CN101430562A - Dual-purpose vessel with manual control and automatic navigation function - Google Patents
Dual-purpose vessel with manual control and automatic navigation function Download PDFInfo
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- CN101430562A CN101430562A CNA200710158063XA CN200710158063A CN101430562A CN 101430562 A CN101430562 A CN 101430562A CN A200710158063X A CNA200710158063X A CN A200710158063XA CN 200710158063 A CN200710158063 A CN 200710158063A CN 101430562 A CN101430562 A CN 101430562A
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Abstract
The invention relates to an artificial control and automatic navigation dual-purpose ship, which is composed of a navigation control computer, a position heading sensor, a data transmission system , an electric servo mechanism and a power system; the navigation control computer receives control signals when in automatic navigation status, transmits the control signals to the electric servo mechanism according to directional signals of the position heading sensor, transmits sailing data of a ship to the data transmission system, processes and executes data passed back by a ground work station; the position heading sensor detects the position direction of the ship and transmits position detection signals to the navigation control computer; the data transmission system transmits each item of status data of the ship to the ground work station when the ship is in automatic running and receives command data which is transmitted to the navigation control computer by the ground work station; the electric servo mechanism receives the control signals of the navigation control computer, and regulates the power system according to the control signals; the power system is regulated according to the control of the electric servo mechanism to ensure that the ship sails normally.
Description
Technical field
The present invention relates to a kind of artificial and dual-purpose ship of self-navigation that a kind of dual-purpose ship, particularly manual control and nobody control the water surface.
Background technology
In the middle of ship design in the past, manual manipulation system or automated navigation system only are installed, by the ship of manual control, because there is limitation in its dependence to operating personnel aspect the purposes, as entering the hazardous location, night work danger is big etc. merely; Though can remedy the shortcoming of manual control ship merely by the ship of automated navigation system control, there is poor stability, reliability is low, and the working time is short, is subjected to problems such as energy resource supply restriction.And on by the unmanned boat of self-navigation control, the manual control system is installed, then can remedy two kinds of patterns shortcoming separately mutually, according to the suitable operator scheme control ship of different task choosing.
Summary of the invention
The invention provides a kind of manual control and the dual-purpose ship of self-navigation for solving the problems of the technologies described above, purpose is the function that possesses manual control and self-navigation simultaneously, can arrive at water surface assigned address with manual mode of operation or self-navigation control mode, significantly reduce operational risk, reduce operating personnel's working strength.
Be achieved in that a kind of manual control and the dual-purpose ship of self-navigation for reaching above-mentioned purpose the present invention, constitute by following structure: navigation control computer, when automatic navigation mode, receive control signal and electric servomechanism is transmitted control signal, send the ship aeronautical data and handle and carry out to data transmission system and to the data that the ground workstation returns according to the direction signal of position heading sensor; The position heading sensor is sent to navigation control computer to the locality of detection ship and with the locality signal; Data transmission system is transferred to the surface work station with the every status data of ship when ship is in automatic exercise, receive the order data that the surface work station sends to navigational computer simultaneously; Electric servomechanism receives the control signal of navigation control computer, and according to control signal power system is adjusted; Power system is adjusted according to the control of electric servomechanism, and ship is normally navigated by water; The manual control system controls electric servomechanism when the manually-operated state.
The dual-purpose ship of a kind of manual control and self-navigation, also comprise following structure: mode conversion switch, to being that manual control pattern or automatic control mode are changed, and the manual control system that receives or the control signal of navigation control computer be sent to electric servomechanism.
Be provided with signaling conversion circuit between described manual control system and the mode conversion switch.
Described navigation control computer control model has and receives the ground remote control signal by remote-control receiver and carry out remote control control or controlled automatically by navigation control computer according to establishing the course line of ordering in advance, simultaneously can be by data transmission system re-routing more in real time.
Described remote-control receiver is sent to navigation control computer with the remote signal that receives.
Described power system comprises following structure: the speed regulator that is connected with electric servomechanism; The motor that is connected with speed regulator, motor is provided with transmission shaft, is provided with screw propeller on transmission shaft.
The interface of described position heading sensor and navigation control computer is RS232, and the position heading sensor is located at the front portion of hull.
Store the route information of establishment in advance in the described navigation control computer, comprise flight path, the speed of a ship or plane.
Described navigation control computer links to each other with hull by shock-damping structure.
The position of described signaling conversion circuit hand control handle when the manual control pattern is by the position transducer perception and be converted to pwm signal to drive electric servomechanism.
The interface of described data transmission system and navigation control computer is RS232.
Described navigation control computer sends the TTL control signal automatically, is used for the break-make control of each equipment.
Advantageous effect of the present invention: the present invention is integrated on the same hull two kinds of control models, two kinds of control models can remedy shortcoming separately mutually at work, ship than single control model, working range is bigger, work efficiency and convenience etc. all have more advantage, the work better effects if.The dual-purpose ship of this manual control and self-navigation can be widely used in work such as the sample collecting, the search and rescue of the personnel under the bad weather condition of contaminated water body or dangerous water body, significantly reduces operational risk, reduces operating personnel's working strength.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a structured flowchart of the present invention.
Among the figure 1, the position heading sensor; 2, hull; 3, power-supply system; 4, navigation control computer; 5, speed regulator; 6, motor; 7, transmission shaft; 8, screw propeller; 9, manual control system; 10, mode conversion switch; 11, electric servomechanism; 12, remote-control receiver; 13, data transmission system; 14, signaling conversion circuit.
Embodiment
Below in conjunction with accompanying drawing structure of the present invention is described further.
A kind of manual control of the present invention and the dual-purpose ship of self-navigation as shown in the figure, constitute by following structure: navigation control computer 4, the control signal that receives when automatic navigation mode also transmits control signal to electric servomechanism 11 according to the direction signal of position heading sensor 1, send the ship aeronautical data simultaneously to data transmission system and carry out the order that the ground workstation sends, store the route information of establishment in advance in the navigation control computer 4, comprise flight path, the speed of a ship or plane, navigation control computer 4 links to each other with hull 2 by shock-damping structure, navigation control computer 4 sends the TTL control signal automatically, is used for the break-make control of each equipment; Position heading sensor 1 is surveyed the locality of ship and the locality signal is sent to navigation control computer 4, and position heading sensor 1 is RS232 with the interface of navigation control computer 4, and position heading sensor 1 is located at the front portion of hull 2; There are two kinds of patterns in the navigation of ship control under the navigational computer state of a control: a kind of is that remote control is controlled, be that terrestrial operation personnel remote controllers is sent the enforcement instruction, remote-control receiver 12 is sent to navigation control computer 4 with the remote signal that receives on the ship, send sailing instructions by navigation control computer 4, another kind is an automatic control mode, be that navigational computer 4 navigates by water automatically according to establishing the course line control ship of ordering input in advance, simultaneously navigational computer 4 also can receive by land station by the steering order that data transmission system 13 sends, and realizes ship is navigated by water the change in course line automatically.After remote control/automatic control switching command is sent on ground, can be in remote control, control between two kinds of control models and switch automatically; Data transmission system 13, when being in automatic exercise, is responsible for ship the every status data of ship is transferred to the surface work station, receive the order data that the surface work station sends to navigational computer 4 simultaneously, the interface of data transmission system and navigation control computer is RS232; Electric servomechanism 11 receives the control signal of navigation control computer 4, and according to control signal power system is adjusted; Power system is adjusted according to the control of electric servomechanism 11, and ship is normally navigated by water, and power system comprises the speed regulator 5 that is connected with electric servomechanism 11; The motor 6 that is connected with speed regulator 5, motor 6 is provided with transmission shaft 7, is provided with screw propeller 8 on transmission shaft 7; Manual control system 9 controls electric servomechanism 11 when the manually-operated state; Mode conversion switch 10 to being that manual control pattern or automatic control mode are changed, and is sent to electric servomechanism 11 with the manual control system 9 that receives or the control signal of navigation control computer 4; Be provided with signaling conversion circuit 14 between manual control system 9 and the mode conversion switch 10, the position that signaling conversion circuit 14 is responsible for hand control handle when the manual control pattern is by the position transducer perception and be converted to pwm signal to drive electric servomechanism 11, regulate speed regulator 5 by electric servomechanism 11, control motor 6 rotating speeds; The power-supply system lead is connected with consumer on the ship, for ship provides the electric energy of navigation with need of work.
Principle of work of the present invention: the link on the hull has all been installed sealing rubber ring, and hull bottom counterweight cabin pressing iron piece makes ship keep balance under sail, under the situation of being overturned by stormy waves or wave, also can turn back normotopia automatically, ship length overall 3.8m, weight 500kg.Navigation control computer is regulated speed regulator by the control electric servomechanism and is changed rotating speed of motor, the rotation of driven by motor screw propeller, and screw propeller is forward a thrust with the goes through torque conversion of motor, realizes the control to the unmanned ship's head and the speed of a ship or plane.After the ground remote control device sends remote control, automatic control switching command, can switch having between people's remote control and self-navigation control, simultaneously electric servomechanism is connected with the manual control system again, realizes that the manual control power system regulates motor speed, controls ship and navigates by water.Hull turns to regulate two motor speeds and realizes.Can select manual control system or automatic controlling system power system by the mode conversion switch that loads aboard ship.Ship is in when controlling automatically, ship will navigate by water automatically according to the course line of setting, when the needs manually-operated, can be by the mode transitions switch on the ship, select the manual control system to operate, this moment, automatic control system quit work, and the staff controls ship on the dependence ship, directly controlled steering wheel adjusting power system and navigated by water and operation.Equally, when the control of ship need be changed into automatic control mode by the manual control pattern, the mode transitions switch on the ship transferred to control automatically can realize the operation of self-navigation control ship under the state.
Claims (10)
1, the dual-purpose ship of a kind of manual control and self-navigation, it is characterized in that constituting: navigation control computer by following structure, when automatic navigation mode, receive control signal and electric servomechanism is transmitted control signal, send the ship aeronautical data and handle and carry out to data transmission system and to the data that the ground workstation returns according to the direction signal of position heading sensor; The position heading sensor is sent to navigation control computer to the locality of detection ship and with the locality signal; Data transmission system is transferred to the surface work station with the every status data of ship when ship is in automatic exercise, receive the order data that the surface work station sends to navigational computer simultaneously; Electric servomechanism receives the control signal of navigation control computer, and according to control signal power system is adjusted; Power system is adjusted according to the control of electric servomechanism, and ship is normally navigated by water; The manual control system controls electric servomechanism when the manually-operated state.
2, a kind of manual control according to claim 1 and the dual-purpose ship of self-navigation, it is characterized in that also comprising following structure: mode conversion switch, to being that manual control pattern or automatic control mode are changed, and the manual control system that receives or the control signal of navigation control computer be sent to electric servomechanism.
3, a kind of manual control according to claim 2 and the dual-purpose ship of self-navigation is characterized in that being provided with signaling conversion circuit between described manual control system and the mode conversion switch.
4, a kind of manual control according to claim 1 and the dual-purpose ship of self-navigation, it is characterized in that described navigation control computer control model has receives the ground remote control signal by remote-control receiver and carries out remote control control or controlled automatically by navigation control computer according to establishing the course line of ordering in advance, simultaneously can be by data transmission system re-routing more in real time.
5, a kind of manual control according to claim 4 and the dual-purpose ship of self-navigation is characterized in that described remote-control receiver is sent to navigation control computer with the remote signal that receives.
6, a kind of manual control according to claim 1 and the dual-purpose ship of self-navigation is characterized in that described power system comprises following structure: the speed regulator that is connected with electric servomechanism; The motor that is connected with speed regulator, motor is provided with transmission shaft, is provided with screw propeller on transmission shaft.
7, a kind of manual control according to claim 4 and the dual-purpose ship of self-navigation, the interface that it is characterized in that described position heading sensor and navigation control computer is RS232, the position heading sensor is located at the front portion of hull.
8, a kind of manual control according to claim 4 and the dual-purpose ship of self-navigation is characterized in that storing the route information of establishment in advance in the described navigation control computer, comprise flight path, the speed of a ship or plane.
9, a kind of manual control according to claim 8 and the dual-purpose ship of self-navigation is characterized in that described navigation control computer links to each other with hull by shock-damping structure.
10, a kind of manual control according to claim 3 and the dual-purpose ship of self-navigation, the position that it is characterized in that described signaling conversion circuit hand control handle when the manual control pattern is by the position transducer perception and be converted to pwm signal to drive electric servomechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200710158063XA CN101430562A (en) | 2007-11-09 | 2007-11-09 | Dual-purpose vessel with manual control and automatic navigation function |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA200710158063XA CN101430562A (en) | 2007-11-09 | 2007-11-09 | Dual-purpose vessel with manual control and automatic navigation function |
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| CN101430562A true CN101430562A (en) | 2009-05-13 |
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| CNA200710158063XA Pending CN101430562A (en) | 2007-11-09 | 2007-11-09 | Dual-purpose vessel with manual control and automatic navigation function |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673744A (en) * | 2012-05-25 | 2012-09-19 | 杨卓 | Hydrology remote control power-driven ship |
| CN103645734A (en) * | 2013-12-02 | 2014-03-19 | 广州市健坤网络科技发展有限公司 | Automatic course control system and method of rudderless ship |
| CN104991551A (en) * | 2015-07-14 | 2015-10-21 | 武汉南华工业设备工程股份有限公司 | Unmanned vessel control method and unmanned vessel |
| CN105867191A (en) * | 2016-04-18 | 2016-08-17 | 太仓弘杉环保科技有限公司 | Intelligent control system for ship |
| CN106167076A (en) * | 2016-09-07 | 2016-11-30 | 国家海洋局第海洋研究所 | Waterborne unmanned for data acquisition difficulty waters measures investigation platform |
| CN109144075A (en) * | 2018-10-29 | 2019-01-04 | 长沙理工大学 | A kind of control system and control method of unmanned boat |
| CN110308714A (en) * | 2019-06-25 | 2019-10-08 | 中国船舶重工集团公司第七0七研究所 | A kind of test platform of pier dynamic positioning system core piloting strategies verifying |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| CN113741292A (en) * | 2021-09-09 | 2021-12-03 | 中国船舶重工集团公司第七0七研究所九江分部 | Single-handle vehicle-rudder combined control device, system and method for sending instruction |
-
2007
- 2007-11-09 CN CNA200710158063XA patent/CN101430562A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673744A (en) * | 2012-05-25 | 2012-09-19 | 杨卓 | Hydrology remote control power-driven ship |
| CN102673744B (en) * | 2012-05-25 | 2015-03-11 | 杨卓 | Hydrology remote control power-driven ship |
| CN103645734A (en) * | 2013-12-02 | 2014-03-19 | 广州市健坤网络科技发展有限公司 | Automatic course control system and method of rudderless ship |
| CN103645734B (en) * | 2013-12-02 | 2016-04-06 | 广州市健坤网络科技发展有限公司 | A kind of robotization course control system of helmless oceangoing ship and method |
| CN104991551A (en) * | 2015-07-14 | 2015-10-21 | 武汉南华工业设备工程股份有限公司 | Unmanned vessel control method and unmanned vessel |
| CN105867191A (en) * | 2016-04-18 | 2016-08-17 | 太仓弘杉环保科技有限公司 | Intelligent control system for ship |
| CN106167076A (en) * | 2016-09-07 | 2016-11-30 | 国家海洋局第海洋研究所 | Waterborne unmanned for data acquisition difficulty waters measures investigation platform |
| CN109144075A (en) * | 2018-10-29 | 2019-01-04 | 长沙理工大学 | A kind of control system and control method of unmanned boat |
| CN110308714A (en) * | 2019-06-25 | 2019-10-08 | 中国船舶重工集团公司第七0七研究所 | A kind of test platform of pier dynamic positioning system core piloting strategies verifying |
| CN113741292A (en) * | 2021-09-09 | 2021-12-03 | 中国船舶重工集团公司第七0七研究所九江分部 | Single-handle vehicle-rudder combined control device, system and method for sending instruction |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| CN113552892B (en) * | 2021-09-18 | 2021-12-17 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
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Open date: 20090513 |