CN207510667U - Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat - Google Patents
Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat Download PDFInfo
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- CN207510667U CN207510667U CN201721513947.8U CN201721513947U CN207510667U CN 207510667 U CN207510667 U CN 207510667U CN 201721513947 U CN201721513947 U CN 201721513947U CN 207510667 U CN207510667 U CN 207510667U
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Abstract
The utility model discloses arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat, including hull main body, electric system, propulsion system, water quality sampling system and control system；Hull main body includes two sheet bodies, arc-shaped box connecting bridge structure；Sheet body is proclined stem, rectangular ship stern, the interior slack bulge type watertight cavity slender bodies structure for setting multiple compartments；Arc-shaped box connecting bridge structure upper surface is 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；Arc-shaped box connecting bridge structure both sides connect to form twin hull construction by a pair of of support construction with sheet body respectively；The utility model has many advantages, such as that endurance is long, 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
Technical field
The utility model is related to unmanned boat field, more particularly to a kind of arc-shaped box connecting bridge long-distance remote control seawater is adopted
Sample 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.
Therefore, there is an urgent need for a kind of endurance is remote, easy to operate, stability and seakeeping capacity are excellent water quality sampling unmanned boats.
Utility model content
The purpose of this utility model be the technical issues of solution in the presence of the prior art provide it is a kind of with it is reproducible too
Sun can be main energy sources, endurance is remote, ship resistance is small, stability and seakeeping capacity are excellent, easy operation long-distance remote control sea
The solar energy binary unmanned boat of hydromining sample.
The above-mentioned technical problem of the utility model is mainly what is be addressed by following technical proposals：
Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat, including hull main body, electric power
System, propulsion system, water quality sampling system and control system；Hull main body includes two sheet bodies, arc-shaped box connection
Bridge structure；Sheet body is proclined stem, rectangular ship stern, the interior slack bulge type watertight cavity slender bodies structure for setting multiple compartments；Circular arc
The box connecting bridge structure upper surface of shape is provided with speech ciphering equipment, light units, picture pick-up device, alarm equipment, communication navigation and sets
Standby and avoidance equipment；
The arc-shaped box connecting bridge structure both sides connect to form binary by a pair of of support construction with sheet body respectively
Ship structure, support construction cross section are the class triangle being bent towards unmanned boat central fore-and-aft vertical plane, box connecting bridge structure upper surface arc
It is long to be equal to flexible solar film battery assembly length；
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 and propulsion electric machine；Propeller is arranged on sheet body
Tail end；High-strength carbon fiber pipe one end is connect with propulsion electric machine, the other end pass through propeller mounting hole on sheet body with
Sheet body connects；Propeller also connects with propulsion electric machine；Propulsion electric machine and the propeller control device of control system connect；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box, wastewater discharge pipe；Pump head and
Peristaltic pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe will be empty outside peristaltic pump discharge of wastewater mouth and hull
Between connect；
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 two sheet bodies are set gradually from stern transom plate to be pushed away
Into device cofferdam, propeller control cabin, several lithium battery cabin, forepeaks.
Preferably, horizontal internal floor is set at a height of 70mm of spread baseline, on inner bottom plating longitudinal centre line,
The propeller mounting hole of diameter 29mm is set in front of stern transom plate at 44.5mm；Sheet body topside inner wall is away from setting at the high 200mm of baseline
Horizontal reinforcing frame, horizontal reinforcing frame are welded on topside inner wall.
Preferably, the propeller cofferdam, propeller control cabin, set between several lithium battery cabin, forepeaks
Transverse bulkhead, transverse bulkhead lower part watertight, top sets the cable of a diameter of 40mm, and by hole, cable sets sealing device by hole,
And its lower edge is located at more than Water Plane；The arc sealing cover support plate concentric with transverse bulkhead top circular arc is set at the top of sheet body,
Lower surface and transverse bulkhead top are tangent, and the evolution shape at propeller cofferdam, propeller control cabin and each lithium battery cabin
Hatch, support plate are welded on sheet body topside inner wall；Setting is sealed with the concentric arc of arc sealing cover support plate at the top of sheet body
Lid, the lower surface of arc sealing cover and arc sealing cover support plate upper surface are tangent, top edge and the sheet body top of arc sealing cover
Portion's coincident；Lithium battery pedestal, U-shaped aluminium of the lithium battery pedestal for a pair of opening being longitudinally arranged inwardly are set in lithium battery cabin
Section bar.
Preferably, the arc-shaped box connecting bridge structure box house sets gradually electrical equipment along captain direction
Room, sampling chamber and sample devices room；It is set between electrical equipment room and sampling chamber and sampling chamber and sample devices room
Arch beam, crossbeam lower edge are not less than 240mm away from connecting bridge structure babinet bottom plate heights.
Preferably, the main control computer is the PCM-9375 single board computers based on PC104 buses；
The navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna and positioning
Differential antennae is all connect with GNSS signal receiver, and GNSS signal receiver accesses the RS-232 serial ports of main control computer；GNSS
Antenna is all disposed within arc-shaped box connecting bridge structure rear portion with positioning differential antennae；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；
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 passes
Defeated 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
The rear end of arc-shaped box connecting bridge structure is arranged on, 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, intelligence
Gyroscope, 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 and water depth sensor are respectively connected to the RS-232 serial ports of main control computer；The depth of water
Sensor is mounted on pump head；
The controller module includes propeller control device, tube rolling device controller, wriggling pump controller, camera control
Device, lamp dimmer and voice controller；Propeller control device, tube rolling device controller, wriggling pump controller, camera control
Device, lamp dimmer and voice controller are tapped into the RS-232 serial ports of master control calculating；Propeller control device also with propulsion electric machine
Connection, tube rolling device controller are also connect with tube rolling device；Wriggling pump controller is also connect with peristaltic pump；Camera control unit is also with taking the photograph
Camera servo motor connects.
Preferably, the flexible solar film battery assembly is laterally pasted onto box connecting bridge structure upper surface；It is soft
Property solar film battery assembly select CIGS hull cell；The solar charging controller is arranged in electrical equipment room
Portion, solar charging controller are MPPT solar charging controllers.
Preferably, the sheet body and connecting bridge structure are all made of 5086 aluminium alloys.The high-strength carbon fiber
Pipe one end is connect with propulsion electric machine refers to that high-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine.
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；Avoidance equipment includes supersonic sensing
The RS-232 serial ports connection of device, ultrasonic sensor and main control computer；Loud speaker and red Bai Lvsan colors navigation lights are arranged on circle
The box connecting bridge structure forepart of arc；Searchlight and red Bai Lvsan colors navigation lights are arranged on arc-shaped box 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 knot
Structure tail portion；GNSS antenna, positioning differential antennae, data transmission antenna and screen transmission antenna are arranged on arc-shaped box connection
Bridge structure tail portions；Ultrasonic sensor is arranged on arc-shaped box connecting bridge structure front end.
Preferably, the lithium battery intelligent manager connect with main control computer, propulsion electric machine, is tube rolling device, compacted respectively
Dynamic pump, sampling box, loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm, GNSS signal receiver, data transmission electricity
Platform, screen transmission radio station, video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, three axis
Acceleration transducer, water depth sensor, propeller control device, wriggling pump controller, tube rolling device controller, camera control unit,
Lamp dimmer is connected with voice controller.
Catamaran relies on its outstanding stability and larger load, is increasingly becoming scientific research of seas unmanned boat
Popular ship type.Compared with monohull, hull is divided into two by catamaran, and stability is preferable, the survival ability under severe sea condition
It is relatively strong；In addition, existing catamaran is usually respectively mounted propeller on each sheet body, can be pushed away on Heading control by changing two
The thrust generated into device realizes that hull turns to, and has good maneuverability；On the other hand, under identical displacement catamaran compared with monomer
Ship possesses more roomy floor space and volume of compartment, and hull becomes taller and thinner, can be done by obtaining advantageous wave making
It disturbs to reduce ship drag overall.
Compared with prior art, the beneficial effects of the utility model are：
(1) 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.
(2) 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 (3) 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 deposits solar battery group storage 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.
(4) maneuverability is good.The unmanned boat of the utility model uses duplex form, and two sheet bodies of catamaran are easy to it
Realize line navigation, i.e. the unmanned boat of the utility model possesses good shipping-direction stability；The unmanned boat of the utility model simultaneously
Two sheet bodies are provided with propeller, and two sheet bodies cause the spacing between two propellers larger, when the positive vehicle of a vehicle falls,
Unmanned boat can realize pivot stud, i.e. the utility model possesses good turning quality；To sum up, the unmanned boat of the utility model possesses
Good maneuverability.
(5) stability and sea-keeping are good, and rolling period is short.The utility model utilizes the big stability of catamaran crosswise moment of inertia and resistance to
While the advantages such as wave is good, rolling period is short, traditional solar panels are substituted, by lithium battery group cloth using flexible solar film
It puts in piece in vivo to achieve the purpose that lower the center of gravity, further improve the stability of the utility model and seakeeping capacity, shortens
Rolling period is effectively reduced hull and sways the influence that movement works to water quality sampling, improves water quality sampling efficiency；Through meter
It calculates, the unmanned boat rolling period T of the utility modelφNo more than 1.2s, it is long to seawater sampling to reduce hull rolling period
Interference；Metacentric height GM is not less than 5m, flooding angleRoll angleThe difference of flooding angle and roll angleStability meets ZC " 98 regulation " Stability Criteria for Catamarans；It is computed, the unmanned boat of the utility model exists
Under level Four sea situation (feature wind speed 20kn), no more than 0.684m, navigation pitching of heading sea is rung for navigation heaving response of heading sea
17.87 ° should be not more than.
(6) 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, unilateral sheet body or bilateral piece
Body is damaged, and the unmanned boat of the utility model can keep floating state, greatly reduces what unmanned boat sinking device losses were brought
Economic loss.
(7) 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.
(8) 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.
(9) stratified sampling.The unmanned boat of the utility model extracts the water quality sample of different water depth by controlling the folding and unfolding of pump line
This, 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 arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat of the utility model
Structure diagram；
Fig. 2 is the left view of Fig. 1 unmanned boats；
Fig. 3 is the vertical view of Fig. 1 unmanned boats；
Fig. 4 is the front view of Fig. 1 unmanned boats；
Fig. 5 is the schematic diagram of the sheet body of Fig. 1 unmanned boats；
Fig. 6 is the control system schematic diagram of Fig. 1 unmanned boats；
In figure：1-1 is sheet body, and 1-1-1 is stern transom plate, and 1-1-2 is propeller cofferdam, and 1-1-3 is propeller control cabin,
1-1-4 is lithium battery cabin, and 1-1-5 is forepeak (empty cabin), and 1-1-6 is inner bottom plating, and 1-1-7 is propeller mounting hole, and 1-1-8 is
Topside inner wall, 1-1-9 are horizontal reinforcing frame, and 1-1-10 is lithium battery bracing structure, and 1-1-11 is transverse bulkhead, and 1-1-12 is
For cable by hole, 1-1-13 is sealing cover support plate, and 1-1-14 is rectangular hatch, and 1-1-15 is arc sealing cover, and 1-1-16 is
Lithium battery pedestal；1-2 is box connecting bridge structure, and 1-2-1 is support construction, and 1-2-2 is threaded hole, and 1-2-3 is loud speaker, 1-
2-4 is searchlight, and 1-2-5 is red Bai Lvsan colors navigation lights, and 1-2-6 is alarm, and 1-2-7 is electrical equipment room, and 1-2-8 is adopts
Sample chamber, 1-2-9 are sample devices room, and 1-2-10 is arch beam, and 1-2-11 is arc watertight hatchcover, and 1-2-12 is simply handle
Hand, 1-2-13 pass through hole for pump line；2 be electric system, and 2-1 is flexible solar film battery assembly, and 2-2 is terminal box, 2-3
For solar charging controller, 2-4 is lithium battery intelligent manager, and 2-5 is lithium battery；3 be propulsion system, 3-1 is propeller,
3-2 is high-strength carbon fiber pipe, 3-3 is propulsion electric machine；4 be water quality sampling system, and 4-1 is pump line, and 4-2 is pump head, and 4-3 is
Tube rolling device, 4-4 are peristaltic pump, and 4-5 is sampling box, and 4-6 is wastewater discharge pipe；5 system, 5-1 are main control computer in order to control；5‐
2 be positioning navigation module, and 5-2-1 is GNSS antenna, and 5-2-2 is positioning differential antennae, and 5-2-3 is GNSS signal receiver；5‐3
For communication module, 5-3-1 is data transmission antenna, and 5-3-2 is data transmission radio station, and 5-3-3 is screen transmission antenna, 5-3-4
For screen transmission radio station；5-4 is data acquisition module, and 5-4-1 is video camera, and 5-4-2 is ultrasonic sensor, 5-4-3 tri-
Axis strapdown reluctance type Electronic Megnetic Compass, 5-4-4 are intelligent gyroscope, and 5-4-5 is 3-axis acceleration sensor, and 5-4-6 is the depth of water
Sensor；Device module, 5-5-1 are propeller control device to 5-5 in order to control, and 5-5-2 is tube rolling device controller, and 5-5-3 is peristaltic pump
Controller, 5-5-4 are camera control unit, and 5-5-5 is lamp dimmer, and 5-5-6 is voice 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 figures 1 to 6, arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat, including ship
Phosphor bodies 1, electric system 2, propulsion system 3, water quality sampling system 4 and control system 5；Wherein, hull main body 1 includes two
Sheet body 1-1, arc-shaped box connecting bridge structure 1-2, two sheet body 1-1 are connected by arc-shaped box connecting bridge structure 1-2
It connects to form twin hull construction；
Two sheet body 1-1 provide buoyancy for unmanned boat, and unmanned boat is made to float on sea；Sheet body 1-1 for proclined stem,
Rectangular ship stern, the interior slack bulge type watertight cavity slender bodies structure for setting multiple compartments；In each sheet body 1-1 from stern transom plate 1-1-1
Set gradually propeller cofferdam 1-1-2, propeller control cabin 1-1-3, several lithium battery cabins 1-1-4, forepeak (empty cabin)
1‐1‐5；Propeller cofferdam 1-1-2 effects are by other zone isolations of propeller mounting hole 1-1-7 and sheet body 1-1, are being promoted
Effectively seawater can be isolated by propeller cofferdam 1-1-2 when the failure of device mounting hole 1-1-7 seal approach causes the seawater to leak, and be protected
Hinder device security, enhance the survival ability of unmanned boat；Propeller control cabin 1-1-3 installation propeller controllers 5-5-1；Lithium electricity
Pond cabin 1-1-4 is used to place lithium battery 2-5；Sheet body 1-1 front ends set forepeak (empty cabin) 1-1-5, forepeak (empty cabin) 1-
It is narrow inside 1-5, be not suitable for advancing equipment, as the empty cabin of isolation, in unmanned boat because of misoperation or other factors and obstacle
When object collides and causes the seawater to leak, seawater can be isolated with other cabins well by forepeak (empty cabin) 1-1-5, be increased
This strong unmanned boat obtains unsinkability；Preferably, sheet body 1-1 is away from setting horizontal internal floor 1-1-6, inner bottom plating 1-1- at the high 70mm of baseline
On 6 longitudinal centre lines, in front of the stern transom plate 1-1-1 at 44.5mm a diameter of 29mm of setting propeller mounting hole 1-1-7；Sheet body
1-1 topside inner wall 1-1-8 are away from horizontal reinforcing frame 1-1-9 is set at the high 200mm of baseline, horizontal to enhance sheet body 1-1 longitudinal strengths
Reinforcing frame 1-1-9 is welded on topside inner wall 1-1-8, widens to form lithium battery cross-brace at the 1-1-4 of lithium battery cabin
Structure 1-1-10, to reduce the amplitude of lithium battery 2-5 transverse movements during unmanned boat navigation, horizontal reinforcing frame 1-1-9 is indulged
On center line, in front of the stern transom plate 1-1-1 at 44.5mm a diameter of 29mm of setting propeller mounting hole 1-1-7；Preferably,
Transverse bulkhead 1-1-11, transverse bulkhead 1-1-11 lower parts watertight are set between above-mentioned each cabin, and top sets the cable of a diameter of 40mm
By hole 1-1-12, cable sets sealing device by hole 1-1-12, and its lower edge is located at more than Water Plane；Transverse bulkhead 1-1-11
Top is arc-shaped, is connect by welding with adjacent structure；Setting is same with transverse bulkhead 1-1-11 tops circular arc at the top of sheet body 1-1
The arc sealing cover support plate 1-1-13 of the heart, lower surface and transverse bulkhead 1-1-11 tops are tangent, and in propeller cofferdam 1-
Evolution shape hatch 1-1-14 at 1-2, propeller control cabin 1-1-3 and each lithium battery cabin 1-1-4, in order in sheet body 1-1
Portion's equipment installation and maintenance, support plate 1-1-13 are welded on sheet body 1-1 topside inner walls 1-1-8；At the top of sheet body 1-1 setting with it is upper
State the concentric arc sealing cover 1-1-15 of arc sealing cover support plate 1-1-13, lower surface and 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 cabin 1-1-4 inner bottom platings 1-1-6 is indulged
To approximate centerline, lithium battery pedestal 1-1-16, U-shaped aluminium section bar of the pedestal for a pair of opening being longitudinally arranged inwardly, weldering are set
It is connected on inner bottom plating 1-1-6；Sealing cover support plate 1-1-13, arc sealing cover 1-1-15 arrange two groups and support construction 1-2-1
The corresponding threaded hole 1-2-2 in bottom；Preferably, the smooth water resistance and navigated by water in wave that tradeoff unmanned boat navigates by water in hydrostatic
When wave action lead to the increase i.e. Added Resistance of drag overall, and in view of equipment deployment scenarios in sheet body 1-1, sheet body 1-1 is
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
Triangle, to improve structural stability, support construction 1-2-1 bottoms are threaded hole 1-2-2；Preferably, the box connecting bridge
Structure 1-2 upper surfaces arc length is equal to flexible solar film battery assembly 2-1 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.Preferably, speech ciphering equipment includes loud speaker 1-2-3, loud speaker 1-2-3 and control
The voice controller 5-5-6 connections of system 5 processed；Light units include searchlight 1-2-4 and red Bai Lvsan colors navigation lights 1-2-5,
Searchlight 1-2-4 and red Bai Lvsan colors navigation lights 1-2-5 are connect respectively with the lamp dimmer 5-5-5 of control system 5；Camera shooting is set
Standby RS-232 serial ports and camera control unit 5-5-4 including video camera 5-4-1, video camera 5-4-1 and main control computer 5-1 connect
It connects；Alarm equipment includes alarm 1-2-6, and alarm 1-2-6 is connect with the voice controller 5-5-6 of control system 5；Communication is led
Equipment of navigating includes GNSS antenna 5-2-1, positioning differential antennae 5-2-2, data transmission antenna 5-3-1 and screen transmission antenna 5-3-
3；GNSS antenna 5-2-1 and positioning differential antennae 5-2-2 are connect respectively with GNSS radio station, data transmission antenna 5-3-1 and screen
Transmission antenna 5-3-3 is connect respectively with data transmission radio station 5-3-2 and screen transmission radio station 5-3-4；Avoidance equipment includes ultrasound
The RS-232 serial ports of wave sensor 5-4-2, ultrasonic sensor 5-4-2 and main control computer 5-1 are connect.Loud speaker 1-2-3 and
Red Bai Lvsan colors navigation lights 1-2-5 is arranged on arc-shaped box connecting bridge structure 1-2 foreparts, for bank base controllers to week
It encloses ship and sends out voice signal；Searchlight 1-2-4 and red Bai Lvsan colors navigation lights 1-2-5 are arranged on arc-shaped box connecting bridge
Structure 1-2 foreparts, the former illuminates for navigation at night, and the latter is used to send out light signal, the red Bai Lvsan to ship around
Color navigation lights 1-2-5 shows feux rouges out of behind the front to port beam of ship 22.5 °, to starboard beam after show in 22.5 °
Show green light, white light is shown out of from the dead astern of ship to every 67.5 ° of side of a ship；Video camera 5-4-1 is arranged on arc-shaped box connection
Bridge structure 1-2 front ends, camera control unit 5-5-4 control under video camera 5-4-1 can 360 degree look around and capture unmanned boat periphery
The real-time image information of environment；Alarm 1-2-6 is arranged on arc-shaped box connecting bridge structure 1-2 tail portions, for surrounding
Ship makes a sound and light alarm signal；GNSS antenna 5-2-1, positioning differential antennae 5-2-2, data transmission antenna 5-3-1
Arc-shaped box connecting bridge structure 1-2 tail portions are arranged on screen transmission antenna 5-3-3；Ultrasonic sensor 5-4-2 is set
In arc-shaped box connecting bridge structure 1-2 front ends, effective detection range is more than 10m, and ultrasonic sensor 5-4-2 is used for
The barrier in unmanned boat direction of advance is identified under autonomous navigation pattern.
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 5-1, the sun
The electrical equipments such as energy charge controller 2-3, lithium battery intelligent manager 2-4, sampling chamber 1-2-8 are used to place sampling box 4-5,
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, and arc watertight hatchcover 1-2-11 is switched convenient for staff.
Electric system 2 include flexible solar film battery assembly 2-1, terminal box 2-2, solar charging controller 2-3,
Lithium battery intelligent manager 2-4 and lithium battery group；Lithium battery group is composed in parallel by multiple lithium battery 2-5；Each flexible solar
Film battery assembly 2-1, which is equipped with terminal box 2-2, multiple flexible solar film battery assembly 2-1 and is connected by terminal box 2-2, to be connected
It connecing, and is connect with solar charging controller 2-3, lithium battery intelligent manager 2-4 is connect with solar charging controller 2-3,
Lithium battery group is connect with lithium battery intelligent manager 2-4；Lithium battery intelligent manager 2-4 and 3 propulsion electric machine 3-3 of propulsion system connects
It connects, is connect with the tube rolling device 4-3, peristaltic pump 4-4, sampling box 4-5 of water quality sampling system 4, 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 2-4 also with control
5 main control computer 5-1 connections of system, connect with the GNSS signal receiver 5-2-3 of 5 positioning navigation module 5-2 of control system, with
The data transmission radio station 5-3-2 of 5 communication module 5-3 of control system, the 5-3-4 connections of screen transmission radio station, with 5 data of control system
The video camera 5-4-1 of acquisition module 5-4, ultrasonic sensor 5-4-2, three axis strapdown reluctance type Electronic Megnetic Compass 5-4-3, intelligence
Gyroscope 5-4-4,5 controller module of 3-axis acceleration sensor 5-4-5, water depth sensor 5-4-6 connections and control system
Its controller of the propulsion of 5-5 5-5-1, wriggling pump controller 5-5-3, tube rolling device controller 5-5-2, camera control unit 5-5-4,
Lamp dimmer 5-5-5, voice controller 5-5-5 connections output electric energy；Multiple flexible solar film battery assembly 2-1 are lateral
Box connecting bridge structure 1-2 upper surfaces are pasted onto, connect to form solar battery group by terminal box 2-2, an intermediate stickup
On arc watertight hatchcover 1-2-11, flexible solar film battery assembly 2-1 does not influence box connecting bridge structure 1-2 hatch
Setting；Preferably, flexible solar film battery assembly 2-1 selects CIGS (copper indium gallium selenide) hull cell, model MiaSole
FLEX-02W (Chinese energy) has light weight, transfer efficiency height etc. a little；Solar charging controller 2-3 is arranged on electrical equipment
Inside the 1-2-7 of room, it is preferred that solar charging controller 2-3 be MPPT solar charging controllers, output voltage is adjustable and
With higher transfer efficiency, higher transfer efficiency can be still kept in the weather of the insufficient lights such as rainy days；Lithium electricity
Pond intelligent supervisor 2-4 is arranged on for being managed to lithium battery 2-5 charging processes inside the 1-2-7 of electrical equipment room；Lithium
Battery 2-5 is arranged on above-mentioned lithium battery cabin 1-1-4 lithium battery pedestals 1-1-16, it is preferred that the battery capacity of lithium battery 2-5 is
100Ah, open-circuit voltage 12V, lithium battery 2-5 are ternary lithium battery and built-in protection board, have output voltage stabilization, reliability
High, the advantages that service life is long.
Propulsion system 3 includes propeller 3-1, high-strength carbon fiber pipe 3-2 and propulsion electric machine 3-3；Propeller 3-1 is two
It is a, it is separately positioned on the tail end of each sheet body 1-1；High-strength carbon fiber pipe 3-2 one end and the radome fairing of propulsion electric machine 3-3 are consolidated
Fixed connection, the propeller mounting hole 1-1-7 that the other end is passed through on sheet body 1-1 are connect with sheet body 1-1；Propeller 3-1 also with
Propulsion electric machine 3-3 connections；Propulsion electric machine 3-3 is connect with the propeller control device 5-5-1 of control system 5.Preferably, separate unit promotes
Motor 3-3 rated power is 312W, thrust about 142N；High-strength carbon fiber pipe 3-2 is threaded, by itself and propulsion electric machine 3-
3 radome fairing, which is fixedly connected and screws in, completes propeller installation in sheet body 1-1 propeller mounting holes 1-1-7；Control system 5 is logical
It crosses two propeller control device 5-5-1 and controls two propulsion electric machine 3-3 stop and start, rotating, acceleration and deceleration etc., make propeller
3-1 generates the identical or different thrust being respectively acting on two sheet body 1-1, corresponding zero or non-zero Moment under
It realizes unmanned boat direct route or turns to.
Water quality sampling system 4 includes pump line 4-1, pump head 4-2, tube rolling device 4-3, peristaltic pump 4-4, sampling box 4-5, waste water row
Put pipe 4-6；Pump head 4-2 is connected with peristaltic pump 4-4 and peristaltic pump 4-4 with sampling box 4-5 by pump line 4-1, wastewater discharge pipe
Peristaltic pump discharge of wastewater mouth is connect by 4-6 with hull exterior space；Tube rolling device 4-3, peristaltic pump 4-4 are controlled respectively with control system 5
The tube rolling device controller 5-5-2 of device module 5-5 processed, the 5-5-3 connections of wriggling pump controller；Pump line 4-1 is used to convey water sample,
It is stretched out outside hull by hole 1-2-13 by the pump line of box connecting bridge structure 1-2 foreparts, it is preferred that pump line 4-1 is corrosion-resistant
Silica gel hose；Pump head 4-2 is placed in the one end of pump line 4-1 far from peristaltic pump 4-4, and inside is equipped with water depth sensor 5-4-6；Tube rolling device
4-3 is used to control the folding and unfolding of pump line 4-1 that pump head 4-2 is made to reach at the different depth of water；Peristaltic pump 4-4 is responsible for extracting water sample raising
Power；Wastewater discharge pipe 4-6 appoints for emptying remaining seawater in pump line 4-1 so that water quality sampling system 4 performs sampling next time
Business；Sampling box 4-5 is placed in the 1-2-4 of sample devices cabin, it is preferred that after unmanned boat completes sampling task, person on shore can
It opens watertight hatch 1-3-8 and replaces sampling box 4-5.
Control system 5 includes main control computer 5-1, positioning navigation module 5-2, communication module 5-3, data acquisition module 5-
4 and controller module 5-5.Preferably, main control computer 5-1 is the PCM-9375 single board computers based on PC104 buses.
Positioning navigation module 5-2 includes：GNSS antenna 5-2-1, positioning differential antennae 5-2-2, GNSS signal receiver 5-
2‐3；GNSS antenna 5-2-1 with positioning differential antennae 5-2-2 be arranged on arc-shaped box connecting bridge structure 1-2 rear portions and with
The 5-2-3 connections of GNSS signal receiver, the RS-232 serial ports of GNSS signal receiver 5-2-3 access main control computers 5-1.GNSS
Antenna 5-2-1, positioning differential antennae 5-2-2 are arranged on the rear end of arc-shaped box connecting bridge structure 1-2, and GNSS signal receives
Machine 5-2-3 is arranged in the electrical equipment cabin 2-3 at platform deck 1-2 rear portions.
Communication module 5-3 includes：Data transmission antenna 5-3-1, data transmission radio station 5-3-2, screen transmission antenna 5-3-
3rd, screen transmission radio station 5-3-4；Data transmission antenna 5-3-1 is connect with data transmission radio station 5-3-2, data transmission radio station 5-3-
The RS-232 serial ports of 2 access main control computer 5-1；Screen transmission antenna 5-3-3 is connect with screen transmission radio station 5-3-4, screen
The RS-232 serial ports of transmission radio station 5-3-4 access main control computers 5-1.Data transmission antenna 5-3-1 is responsible for controlling and detects letter
Number remote transmission, data transmission antenna 5-3-1 are arranged on the rear end of arc-shaped box connecting bridge structure 1-2, data transmission
Radio station 5-3-2 is arranged in the electrical equipment cabin 2-3 at platform deck 1-2 rear portions；Screen transmission antenna 5-3-3 is responsible for video image
Video data transmits at a distance, and screen transmission setting antenna is in the rear end of arc-shaped box connecting bridge structure 1-2, screen transmission
Radio station 5-3-4 is arranged on the electrical equipment cabin 2-3 at platform deck 1-2 rear portions.
Data acquisition module 5-4 includes：Video camera 5-4-1, ultrasonic sensor 5-4-2, three axis strapdown reluctance type electronics
Magnetic compass 5-4-3, intelligent gyroscope 5-4-4,3-axis acceleration sensor 5-4-5, water depth sensor 5-4-6；Video camera 5-4-
1st, tri- axis strapdown reluctance type Electronic Megnetic Compass 5-4-3 of ultrasonic sensor 5-4-2, intelligent gyroscope 5-4-4,3-axis acceleration pass
Sensor 5-4-5, water depth sensor 5-4-6 are respectively connected to the RS-232 serial ports of main control computer 5-1；Video camera 5-4-1 can be 360 degree
Look around the real-time image information of capture unmanned boat surrounding enviroment；Three axis strapdown reluctance type Electronic Megnetic Compass 5-4-3 are used to measure nothing
People's ship course, intelligent gyroscope 5-4-4 are used to measure the appearances such as hull rolling (Roll), pitching (Pitch) and yawing (Yaw)
State, 3-axis acceleration sensor 5-4-5 are used to measure unmanned boat steric acceleration (solid space, around, up and down),
Water depth sensor 5-4-6 is mounted on pump head 4-2, for measuring pump head 4-2 current depths.
Controller module 5-5 includes：Propeller control device 5-5-1, tube rolling device controller 5-5-2, wriggling pump controller 5-
5-3, camera control unit 5-5-4, lamp dimmer 5-5-5, voice controller 5-5-6；Promote its controller 5-5-1, pipe crimping
Device controller 5-5-2, wriggling pump controller 5-5-3, camera control unit 5-5-4, lamp dimmer 5-5-5, voice controller
5-5-6 is tapped into the RS-232 serial ports of main control computer 5-1；In addition, propeller control device 5-5-1 also connects with propulsion electric machine 3-3
It connects, for performing main control computer 5-1 instruction control propulsion electric machine 3-3 stop and start, rotating etc., is preferably provided at platform
Deck 1-2 rear portions；Tube rolling device controller 5-5-2 is also connect with tube rolling device 4-3, controls tube rolling device 4-3 servo motor corners, is realized
The folding and unfolding of pump line 4-1；Wriggling pump controller 5-5-3 is also connect with peristaltic pump 4-4, controls peristaltic pump 4-4 pump drainage water；Video camera control
Device 5-5-4 processed is also connect with video camera 5-4-1 servo motors, for video camera 5-4-1 servo motors to be controlled to rotate.
Preferably, the 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) at the top of the arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat of the utility model
Flexible solar film battery assembly 2-1 under sunlight, convert light energy into electric energy simultaneously will electrical energy transportation to the sun
Can charge controller 2-3, solar charging controller 2-3 is depressured above-mentioned electric energy and is conveyed to lithium battery intelligent manager
2-4 so give whole system power supply；The speed of a ship or plane instruction that bank base control station is sent out is captured and is fed back to by data transmission antenna 5-3-1
Main control computer 5-1, main control computer 5-1 send out control instruction to propeller control device 5-5-1；Propeller control device 5-5-1
It is given to propulsion electric machine 3-3 and determines the corresponding voltage of the speed of a ship or plane, so as to rotate propulsion electric machine 3-3 and drive propeller rotational, spiral
Paddle generates forward thrust and promotes unmanned boat accelerated motion forward；Similar, when bank base control station sends out steering order, promote
Device controller 5-5-1 gives the different voltage of size or direction to two propulsion electric machine 3-3 respectively, so as to make two propeller 3-1
It generates different thrust and torque is formed on hull, force unmanned boat course change.
(2) at the same time：Positioning navigation module 5-2 is by information such as the unmanned ship position of acquisition, course, acceleration and takes the photograph
The image frame of camera 5-4-1 captures feeds back to main control computer 5-1 and is passed respectively by data transmission antenna 5-3-1 and screen
Defeated antenna 5-3-3 passes bank base control station back；Lithium battery intelligent manager 2-4 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 flexible solar film battery assembly 2-1 dump energies generated are deposited
Storage is when in lithium battery group；When lithium battery group electricity reaches another higher value, lithium battery intelligent manager 2-4 cut-out charging electricity
Road, charging stop；When the electric energy that flexible solar film battery assembly 2-1 is generated is not enough to maintain unmanned boat normal work,
The electric energy of lithium battery group release storage, ensures the supply of unmanned boat electric energy.
(3) further, the arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary of the utility model
Unmanned boat reaches specified sampling position under the real time monitoring of bank base operator, and bank base control station sends out sampling instruction；Pipe crimping
Device 4-3 discharges pump head 4-2 under main control computer 5-1 controls, and pump head 4-2 drags pump line 4-1 and sinks rapidly under the effect of gravity；
At the same time, the water depth sensor 5-4-6 on pump head 4-2 captures Water Depth Information and feeds back to main control computer 5-1, and master control calculates
Water Depth Information is sent to bank base control station by machine 5-1 by data transmission antenna 5-3-1 biographies, and bank base controllers are confirming the depth of water
After errorless, assign sampling and confirm instruction；Peristaltic pump 4-4 starts under the control of main control computer 5-1, by seawater sample extract to
Sampling box 4-5, single sampled point sampling process are completed；Repeatedly, the sampling all sampled point sampling operations in marine site, unmanned boat are completed
It makes a return voyage；Person on shore opens sampling chamber arc watertight hatchcover 1-2-11, takes out sampling box 4-5, and place new sampling box 4-
5；Unmanned boat, which continues to sail, performs new sampling task.
(4) the arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat of the utility model has
Certain AUTONOMOUS TASK ability.Similarly, under AUTONOMOUS TASK pattern, the above process is completed by pre-set programs instruction is autonomous.
(5) further, under the effect of the external force such as wind and wave, the arc-shaped box connecting bridge of the utility model is distant at a distance
It controls seawater sampling solar energy binary unmanned boat hull and wide-angle heel occurs, since center of gravity is relatively low, centre of buoyancy is higher, gravity and buoyancy
Coupling generate larger restoring moment, alist is gradually attributed to zero；Under limiting condition, two or a sheet body 1-1
Each equal damage and water inflow in watertight cabin, buoyancy significantly lose, and into the seawater inside sheet body sheet body are sunk, closed is box
Connecting bridge structure 1-2, which immerses in seawater and generates upward obstruction damaged ship hulls, continues the buoyancy to sink, the use of the utility model
In long-distance remote control seawater sampling solar energy binary unmanned boat keep floating state and it is unlikely sink to seabed, reduce property damage
It loses.
It should be noted 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.
Claims (10)
1. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat, which is characterized in that including hull
Main body, electric system, propulsion system, water quality sampling system and control system；Hull main body includes two sheet bodies, arc-shaped
Box connecting bridge structure；Sheet body is proclined stem, rectangular ship stern, the interior slack bulge type watertight cavity slender bodies knot for setting multiple compartments
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 arc-shaped box connecting bridge structure both sides connect to form catamaran knot with sheet body by a pair of of support construction respectively
Structure, support construction cross section are the class triangle being bent towards unmanned boat central fore-and-aft vertical plane, box connecting bridge structure upper surface arc length etc.
In flexible solar film battery assembly length；
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 and 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 also connects with propulsion electric machine；Propulsion electric machine and the propeller control device of control system connect；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box, wastewater discharge pipe；Pump head and wriggling
Pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe connects peristaltic pump discharge of wastewater mouth and hull exterior space
It connects；
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. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, two sheet bodies set gradually propeller cofferdam, propeller control cabin, several lithiums from stern transom plate
Battery flat, forepeak.
3. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, setting horizontal internal floor at a height of 70mm of spread baseline, sealed on inner bottom plating longitudinal centre line, in stern
The propeller mounting hole of diameter 29mm is set in front of plate at 44.5mm；Sheet body topside inner wall is horizontal away from being set at the high 200mm of baseline
Reinforcing frame, horizontal reinforcing frame are welded on topside inner wall.
4. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 2,
It is characterized in that, the propeller cofferdam, propeller control cabin, setting horizontal cabin between several lithium battery cabin, forepeaks
Wall, transverse bulkhead lower part watertight, top sets the cable of a diameter of 40mm, and by hole, cable sets sealing device, and its by hole
Lower edge is located at more than Water Plane；The arc sealing cover support plate concentric with transverse bulkhead top circular arc, following table are set at the top of sheet body
Face and transverse bulkhead top are tangent, and the evolution shape hatch at propeller cofferdam, propeller control cabin and each lithium battery cabin,
Support plate is welded on sheet body topside inner wall；The arc sealing cover concentric with arc sealing cover support plate, arc are set at the top of sheet body
The lower surface of shape sealing cover and arc sealing cover support plate upper surface are tangent, top edge and the sheet body top edge of arc sealing cover
It overlaps；Lithium battery pedestal, U-shaped aluminium section bar of the lithium battery pedestal for a pair of opening being longitudinally arranged inwardly are set in lithium battery cabin.
5. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the arc-shaped box connecting bridge structure box house sets gradually electrical equipment room along captain direction, adopts
Sample chamber and sample devices room；Setting arch is horizontal between electrical equipment room and sampling chamber and sampling chamber and sample devices room
Beam, crossbeam lower edge are not less than 240mm away from connecting bridge structure babinet bottom plate heights.
6. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the main control computer is the PCM-9375 single board computers based on PC104 buses；
The navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna and positioning difference
Antenna is all connect with GNSS signal receiver, and GNSS signal receiver accesses the RS-232 serial ports of main control computer；GNSS antenna
Arc-shaped box connecting bridge structure rear portion is all disposed with positioning differential antennae；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；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 transmits day
Line 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
In the rear end of arc-shaped box connecting bridge structure, data transmission radio station is arranged in the electrical equipment cabin at platform deck rear portion；
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 rear portion
Electrical equipment cabin；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyro
Instrument, 3-axis acceleration sensor and water depth sensor；Video camera, three axis strapdown reluctance type Electronic Megnetic Compass of ultrasonic sensor,
Intelligent gyroscope, 3-axis acceleration sensor and water depth sensor are respectively connected to the RS-232 serial ports of main control computer；The depth of water passes
Sensor is mounted on pump head；
The controller module includes propeller control device, tube rolling device controller, wriggling pump controller, camera control unit, lamp
Optical controller and voice controller；Propeller control device, tube rolling device controller, wriggling pump controller, camera control unit, light
Controller and voice controller are tapped into the RS-232 serial ports of master control calculating；Propeller control device is also connect with propulsion electric machine, volume
Pipe device controller is also connect with tube rolling device；Wriggling pump controller is also connect with peristaltic pump；Camera control unit is also watched with video camera
Take motor connection.
7. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the flexible solar film battery assembly is laterally pasted onto box connecting bridge structure upper surface；Flexibility is too
Positive energy film battery assembly selects CIGS hull cell；The solar charging controller is arranged on electrical equipment chamber interior,
Solar charging controller is MPPT solar charging controllers.
8. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the sheet body and connecting bridge structure is all made of 5086 aluminium alloys；The high-strength carbon fiber pipe
One end is connect with propulsion electric machine refers to that high-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine.
9. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the speech ciphering equipment includes loud speaker, the voice controller connection of loud speaker and control system；Light units
Including searchlight and red Bai Lvsan colors navigation lights, searchlight and red Bai Lvsan colors navigation lights respectively with the signal light control of control system
Device connects；Picture pick-up device includes video camera, RS-232 serial ports and the camera control unit connection of video camera and main control computer；It accuses
Alert equipment includes alarm, the voice controller connection of alarm and control system；Avoidance equipment includes ultrasonic sensor, surpasses
The RS-232 serial ports of sonic sensor and main control computer connects；Loud speaker and red Bai Lvsan colors navigation lights are arranged on arc-shaped
Box connecting bridge structure forepart；Searchlight and red Bai Lvsan colors navigation lights are arranged on arc-shaped box 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
Portion；GNSS antenna, positioning differential antennae, data transmission antenna and screen transmission antenna are arranged on arc-shaped box connecting bridge knot
Structure tail portion；Ultrasonic sensor is arranged on arc-shaped box connecting bridge structure front end.
10. arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat according to claim 1,
It is characterized in that, the lithium battery intelligent manager respectively with main control computer, propulsion electric machine, tube rolling device, peristaltic pump, sampling
Case, loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm, GNSS signal receiver, data transmission radio station, screen transmission
Radio station, video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensing
Device, water depth sensor, propeller control device, wriggling pump controller, tube rolling device controller, camera control unit, lamp dimmer
It is connected with voice controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721513947.8U CN207510667U (en) | 2017-11-14 | 2017-11-14 | Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat |
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| CN201721513947.8U CN207510667U (en) | 2017-11-14 | 2017-11-14 | Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat |
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| CN207510667U true CN207510667U (en) | 2018-06-19 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109050804A (en) * | 2018-09-11 | 2018-12-21 | 中国人民解放军陆军军事交通学院镇江校区 | Multi-functional unmanned boat |
| CN110329441A (en) * | 2019-04-08 | 2019-10-15 | 北京航空航天大学 | A kind of sea water quality detection canoe |
| CN110386226A (en) * | 2019-08-05 | 2019-10-29 | 上海大学 | A kind of maritime meteorological observation ship and observation method |
| CN110729963A (en) * | 2019-10-10 | 2020-01-24 | 中国科学院大气物理研究所 | Unmanned ship bidirectional solar energy collecting device and collecting method thereof |
| CN112636683A (en) * | 2020-12-11 | 2021-04-09 | 上海海事大学 | Unmanned ship-borne solar panel carrying device capable of being automatically retracted and released |
| CN113415389A (en) * | 2021-07-30 | 2021-09-21 | 天津大学 | Rigid-flexible coupling folding inflatable twin-hull unmanned boat capable of being quickly laid |
| CN114655352A (en) * | 2022-04-15 | 2022-06-24 | 上海大学 | Unmanned high-speed twin-hull boat |
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2017
- 2017-11-14 CN CN201721513947.8U patent/CN207510667U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050804A (en) * | 2018-09-11 | 2018-12-21 | 中国人民解放军陆军军事交通学院镇江校区 | Multi-functional unmanned boat |
| CN110329441A (en) * | 2019-04-08 | 2019-10-15 | 北京航空航天大学 | A kind of sea water quality detection canoe |
| CN110386226A (en) * | 2019-08-05 | 2019-10-29 | 上海大学 | A kind of maritime meteorological observation ship and observation method |
| CN110729963A (en) * | 2019-10-10 | 2020-01-24 | 中国科学院大气物理研究所 | Unmanned ship bidirectional solar energy collecting device and collecting method thereof |
| CN112636683A (en) * | 2020-12-11 | 2021-04-09 | 上海海事大学 | Unmanned ship-borne solar panel carrying device capable of being automatically retracted and released |
| CN112636683B (en) * | 2020-12-11 | 2022-08-09 | 上海海事大学 | Unmanned ship-borne solar panel carrying device capable of being automatically retracted and released |
| CN113415389A (en) * | 2021-07-30 | 2021-09-21 | 天津大学 | Rigid-flexible coupling folding inflatable twin-hull unmanned boat capable of being quickly laid |
| CN114655352A (en) * | 2022-04-15 | 2022-06-24 | 上海大学 | Unmanned high-speed twin-hull boat |
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Granted publication date: 20180619 Termination date: 20191114 |