiver is connect with the data transmission radio station of control system communication module, screen transmission radio station, with control system data Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, the 3-axis acceleration of acquisition module Sensor, water depth sensor connection and the propulsion of control system controller module its controller, wriggling pump controller, tube rolling device Controller, camera control unit, lamp dimmer, voice controller and aerofoil profile directional control device servomotor controller connect It connects；
Multiple flexible solar film battery assemblies are laterally pasted onto box connecting bridge structure upper surface terminal box Series connection forms solar battery group, and intermediate one is pasted onto arc watertight compartment and covers；Flexible solar film battery assembly is selected CIGS hull cell；Solar charging controller is MPPT solar charging controllers, is arranged on electrical equipment chamber interior；Lithium electricity Pond intelligent supervisor is arranged on electrical equipment chamber interior；Lithium battery is arranged on the lithium battery pedestal of lithium battery cabin.
The utility model unmanned boat on catamaran central fore-and-aft vertical plane by setting two groups of rudder formula aerofoil profile directional control device cavitys The aerofoil profile that manipulates of structure stablizes lateral body, reduces hull center of gravity, and generate when that can manipulate aerofoil profile stabilization lateral body and deflect Larger revolution steering force improves the flexibility that stability, sea-keeping, shipping-direction stability and the revolution of unmanned boat manipulate.
Compared with prior art, the beneficial effects of the utility model are：
(1) radius of gyration is small.The utility model is used for the solar energy binary unmanned boat two of long-distance remote control seawater sampling Sheet body sets two propellers, and unmanned boat course change can be realized by the speed discrepancy for controlling two propellers；Setting two simultaneously Group rudder formula aerofoil profile directional control device, aerofoil profile directional control device uses streamline type profile, little to unmanned boat drag effects；Aerofoil profile side It can be rotated to the aerofoil profile directional control device of executor around with the opposing stationary vertical axes of hull, induction wing flap is grasped with aerofoil profile direction It is vertical on aerofoil profile directional control device around being fixed under induction wing flap corner driving guide rail driving while vertical device rotates together Axis rotates greater angle than its aerofoil profile directional control device, increases aerofoil profile directional control device camber, generates the moment of turning ship of bigger；When When rudder formula aerofoil profile directional control device starts effect, ship previous group aerofoil profile directional control device is deflected to side, ship later group aerofoil profile side Deflected to executor to opposite side, this two groups of aerofoil profile directional control devices deflection generated before unmanned boat center of gravity one group it is reversely opposite Rudder power, promotes unmanned boat to turn to.Thus pass through the speed discrepancy and rudder formula aerofoil profile directional control device corner of two propellers of control The efficient handling maneuver of unmanned boat can be achieved, the radius of gyration is small.It is assumed that induction wing flap does not occur relatively with aerofoil profile directional control device Rotation, according to wing theory, aerofoil profile directional control device rudder power is calculated by formula (1) before ship：
In formula：ρ is density of sea water, ρ=1025kg/m3, ARFor rudder influence basin, V is the speed of a ship or plane, and α is rudder angle, CRFor rudder power Coefficient is determined that wherein λ is aspect ratio by formula (2)：
It is computed, it is assumed that induction wing flap does not relatively rotate with aerofoil profile directional control device, aerofoil profile direction is grasped after ship before ship When vertical device influent stream speed is consistent, when 30 ° of opposite deflections of direction occur for front and rear aerofoil profile directional control device, the speed of a ship or plane is 5kn, before ship, Aerofoil profile directional control device generates rudder power F=944.7N after ship, and front and rear aerofoil profile directional control device is respectively away from centroidal distance 1145.22mm and 989.79mm, the two superposition, the moment of turning ship that two groups of aerofoil profile directional control devices will generate 2016.9Nm.
Moment of turning ship will force unmanned boat to turn to, and under the synergistic effect of propeller, unmanned boat, which is rapidly completed, to be redirected into Prebriefed pattern.Thus it can realize that unmanned boat efficiently turns round behaviour by control flaps formula aerofoil profile directional control device and propeller corner It is vertical.
(2) maneuverability is good.The utility model possesses good shipping-direction stability and turning quality, i.e., good maneuverability.It is good Shipping-direction stability well can be avoided to go as course and frequent remote operation adjustment course during navigating by water, to energy saving and raising Equipment life is significant, and to displacement, smaller, shipping-direction stability unmanned boat is particularly true.On the one hand, this practicality is new The unmanned boat of type uses duplex form, and two sheet bodies of catamaran make it be easily achieved line navigation, and shipping-direction stability is preferable, On the other hand, when rudder formula aerofoil profile directional control device deflection angle is 0 °, the unmanned boat of the utility model is more prone to realize straight line boat Row, the binary unmanned boat shipping-direction stability of the utility model are greatly improved, i.e. the unmanned boat of the utility model possesses well Shipping-direction stability；Two sheet bodies of unmanned boat of the utility model are provided with propeller simultaneously, and two sheet bodies cause two spiral shells The spacing revolved between paddle is larger, when unmanned boat is static, when the positive vehicle of a vehicle falls, unmanned boat can realize pivot stud, work as nothing When people's ship navigates by water, change the thrust that two propellers generate, and manipulate two groups of rudder formula aerofoil profile directional control devices corner, it can be achieved that Fast steering, i.e. the utility model possess good turning quality；To sum up, the unmanned boat of the utility model possesses good manipulation Property.
(6) stability and sea-keeping are good.On the one hand, the utility model employs two groups of rudder formula aerofoil profile directional control devices, reduces The center of gravity of binary unmanned boat, enhances unmanned boat stability and sea-keeping, improves unmanned boat survival ability in stormy waves；Furthermore While the utility model utilizes the advantages such as the big stability of catamaran crosswise moment of inertia and sea-keeping are good, rolling period is short, use is soft Property solar energy film substitute traditional solar panels, lithium battery group be arranged in piece in vivo to achieve the purpose that lower the center of gravity, into one It walks the stability for improving the utility model and seakeeping capacity, shorten rolling period, be effectively reduced hull and sway movement to water The influence of matter sampling operation improves water quality sampling efficiency；It is computed, the unmanned boat rolling period T of the utility modelφIt is not more than 1.2s reduces the long interference to seawater sampling of hull rolling period；Metacentric height GM is not less than 5m, flooding angle Roll angleThe difference of flooding angle and roll angleStability meets ZC " 98 regulation " catamaran stability Weighing apparatus is accurate；It is computed, the unmanned boat of the utility model is under level Four sea situation (feature wind speed 20kn), navigation heaving response of heading sea No more than 0.684m, navigation pitching response of heading sea is no more than 17.87 °.
(2) solar energy light-receiving area is big.The utility model is using couple structure form and selects larger sheet body spacing, profit The box connecting bridge structure designed with dome connects two sheet bodies.By using these designs, considerably increase total Solar energy film area increases solar energy light-receiving area under the premise of solar battery group transfer efficiency is not significantly reduced, It improves the general power of solar battery group, and Quick drainage when dome is to upper wave and sleet sky, reduces the spray and rainwater pair Hull impact is advantageous.
(3) endurance is remote.The unmanned boat of the utility model passes through shiplines optimization design and catamaran sheet body spacing Optimization design reduces ship resistance, meanwhile, the unmanned boat of the utility model is based on inexhaustible solar energy The energy is wanted, greatly improves its endurance, while entire unmanned boat system operation realizes zero-emission no pollution, energy conservation and environmental protection.
It (4) can round-the-clock sampling operation.The unmanned boat of the utility model is added while using solar energy as main energy sources Lithium battery energy storage battery battery pack stores solar battery group dump energy, is computed, and lithium battery storage electric energy maintains unmanned boat work Time t>12.6h makes it have night and the lasting ability for carrying out water quality sampling work in related marine site rainy days, so as to make The unmanned boat of the utility model has the round-the-clock ability for continuing dynamic sampling in related marine site.
(7) unsinkability can be superior.Between two closed sheet bodies of the unmanned boat of the utility model and sheet body with it is closed Box connecting bridge inside configuration space does not connect, and independently of each other, and two sheet bodies are provided with multiple independent watertight compartments, greatly Ground enhances the unsinkability of the utility model.It is computed, the utility model generates 20 ° when a lateral piece buoyancy completely loses Angle of Heel, when two lateral piece buoyancy completely lose, the utility model is in upright condition；No matter a lateral piece buoyancy loses completely It loses or two lateral piece buoyancy completely loses, the unmanned boat limit angle of statical inclination φ of the utility modelmax>40 °, maximum recuperability Arm GZmax>0.6m；Unilateral sheet body or bilateral sheet body are damaged, and the unmanned boat of the utility model can keep floating state, Economic loss caused by greatly reducing unmanned boat sinking device losses.
(8) unmanned boat overall structure is slim and graceful, mechanical strength performance is reasonable.The utility model uses the box connecting bridge knot of arch Structure connects two sheet bodies of catamaran, and all appts that unmanned boat is carried, the support platform equipped are formed with this. The box connecting bridge of this arch had both alleviated unmanned boat overall structure weight, has increased solar energy light-receiving area, while also ensure Unmanned boat has enough structural strengths.Unmanned boat shows a kind of structure merrily and lightheartedly and mechanical strength performance is rational whole special Sign.
(9) using modularized design, equipment flexible arrangement.Box connecting bridge structure housing interior volume is abundant, can basis It needs to place various instrument and equipment, while box house equipment can be also replaced according to actual use function by the utility model application In fields such as harbour monitoring, hydrology prospecting, SAR at Sea.
(10) stratified sampling.The unmanned boat of the utility model extracts the water quality of different water depth by controlling the folding and unfolding of pump line Sample, and pass through wastewater discharge pipe will in pump line remain seawater discharge hull outside, realize water quality stratified sampling.
Description of the drawings
Fig. 1 is the structure diagram of the solar energy binary unmanned boat of the utility model long-distance remote control seawater sampling；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is the front view of Fig. 1；
Fig. 5 is the structure diagram of the sheet body in Fig. 1；
Fig. 6 is the left view of the aerofoil profile directional control device of Fig. 1；
Fig. 7 is the vertical view of the aerofoil profile directional control device of Fig. 1；
Fig. 8 is the aerofoil profile directional control device front view of Fig. 1；
Fig. 9 is the control system connection diagram of Fig. 1.
In figure：1 is hull main body, 1-1 is sheet body, 1-1-1 is stern transom plate, 1-1-2 is propeller cofferdam, 1-1-3 is Propeller control cabin, 1-1-4 are lithium battery cabin, 1-1-5 is forepeak (empty cabin), 1-1-6 is inner bottom plating, 1-1-7 is propeller Mounting hole, 1-1-8 are topside inner wall, 1-1-9 is horizontal reinforcing frame, 1-1-10 is lithium battery bracing structure, 1-1-11 is Transverse bulkhead, 1-1-12 be cable by hole, 1-1-13 be sealing cover support plate, 1-1-14 is rectangular hatch, 1-1-15 is arc Sealing cover, 1-1-16 are lithium battery pedestal, 1-2 is box connecting bridge structure, 1-2-1 is support construction, 1-2-2 be threaded hole, 1-2-3 is loud speaker, 1-2-4 is searchlight, 1-2-5 is red Bai Lvsan colors navigation lights, 1-2-6 is alarm, 1-2-7 is electric appliance Canyon, 1-2-8 are sampling chamber, 1-2-9 is sample devices room, 1-2-10 is arch beam, 1-2-11 is arc watertight compartment Lid, 1-2-12 are Simple handle, 2 be aerofoil profile directional control device, 2-1 pillars, 2-2 are aerofoil profile directional control device servo motor, 2-3 For connecting rod, 2-4 be aerofoil profile directional control device rotary shaft, 2-5 is aerofoil profile directional control device main body, 2-6 is induction wing flap, 2-7 is Flap rotation axis, 2-8 are induction wing flap corner driving guide rail, 2-9 is induction wing flap guiding axis, 2-10 is that pump line is by hole, 3 Electric system, 3-1 are flexible solar film battery assembly, 3-2 is terminal box, 3-3 is solar charging controller, 3-4 is Lithium battery intelligent manager, 3-5 be lithium battery, 4 be propulsion system, 4-1 is propeller, 4-2 is high-strength carbon fiber pipe, 4- 3 be propulsion electric machine, 5 be water quality sampling system, 5-1 is pump line, 5-2 is pump head, 5-3 is tube rolling device, 5-4 is peristaltic pump, 5-5 is Sampling box, 5-6 are that system, 6-1 are main control computer in order to control, 6-2 is positioning navigation module, 6-2-1 is for wastewater discharge pipe, 6 GNSS antenna, 6-2-2 are positioning differential antennae, 6-2-3 is GNSS signal receiver, 6-3 is communication module, 6-3-1 is data Transmission antenna, 6-3-2 are data transmission radio station, 6-3-3 is screen transmission antenna, 6-3-4 is screen transmission radio station, 6-4 is several According to acquisition module, 6-4-1 be video camera, 6-4-2 is ultrasonic sensor, 6-4-3 be three axis strapdown reluctance type Electronic Megnetic Compass, 6-4-4 is intelligent gyroscope, 6-4-5 is 3-axis acceleration sensor, 6-4-6 be water depth sensor, 6-5 in order to control device module, 6-5-1 is propeller control device, 6-5-2 is tube rolling device controller, 6-5-3 is wriggling pump controller, 6-5-4 is camera control Device, 6-5-5 are lamp dimmer, 6-5-6 is voice controller, 6-5-7 is aerofoil profile directional control device servomotor controller.
Specific embodiment
Preferably to support the utility model, the utility model is further elaborated below in conjunction with the accompanying drawings, but this reality It is unlimited so with novel embodiment.
As shown in Figs. 1-5, the solar energy binary unmanned boat of long-distance remote control seawater sampling, including hull main body 1, aerofoil profile side To executor 2, electric system 3, propulsion system 4, water quality sampling system 5 and control system 6；Wherein, hull main body 1 includes two A sheet body 1-1, arc-shaped box connecting bridge structure 1-2, sheet body 1-1 are two, and two sheet body 1-1 pass through arc-shaped box Connecting bridge structure 1-2 connects to form twin hull construction；
Sheet body 1-1 provides buoyancy for unmanned boat, and unmanned boat is made to float on sea；Sheet body 1-1 is proclined stem, rectangular Ship stern, the interior slack bulge type watertight cavity slender bodies structure for setting multiple compartments；It is set gradually from stern transom plate 1-1-1 in sheet body 1-1 Propeller cofferdam 1-1-2, propeller control cabin 1-1-3, several lithium battery cabins 1-1-4, forepeak (empty cabin) 1-1-5；It pushes away It is by propeller mounting hole 1-1-7 and sheet body 1-1 other zone isolations, in propeller mounting hole into device cofferdam 1-1-2 effects Effectively seawater can be isolated by propeller cofferdam 1-1-2 when the failure of 1-1-7 seal approach causes the seawater to leak, and ensure equipment peace Quan Xing enhances the survival ability of unmanned boat；Propeller control cabin 1-1-3, installation propeller controller 6-5-1；Lithium battery cabin 1- 1-4 is used to place lithium battery 3-5；Inside the setting of sheet body 1-1 front ends forepeak (empty cabin) 1-1-5, forepeak (empty cabin) 1-1-5 It is narrow, be not suitable for advancing equipment, as the empty cabin of isolation, in unmanned boat because misoperation or other factors are touched with barrier When hitting and causing the seawater to leak, seawater can be isolated with other cabins well by forepeak (empty cabin) 1-1-5, enhancing this nobody Ship obtains unsinkability；Sheet body 1-1 is preferably setting horizontal internal floor 1-1-6, inner bottom plating 1-1-6 longitudinal center at 70mm away from baseline height It is preferably the propeller mounting hole 1-1-7 that setting diameter is preferably 29mm at 44.5mm on line, in front of stern transom plate 1-1-1；It is excellent Choosing, sheet body 1-1 topside inner wall 1-1-8 away from baseline height be preferably at 200mm the horizontal reinforcing frame 1-1-9 of setting to enhance sheet body 1- 1 longitudinal strength, horizontal reinforcing frame 1-1-9 are welded on topside inner wall 1-1-8, widen to be formed at the 1-1-4 of lithium battery cabin Lithium battery bracing structure 1-1-10 to reduce the amplitude of lithium battery transverse movement during unmanned boat navigation, strengthen by level It is preferably the propeller installation of a diameter of 29mm of setting at 44.5mm on frame 1-1-9 longitudinal centre lines, in front of stern transom plate 1-1-1 Hole 1-1-7；Preferably, transverse bulkhead 1-1-11 is set between above-mentioned each cabin, and transverse bulkhead 1-1-11 lower parts watertight, top setting is directly Diameter be the cable of 40mm by hole 1-1-12, cable sets sealing device by hole 1-1-12, and its lower edge be located at Water Plane with On；Transverse bulkhead 1-1-11 tops are arc-shaped, are connect by welding with adjacent structure；Setting and transverse bulkhead at the top of sheet body 1-1 The concentric arc sealing cover support plate 1-1-13 of 1-1-11 tops circular arc, lower surface and transverse bulkhead 1-1-11 tops are tangent, and The evolution shape hatch 1-1-14 at propeller cofferdam 1-1-2, propeller control cabin 1-1-3 and each lithium battery cabin 1-1-4 In order to sheet body 1-1 internal unit installation and maintenance, above-mentioned support plate 1-1-13 is welded on sheet body 1-1 topside inner walls 1-1-8； The arc sealing cover 1-1-15 concentric with above-mentioned arc sealing cover support plate 1-1-13 be set at the top of sheet body 1-1, lower surface and Above-mentioned arc sealing cover support plate 1-1-13 upper surfaces are tangent, and top edge is overlapped with sheet body 1-1 top edges；Preferably, lithium Battery flat 1-1-4 inner bottom plating 1-1-6 longitudinal centre lines nearby set lithium battery pedestal 1-1-16, and pedestal a pair is longitudinally arranged The U-shaped aluminium section bar of opening inwardly, is welded on inner bottom plating 1-1-6；The sealing cover support plate 1-1-13, arc sealing cover 1- 1-15 arranges two groups of threaded hole 1-2-2s corresponding with support construction 1-2-1 bottoms；Preferably, tradeoff unmanned boat is in hydrostatic Air China Capable smooth water resistance and when being navigated by water in wave wave action lead to the increase i.e. Added Resistance of drag overall, and in view of sheet body Equipment deployment scenarios in 1-1, the sheet body 1-1 are slack bulge type.
Arc-shaped box connecting bridge structure 1-2 is mounted between two sheet body 1-1, for bearing to act on two sheet bodies Wave force on 1-1 maintains structural intergrity；It is propped up respectively by a pair the arc-shaped box connecting bridge structure 1-2 both sides Support structure 1-2-1 is connect with sheet body 1-1, it is preferred that support construction 1-2-1 cross sections are the class being bent towards unmanned boat central fore-and-aft vertical plane For triangle to improve structural stability, support construction 1-2-1 bottoms are threaded hole 1-2-2；Preferably, the box connecting bridge knot Structure 1-2 upper surfaces arc length is equal to flexible solar film battery assembly 3-1 length.
Arc-shaped box connecting bridge structure 1-2 upper surfaces are provided with speech ciphering equipment, light units, picture pick-up device, alarm Equipment, communication and navigation equipment and avoidance equipment.Specifically：Speech ciphering equipment includes loud speaker 1-2-3, the language with control system 6 The 6-5-6 connections of sound controller；Light units include searchlight 1-2-4 and red Bai Lvsan colors navigation lights 1-2-5, are with control respectively The lamp dimmer 6-5-5 connections of system 6；Picture pick-up device includes video camera 6-4-1, the RS-232 serial ports with main control computer 6-1 And camera control unit 6-5-4 connections；Alarm equipment includes alarm 1-2-6, the voice controller 6-5-6 with control system 6 Connection；Communication and navigation equipment includes GNSS antenna 6-2-1, positioning differential antennae 6-2-2, data transmission antenna 6-3-1, screen and passes Defeated antenna 6-3-3, GNSS antenna 6-2-1, positioning differential antennae 6-2-2 are connect with GNSS radio station, data transmission radio station 6-3-2, Screen transmission antenna 6-3-3 is connect respectively with data transmission radio station 6-3-2 and screen transmission radio station 6-3-4；Avoidance equipment includes Ultrasonic sensor 6-4-2 is connect with the RS-232 serial ports of main control computer 6-1；Loud speaker 1-2-3 and the navigation of red Bai Lvsan colors Lamp 1-2-5 is arranged on arc-shaped box connecting bridge structure 1-2 foreparts, and voice is sent out to ship around for bank base controllers Signal；Searchlight 1-2-4 and red Bai Lvsan colors navigation lights 1-2-5 is arranged on arc-shaped box connecting bridge structure 1-2 foreparts, preceding Person illuminates for navigation at night, and the latter is used to send out light signal to ship around, the red Bai Lvsan colors navigation lights 1-2-5 from Show feux rouges in 22.5 ° behind the front to port beam of ship, to starboard beam after show green light in 22.5 °, from ship Dead astern shows white light in per 67.5 ° of the side of a ship；Video camera 6-4-1 is arranged on arc-shaped box connecting bridge structure 1-2 front ends, The lower video camera 6-4-1 of camera control unit 6-5-4 controls can 360 degree of realtime graphic letters for looking around and capturing unmanned boat surrounding enviroment Breath；Alarm 1-2-6 is arranged on arc-shaped box connecting bridge structure 1-2 tail portions, for being made a sound to ship around and lamp Light alarm signal；GNSS antenna 6-2-1, positioning differential antennae 6-2-2, data transmission antenna 6-3-1 and screen transmission antenna 6- 3-3 is arranged on arc-shaped box connecting bridge structure 1-2 tail portions；Ultrasonic sensor 6-4-2 is arranged on arc-shaped box company Bridge structure 1-2 front ends are connect, effective detection range is more than 10m, and ultrasonic sensor 6-4-2 is used to know under autonomous navigation pattern Barrier in other unmanned boat direction of advance.
Preferably, arc-shaped box connecting bridge structure 1-2 box houses set gradually electrical equipment room along captain direction 1-2-7, sampling chamber 1-2-8, sample devices room 1-2-9, electrical equipment room 1-2-7 are used to arrange main control computer 6-1, the sun The electrical equipments such as energy charge controller 3-3, lithium battery intelligent manager 3-4, sampling chamber 1-2-8 are used to place peristaltic pump 5-5, Sample devices room 1-2-9 is used to arrange the sample devices such as peristaltic pump, tube rolling device；Electrical equipment room 1-2-7 and sampling chamber 1-2-8 And arch beam 1-2-10 is set between sampling chamber 1-2-8 and sample devices room 1-2-9, crossbeam lower edge is away from connecting bridge structure 1-2 box baseplates height is not less than 240mm；Sample setting arc watertight hatchcover 1-2-11 above chamber 1-2-8, upper surface with Arc-shaped box connecting bridge structure 1-2 upper surfaces overlap, and size is consistent with one piece flexible solar energy film size of components；Arc Shape watertight hatchcover 1-2-11 sets Simple handle 1-2-12, is opened convenient for staff.
Aerofoil profile directional control device 2 is at least one set of, and preferably aerofoil profile directional control device 2 has two groups, be separately positioned on binary nobody Front and rear on ship central fore-and-aft vertical plane；As shown in Fig. 4,6,7,8, each group of aerofoil profile directional control device 2 includes pillar 2-1, the wing Type directional control device servo motor 2-2, connecting rod 2-3, aerofoil profile directional control device rotary shaft 2-4, aerofoil profile directional control device main body 2- 5th, induction wing flap 2-6, Flap rotation axis 2-7, induction wing flap corner driving guide rail 2-8 and induction wing flap guiding axis 2-9；Aerofoil profile side It is streamline type profile to executor main body 2-5 and induction wing flap 2-6, preferably aerofoil profile directional control device main body 2-5 and the induction flap Wing 2-6 is cavity structure；Pillar 2-1 is upper surface and the tangent umbrella plane framework in box connecting bridge structure 1-2 lower surfaces Structure, pillar 2-1 upper surfaces weld together with box connecting bridge structure 1-2 lower surfaces, and the lower end of pillar 2-1 is socketed in aerofoil profile On directional control device rotary shaft 2-4；The upper end of aerofoil profile directional control device rotary shaft 2-4 passes through connecting rod 2-3 and box connecting bridge knot Aerofoil profile directional control device servo motor 2-2 connections in structure 1-2, the lower end of aerofoil profile directional control device rotary shaft 2-4 pass through box Connecting bridge structure 1-2 bottom plates and pillar 2-1 are fixedly connected with aerofoil profile directional control device main body 2-5；Induction wing flap 2-6 passes through the flap Wing rotary shaft 2-7 is connected to aerofoil profile directional control device main body 2-5 rear ends, and induction wing flap 2-6 and Flap rotation axis 2-7 is affixed, the flap Wing rotary shaft 2-7 is mounted on aerofoil profile directional control device main body 2-5 rear ends, and stretches out aerofoil profile directional control device main body 2-5, induces the flap Wing corner drives guide rail 2-8 one end and the external part of Flap rotation axis 2-7 affixed, and the other end is with being fixed on pillar 2-1 lower ends Induce wing flap guiding axis 2-9 flexible connections.Aerofoil profile directional control device servo motor 2-2 drive link 2-3 drive aerofoil profile direction behaviour Vertical device rotary shaft 2-4 and aerofoil profile directional control device main body 2-5 rotations, aerofoil profile directional control device main body 2-5 pass through Flap rotation axis 2-7 drivings induction wing flap corner driving guide rail 2-8 is slided along induction wing flap guiding axis 2-9, induction wing flap corner driving guide rail 2-8 drives to be rotated with induction wing flap 2-6 affixed Flap rotation axis 2-7, is realized the corner of bigger, is increased aerofoil profile directional control device Camber generates the moment of turning ship of bigger under identical influent stream speed.It for this purpose, can by control flaps formula aerofoil profile directional control device corner Realize the efficient handling maneuver of unmanned boat.Fore aerofoil profile directional control device rotary shaft 2-4 is set for hollow shaft, before being arranged on The aerofoil profile directional control device rotary shaft 2-4 hollow spaces in portion pass through hole 2-10 as pump line.Aerofoil profile directional control device main body 2-5 is Streamline type profile, when unmanned boat needs line navigation, aerofoil profile directional control device main body 2-5 does not rotate, drag minimization, Aerofoil profile directional control device main body 2-5, which is equivalent to, at this time is fixed on two low-resistance bluff bodies placed vertically, keeps unmanned boat course Stability；Aerofoil profile directional control device main body 2-5 reduces the center of gravity of binary unmanned boat, enhances unmanned boat stability and sea-keeping, Significantly improve survival ability of the unmanned boat in stormy waves.
Electric system 3 include flexible solar film battery assembly 3-1, terminal box 3-2, solar charging controller 3-3, Lithium battery intelligent manager 3-4 and lithium battery group；Lithium battery group is composed in parallel by multiple lithium battery 3-5；Each flexible solar Film battery assembly 3-1, which is equipped with terminal box 3-2, multiple flexible solar film battery assembly 3-1 and is connected by terminal box 3-2, to be connected It connecing, and is connect with solar charging controller 3-3, lithium battery intelligent manager 3-4 is connect with solar charging controller 3-3, Lithium battery group is connect with lithium battery intelligent manager 3-4；Lithium battery intelligent manager 3-4 and 4 propulsion electric machine 4-3 of propulsion system connects It connects, is connect with the tube rolling device 5-3, peristaltic pump 5-4, peristaltic pump 5-5 of water quality sampling system 5, with loud speaker 1-2-3, searchlight 1- 2-4, red Bai Lvsan colors navigation lights 1-2-5, alarm 1-2-6 connections output electric energy；Lithium battery intelligent manager 3-4 also with control 6 main control computer 6-1 connections of system, connect with the GNSS signal receiver 6-2-3 of 6 positioning navigation module 6-2 of control system, with The data transmission radio station 6-3-2 of 6 communication module 6-3 of control system, the 6-3-4 connections of screen transmission radio station, with 6 data of control system The video camera 6-4-1 of acquisition module 6-4, ultrasonic sensor 6-4-2, three axis strapdown reluctance type Electronic Megnetic Compass 6-4-3, intelligence Gyroscope 6-4-4,6 controller module of 3-axis acceleration sensor 6-4-5, water depth sensor 6-4-6 connections and control system Its controller of the propulsion of 6-5 6-5-1, wriggling pump controller 6-5-3, tube rolling device controller 6-5-2, camera control unit 6-5-4, Lamp dimmer 6-5-5, voice controller 6-5-6 and aerofoil profile directional control device servomotor controller 6-5-7 connections；
Multiple flexible solar film battery assembly 3-1 are laterally pasted onto box connecting bridge structure 1-2 upper surfaces, by connecing Wire box 3-2 connects to form solar battery group, and intermediate one is pasted onto on arc watertight hatchcover 1-2-11, flexible solar film Battery component 3-1 does not influence the setting of box connecting bridge structure 1-2 hatch；Preferably, flexible solar film battery assembly 3-1 CIGS (copper indium gallium selenide) hull cell is selected, model MiaSole FLEX-02W (Chinese energy) have light weight, high conversion efficiency Deng a little；Solar charging controller 3-3 is arranged on inside the 1-2-7 of electrical equipment room, it is preferred that solar charging controller 3- 3 be MPPT solar charging controllers, and output voltage is adjustable and has higher transfer efficiency, in insufficient lights such as rainy days Weather in can still keep higher transfer efficiency；Lithium battery intelligent manager 3-4 is used for lithium battery 3-5 charging processes It is managed, is arranged on inside the 1-2-7 of electrical equipment room；Lithium battery 3-5 is arranged on above-mentioned lithium battery cabin 1-1-4 lithium battery bases On seat 1-1-16, it is preferred that the battery capacity of lithium battery 3-5 is 100Ah, and open-circuit voltage 12V, lithium battery 3-5 are ternary lithium electricity Pond and built-in protection board have many advantages, such as that output voltage stabilization, reliability are high, service life is long.
Propulsion system 4 includes propeller 4-1, high-strength carbon fiber pipe 4-2, propulsion electric machine 4-3；Propeller 4-1 is set In the tail end of sheet body 1-1；High-strength carbon fiber pipe 4-2 one end is fixedly connected with the radome fairing of propulsion electric machine 4-3, and the other end is worn The propeller mounting hole 1-1-7 being located on sheet body 1-1 is crossed to connect with sheet body 1-1；Propeller 4-1 is also connect with propulsion electric machine 4-3； Propulsion electric machine 4-3 is connect with the propeller control device 6-5-1 of control system 6；Separate unit propulsion electric machine 4-3 rated power is 312W, Thrust about 142N；The high-strength carbon fiber pipe 3-2 is threaded, its radome fairing with propulsion electric machine 4-3 is fixedly connected And it screws in and propeller installation is completed in sheet body 1-1 propeller mounting holes 1-1-7；Control system 6 passes through two propeller controls Device 6-5-1 controls two propulsion electric machine 4-3 stop and start, rotating, acceleration and deceleration etc., generates propeller 4-1 identical or not With the thrust being respectively acting on two sheet body 1-1, corresponding zero or non-zero Moment under realize unmanned boat direct route Or it turns to.
Water quality sampling system 5 includes pump line 5-1, pump head 5-2, tube rolling device 5-3, peristaltic pump 5-4, peristaltic pump 5-5, waste water row Put pipe 5-6；Pump head 5-2 is connected with peristaltic pump 5-4 and peristaltic pump 5-4 with peristaltic pump 5-5 by pump line 5-1, wastewater discharge pipe Peristaltic pump discharge of wastewater mouth is connect by 5-6 with hull exterior space；Tube rolling device 5-3, peristaltic pump 5-4 are controlled respectively with control system 6 The tube rolling device controller 6-5-2 of device module 6-5 processed, the 6-5-3 connections of wriggling pump controller；Pump line 5-1 is used to convey water sample, Hull is stretched out by hole 2-10 by the pump line on the aerofoil profile directional control device rotary shaft 2-4 of box connecting bridge structure 1-2 foreparts Outside, it is preferred that pump line 5-1 is corrosion-resistant silica gel hose, and pump line 5-1 passes through pump line by hole 2-10 from aerofoil profile directional control device master Body 2-5 lower parts are stretched out and are connect with pump head 5-2；Pump head 5-2 is placed in the one end of pump line 5-1 far from peristaltic pump 5-4, and inside is equipped with water Deep sensor 6-4-6；Tube rolling device 5-3 is used to control the folding and unfolding of pump line 5-1 that pump head 5-2 is made to reach at the different depth of water；Peristaltic pump 5-4 is responsible for extracting water sample raising power；Wastewater discharge pipe 5-6 is for emptying in pump line 5-1 remaining seawater so as to water quality sampling System 5 performs sampling task next time；Peristaltic pump 5-5 is placed in the 1-2-4 of sample devices cabin, it is preferred that when unmanned boat is completed After sampling task, person on shore can open watertight hatch 1-3-8 and replace peristaltic pump 5-5.
As shown in figure 9, control system 6 includes main control computer 6-1, positioning navigation module 6-2, communication module 6-3, data Acquisition module 6-4 and controller module 6-5.Preferably, main control computer 6-1 is the PCM-9375 veneers based on PC104 buses Computer.
Positioning navigation module 6-2 includes GNSS antenna 6-2-1, positioning differential antennae 6-2-2, GNSS signal receiver 6-2- 3；GNSS antenna 6-2-1 is arranged on arc-shaped box connecting bridge structure 1-2 rear portions and and GNSS with positioning differential antennae 6-2-2 Signal receiver 6-2-3 connections, the RS-232 serial ports of GNSS signal receiver 6-2-3 access main control computers 6-1.GNSS antenna 6-2-1, positioning differential antennae 6-2-2 are arranged on the rear end of arc-shaped box connecting bridge structure 1-2, GNSS signal receiver 6- 2-3 is arranged in the electrical equipment cabin 2-3 at platform deck 1-2 rear portions.
Communication module 6-3 include data transmission antenna 6-3-1, data transmission radio station 6-3-2, screen transmission antenna 6-3-3, Screen transmission radio station 6-3-4；Data transmission antenna 6-3-1 is connect with data transmission radio station 6-3-2, data transmission radio station 6-3-2 Access the RS-232 serial ports of main control computer 6-1；Screen transmission antenna 6-3-3 is connect with screen transmission radio station 6-3-4, and screen passes The platform 6-3-4 that transmits electricity accesses the RS-232 serial ports of main control computer 6-1.Data transmission antenna 6-3-1 is responsible for control and detectable signal Remote transmission, data transmission antenna 6-3-1 are arranged on the rear end of arc-shaped box connecting bridge structure 1-2, data transmission electricity Platform 6-3-2 is arranged in the electrical equipment cabin 2-3 at platform deck 1-2 rear portions；Screen transmission antenna 6-3-3 is responsible for video image and regards Frequency is according to remote transmission, and screen transmission setting antenna is in the rear end of arc-shaped box connecting bridge structure 1-2, screen transmission electricity Platform 6-3-4 is arranged on the electrical equipment cabin 2-3 at platform deck 1-2 rear portions.
Data acquisition module 6-4 includes video camera 6-4-1, ultrasonic sensor 6-4-2, three axis strapdown reluctance type electronics magnetic Compass 6-4-3, intelligent gyroscope 6-4-4,3-axis acceleration sensor 6-4-5, water depth sensor 6-4-6；Video camera 6-4-1, Tri- axis strapdown reluctance type Electronic Megnetic Compass 6-4-3 of ultrasonic sensor 6-4-2, intelligent gyroscope 6-4-4,3-axis acceleration sensing Device 6-4-5, water depth sensor 6-4-6 are respectively connected to the RS-232 serial ports of main control computer 6-1；Video camera 6-4-1 can 360 degree of rings Real-time image information depending on capturing unmanned boat surrounding enviroment；Three axis strapdown reluctance type Electronic Megnetic Compass 6-4-3 are used to measure nobody Ship course, intelligent gyroscope 6-4-4 are used to measure the postures such as hull rolling (Roll), pitching (Pitch) and yawing (Yaw), 3-axis acceleration sensor 6-4-5 is used to measure unmanned boat steric acceleration (solid space, around, up and down), the depth of water Sensor 6-4-6 is mounted on pump head 5-2, for measuring pump head 5-2 current depths.
Controller module 6-5 includes propeller control device 6-5-1, tube rolling device controller 6-5-2, wriggling pump controller 6-5- 3rd, camera control unit 6-5-4, lamp dimmer 6-5-5, voice controller 6-5-6 and aerofoil profile directional control device servo motor control Device 6-5-7 processed；Promote its controller 6-5-1, tube rolling device controller 6-5-2, wriggling pump controller 6-5-3, camera control unit 6-5-4, lamp dimmer 6-5-5, voice controller 6-5-6 are tapped into the RS-232 serial ports of main control computer 6-1；In addition, it pushes away It also connect with propulsion electric machine 4-3 into device controller 6-5-1, stops for performing main control computer 6-1 instruction controls propulsion electric machine 4-3 Only with startup, rotating etc., it is preferably provided at platform deck 1-2 rear portions；Tube rolling device controller 6-5-2 also connects with tube rolling device 5-3 It connects, controls tube rolling device 5-3 corners, realize the folding and unfolding of pump line 5-1；Wriggling pump controller 6-5-3 is also connect with peristaltic pump 5-4, control Peristaltic pump 5-4 pump drainage water processed；Camera control unit 6-5-4 is also connect with video camera 6-4-1, for video camera 6-4-1 to be controlled to turn It is dynamic；Aerofoil profile directional control device servomotor controller 6-5-7 is also connect with aerofoil profile directional control device servo motor 2-2, for controlling Aerofoil profile directional control device servo motor 2-2 rotations processed.
Preferably, sheet body 1-1, connecting bridge structure 2 are made of 5086 aluminium alloys, and 5086 aluminium alloy qualities are light, have good Corrosion resistance and weldability, and its intensity meets unmanned boat Structural strength calls.
The specific working mode of the utility model is as follows：
(1) the arc-shaped box connecting bridge structure long-distance remote control seawater sampling solar energy of the small swing radius of the utility model Flexible solar film battery assembly 3-1 at the top of binary unmanned boat converts light energy into electric energy and simultaneously will under sunlight To solar charging controller 3-3, solar charging controller 3-3 is depressured above-mentioned electric energy and is conveyed to lithium electrical energy transportation Battery intelligent management device 3-4 so give whole system power supply；The speed of a ship or plane that bank base control station is sent out is instructed by data transmission antenna 6- 3-1 is captured and is fed back to main control computer 6-1, and main control computer 6-1 sends out control instruction to propeller control device 6-5-1；It pushes away Voltage corresponding with the speed of a ship or plane is given into device controller 6-5-1 to propulsion electric machine 4-3, so as to rotate propulsion electric machine 4-3 and drive Propeller rotational, propeller generate forward thrust and promote unmanned boat accelerated motion forward；Similar, when bank base control station is sent out During steering order, propeller control device 6-5-1 gives the different voltage of size or direction to two propulsion electric machine 4-3 respectively, from And two propeller 4-1 is made to generate different thrust and torque is formed on hull；Meanwhile main control computer 6-1 is to aerofoil profile direction Executor servomotor controller 6-5-7 send out course changing control instruction, aerofoil profile directional control device servomotor controller 6-5-7 to Aerofoil profile directional control device servo motor 2-2 gives corresponding voltage, and aerofoil profile directional control device servo motor 2-2 rotates certain angle It spends and passes through connecting rod 2-3 driving aerofoil profile directional control device main body 2-5 rotations, induction wing flap corner drives guide rail 2-8 along induction Wing flap guiding axis 2-9 is slided, and is sent out together with induction wing flap 2-6 around Flap rotation axis 2-7 and aerofoil profile directional control device main body 2-5 Raw to relatively rotate, so as to which wing flap 2-6 be induced to realize the corner of bigger, 2 camber of increase aerofoil profile directional control device generates turning for bigger Ship torque, thus by controlling two propulsion electric machine 4-3 input voltages differences and 2 corner of rudder formula aerofoil profile directional control device that can realize The efficient handling maneuver of unmanned boat.
(2) at the same time：Positioning navigation module 6-2 is by information such as the unmanned ship position of acquisition, course, acceleration and takes the photograph The image frame of camera 6-4-1 captures feeds back to main control computer 6-1 and is passed respectively by data transmission antenna 6-3-1 and screen Defeated antenna 6-3-3 passes bank base control station back；Lithium battery intelligent manager 3-4 identifies lithium battery group remaining capacity, works as lithium battery group When electricity is less than a certain value, battery pack is implemented to charge, the dump energy that solar battery group generates is stored in and works as lithium battery In group；When lithium battery group electricity reaches another higher value, lithium battery intelligent manager 3-4 cut-out charging circuits, charging stops； When the electric energy that solar battery group generates is not enough to maintain unmanned boat normal work, the electric energy of lithium battery group release storage is protected Demonstrate,prove the supply of unmanned boat electric energy.
(3) further, the arc-shaped box connecting bridge structure long-distance remote control seawater of the small swing radius of the utility model Sampling solar energy binary unmanned boat reaches specified sampling position under the real time monitoring of bank base operator, and bank base control station is sent out Sampling instruction；Tube rolling device 5-3 driving tube rolling device 5-3 release pump head 5-2 under main control computer 6-1 controls, pump head 5-2 is in gravity The lower dragging pump line 5-1 of effect sinks rapidly；At the same time, the water depth sensor 6-4-6 capture Water Depth Informations and anti-on pump head 5-2 Feed main control computer 6-1, and Water Depth Information is sent to bank base control by main control computer 6-1 by data transmission antenna 6-3-1 biographies System station, bank base controllers assign sampling and confirm instruction after confirming that the depth of water is errorless；Peristaltic pump 5-4 is main control computer 6-1's Control is lower to be started, and seawater sample is extracted to sampling box 5-5, single sampled point sampling process is completed；Repeatedly, sampling sea is completed All sampled point sampling operations in domain, unmanned boat make a return voyage；Person on shore opens sampling chamber 1-2-8 arc watertight hatchcover 1-2-11, Sampling box 5-5 is taken out, and places new sampling box 5-5；Unmanned boat, which continues to sail, performs new sampling task.
(4) the arc-shaped box connecting bridge structure long-distance remote control seawater sampling solar energy of the small swing radius of the utility model Binary unmanned boat has certain AUTONOMOUS TASK ability.Similarly, under AUTONOMOUS TASK pattern, the above process is referred to by pre-set programs Enable autonomous complete.
(5) further, under the effect of the external force such as wind and wave, the arc-shaped box connection of small swing radius of the utility model Wide-angle heel, since center of gravity is relatively low, centre of buoyancy occur for bridge structure long-distance remote control seawater sampling solar energy binary unmanned boat hull Higher, the coupling of gravity and buoyancy generates larger restoring moment, and alist is gradually attributed to zero；Under limiting condition, two Each equal damage and water inflow in watertight cabin of an a or sheet body, buoyancy significantly lose, and into the seawater inside sheet body sheet body are sunk Not yet, closed box connecting bridge structure, which immerses in seawater and generates upward obstruction damaged ship hulls, continues the buoyancy to sink, this reality With the novel solar energy binary unmanned boat for long-distance remote control seawater sampling keep floating state and it is unlikely sink to seabed, subtract Property loss is lacked.
It is emphasized that on the basis of the utility model, any change or replacement expected without creative work, It should be covered within the scope of the utility model.The scope of protection of the utility model should be limited with claims Protection domain subject to.

Claims (10)

1. the solar energy binary unmanned boat of a kind of long-distance remote control seawater sampling, it is characterised in that including hull main body, aerofoil profile side To executor, electric system, propulsion system, water quality sampling system and control system；Wherein, hull main body includes two pieces Body, arc-shaped box connecting bridge structure, two sheet bodies connect to form catamaran knot by arc-shaped box connecting bridge structure Structure；Arc-shaped box connecting bridge structure upper surface is provided with flexible solar film battery assembly, speech ciphering equipment, light and sets Standby, picture pick-up device, alarm equipment, communication and navigation equipment and avoidance equipment；
The aerofoil profile directional control device is at least one set of, and each group of aerofoil profile directional control device includes pillar, aerofoil profile directional control device is watched Take motor, connecting rod, aerofoil profile directional control device rotary shaft, aerofoil profile directional control device main body, induction wing flap, Flap rotation axis, induction Wing flap corner drives guide rail and induction wing flap guiding axis；Aerofoil profile directional control device main body and induction wing flap are streamline type profile； Pillar is upper surface and the tangent umbrella plane frame structure in box connecting bridge structure lower surface, pillar upper surface and box connection Bridge structure lower surface connects, and the lower end of pillar is socketed in aerofoil profile directional control device rotary shaft；Aerofoil profile directional control device rotary shaft Upper end connect by connecting rod with aerofoil profile directional control device servo motor, the lower end of aerofoil profile directional control device rotary shaft passes through box Connecting bridge structure base slab and pillar, it is affixed with aerofoil profile directional control device main body；Induction wing flap is connected to the wing by Flap rotation axis Type directional control device body rear induces wing flap and Flap rotation axis affixed, and Flap rotation axis is mounted on aerofoil profile directional control device Body rear, and aerofoil profile directional control device main body is stretched out, the stretching of induction wing flap corner driving guide rail one end and Flap rotation axis Hold affixed, the other end is flexibly connected with being fixed on the induction wing flap guiding axis of lower rod end；
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery intelligent Manager and lithium battery group；Lithium battery group is composed in parallel by multiple lithium batteries；Each flexible solar film battery assembly is equipped with Terminal box, multiple flexible solar film battery assemblies are connected in series with, and connect with solar charging controller by terminal box, Lithium battery intelligent manager is connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager；
The propulsion system includes propeller, high-strength carbon fiber pipe, propulsion electric machine；Propeller is arranged on the tail end of sheet body； High-strength carbon fiber pipe one end is connect with propulsion electric machine, and the propeller mounting hole that the other end is passed through on sheet body connects with sheet body It connects；Propeller is also connect with propulsion electric machine；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, peristaltic pump, wastewater discharge pipe；Pump head and wriggling Pump and peristaltic pump are connected with peristaltic pump by pump line, and wastewater discharge pipe connects peristaltic pump discharge of wastewater mouth and hull exterior space It connects；Tube rolling device, peristaltic pump are connect respectively with the tube rolling device controller of control system controller module, wriggling pump controller；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller mould Block, positioning navigation module, communication module, data acquisition module and controller module are connect respectively with main control computer.
2. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Aerofoil profile directional control device has two groups, the front and rear being separately positioned on binary unmanned boat central fore-and-aft vertical plane；The pillar exists With and box connecting bridge structure lower surface connect except extending laterally to support construction；The aerofoil profile directional control device main body and induction Wing flap is cavity structure.
3. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Two pieces set gradually from stern transom plate in vivo propeller cofferdam, propeller control cabin, several lithium battery cabins, bow point Cabin；The sheet body is proclined stem, rectangular ship stern, the interior slack bulge type watertight cavity slender bodies structure for setting multiple compartments.
4. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described The high 70mm of spread baseline at horizontal internal floor is set, set at 44.5mm on inner bottom plating longitudinal centre line, in front of the stern transom plate Put the propeller mounting hole of diameter 29mm；Sheet body topside inner wall is away from the horizontal reinforcing frame of setting, horizontal reinforcing frame at the high 200mm of baseline It is welded on topside inner wall；Horizontal reinforcing frame is widened to form lithium battery bracing structure at lithium battery cabin；Level is strengthened On frame longitudinal centre line, in front of the stern transom plate at 44.5mm a diameter of 29mm of setting propeller mounting hole；It is set between each cabin Transverse bulkhead, transverse bulkhead lower part watertight are put, top sets the cable of a diameter of 40mm, and cable sets sealing dress by hole by hole It puts；Cable is located at more than Water Plane by hole lower edge；Transverse bulkhead top is arc-shaped, is connect by welding with adjacent structure；Piece The arc sealing cover support plate concentric with transverse bulkhead top circular arc, arc sealing cover support plate lower surface and horizontal cabin are set at the top of body Wall top is tangent, and at propeller cofferdam, propeller control cabin and each lithium battery cabin evolution shape hatch in order to piece Body internal unit installation and maintenance, above-mentioned support plate are welded on sheet body topside inner wall；Setting is close with above-mentioned arc at the top of sheet body The concentric arc sealing cover of support plate is covered, lower surface and above-mentioned arc sealing cover support plate upper surface are tangent, top edge It is overlapped with sheet body top edge；Lithium battery cabin inner bottom plating longitudinal centre line nearby sets lithium battery pedestal；The sealing cover support Plate, arc sealing cover arrange two groups of threaded holes corresponding with support construction bottom.
5. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Arc-shaped box connecting bridge structure both sides be mounted between two sheet bodies by a pair of of support construction and sheet body connection respectively； Support construction cross section is the class triangle being bent towards unmanned boat central fore-and-aft vertical plane, and support construction bottom is threaded hole；It is described box Connecting bridge structure upper surface arc length is equal to flexible solar film battery assembly length.
6. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Arc-shaped box connecting bridge structure box house along captain direction set gradually electrical equipment room, sampling chamber, sampling set Standby room；Arch beam is set between electrical equipment room and sampling chamber and sampling chamber and sample devices room, crossbeam lower edge away from Connecting bridge structure babinet bottom plate heights are not less than 240mm；Setting arc watertight hatchcover, arc watertight compartment above chamber is sampled to cover Surface is overlapped with arc-shaped box connecting bridge structure upper surface, arc watertight hatchcover size and one piece flexible solar energy film group Part size is consistent；Arc watertight hatchcover sets Simple handle.
7. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Main control computer be the PCM-9375 single board computers based on PC104 buses；
The positioning navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna is with determining Potential difference divided antenna is arranged on arc-shaped box connecting bridge structure rear portion and is connect with GNSS signal receiver, and GNSS signal receives Machine accesses the RS-232 serial ports of main control computer；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；Number It is connect according to transmission antenna with data transmission radio station, the RS-232 serial ports of main control computer is accessed in data transmission radio station；Screen is transmitted Antenna is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer；Data transmission antenna is set It puts in the rear end of arc-shaped box connecting bridge structure, data transmission radio station is arranged on the electrical equipment cabin at platform deck rear portion It is interior；For screen transmission setting antenna in the rear end of arc-shaped box connecting bridge structure, screen transmission radio station is arranged on platform deck The electrical equipment cabin at rear portion；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent top Spiral shell instrument, 3-axis acceleration sensor and water depth sensor；Video camera, three axis strapdown reluctance type electronics magnetic sieve of ultrasonic sensor Disk, intelligent gyroscope, 3-axis acceleration sensor, water depth sensor are respectively connected to the RS-232 serial ports of main control computer；
The controller module include propeller control device, tube rolling device controller, wriggling pump controller, camera control unit, Lamp dimmer, voice controller and aerofoil profile directional control device servomotor controller；Promote its controller, tube rolling device control Device, wriggling pump controller, camera control unit, lamp dimmer, voice controller are tapped into the RS-232 strings of main control computer Mouthful；In addition, propeller control device is also connect with propulsion electric machine, it is arranged on platform deck rear portion；Tube rolling device controller also with pipe crimping Device connects；Wriggling pump controller is also connect with peristaltic pump；Camera control unit is also connect with video camera；Aerofoil profile directional control device is watched Electric machine controller is taken also to connect with aerofoil profile directional control device servo motor.
8. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Speech ciphering equipment include loud speaker, the voice controller of loud speaker and control system connects；Light units include searchlight and red Bai Lvsan color navigation lights, searchlight and red Bai Lvsan colors navigation lights are connect respectively with the lamp dimmer of control system；Camera shooting is set It is standby to include video camera, RS-232 serial ports and the camera control unit connection of video camera and main control computer；Alarm equipment includes police Report device, the voice controller connection of alarm and control system；Communication and navigation equipment include GNSS antenna, positioning differential antennae, Data transmission antenna and screen transmission antenna；Avoidance equipment includes ultrasonic sensor, ultrasonic sensor and main control computer RS-232 serial ports connection；Loud speaker and red Bai Lvsan colors navigation lights are arranged on arc-shaped box connecting bridge structure forepart；It visits Illuminator and red Bai Lvsan colors navigation lights are arranged on arc-shaped box connecting bridge structure forepart；Video camera setting is in arc-shaped case Formula connecting bridge structure front end；Alarm is arranged on arc-shaped box connecting bridge structure tail portions；GNSS antenna, positioning difference day Line, data transmission antenna and screen transmission antenna are arranged on arc-shaped box connecting bridge structure tail portions；Ultrasonic sensor is set It puts in arc-shaped box connecting bridge structure front end.
9. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Sheet body, connecting bridge structure and aerofoil profile directional control device be made of 5086 aluminium alloys.
10. the solar energy binary unmanned boat of long-distance remote control seawater sampling according to claim 1, which is characterized in that institute The lithium battery intelligent manager stated and the propulsion electric machine of propulsion system connect, tube rolling device, peristaltic pump with water quality sampling system, compacted Dynamic pump connection, output electric energy is connect with loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm；Lithium battery intelligent manager It also connect, is connect with the GNSS signal receiver of control system positioning navigation module, with control with control system main control computer The data transmission radio station of system communication module, the connection of screen transmission radio station, it is video camera with control system data acquisition module, super Sonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensor, water depth sensor connect It connects and the propulsion of control system controller module its controller, wriggling pump controller, tube rolling device controller, camera control Device, lamp dimmer, voice controller and the connection of aerofoil profile directional control device servomotor controller；
Multiple flexible solar film battery assemblies are laterally pasted onto box connecting bridge structure upper surface wiring cassette in series Solar battery group is formed, intermediate one is pasted onto arc watertight compartment and covers；Flexible solar film battery assembly selects CIGS Hull cell；Solar charging controller is MPPT solar charging controllers, is arranged on electrical equipment chamber interior；Lithium battery intelligence Energy manager is arranged on electrical equipment chamber interior；Lithium battery is arranged on the lithium battery pedestal of lithium battery cabin.
CN201721515053.2U 2017-11-14 2017-11-14 A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling Expired - Fee Related CN207510644U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107878670A (en) * 2017-11-14 2018-04-06 华南理工大学 The remote seawater sampling solar energy binary unmanned boat of the box connecting bridge of small swing radius
CN109407596A (en) * 2018-12-25 2019-03-01 浙江海洋大学 A kind of unmanned water quality monitoring ship
CN113715978A (en) * 2021-09-17 2021-11-30 苏州新航道船舶科技有限公司 Small-size superstable robot on water
CN114852301A (en) * 2022-04-01 2022-08-05 哈尔滨工程大学 Auxiliary propulsion device for flap of wave glider

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107878670A (en) * 2017-11-14 2018-04-06 华南理工大学 The remote seawater sampling solar energy binary unmanned boat of the box connecting bridge of small swing radius
CN107878670B (en) * 2017-11-14 2023-09-26 华南理工大学 Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge
CN109407596A (en) * 2018-12-25 2019-03-01 浙江海洋大学 A kind of unmanned water quality monitoring ship
CN113715978A (en) * 2021-09-17 2021-11-30 苏州新航道船舶科技有限公司 Small-size superstable robot on water
CN113715978B (en) * 2021-09-17 2023-02-17 苏州新航道船舶科技有限公司 Small-size superstable robot on water
CN114852301A (en) * 2022-04-01 2022-08-05 哈尔滨工程大学 Auxiliary propulsion device for flap of wave glider

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