CN105416518B - A kind of solar energy manless boat - Google Patents

Abstract

A solar unmanned small boat belongs to the technical field of ships and includes a hull, a solar power generation panel, a left thruster, a right thruster, a controller and multiple sets of position sensors. Position sensors are distributed around the hull. The electricity generated by the solar panels is processed and stored in batteries. The left propeller and the right propeller of the same structure are symmetrically installed on the left and right sides of the hull. The controller and position sensor are battery powered. The right propeller includes rails, electric trolleys, annular flat blades, traction rods, positioning rods and casings. The positioning rod is vertically arranged on the base plate. The annular flat blade is vertically set on the positioning rod. The track is horizontally installed under the roof, and the electric trolley is installed on the track. The upper end of the drawbar is installed on the electric trolley, and the lower section is vertically inserted into the annular flat blade. The controller controls the operation of the left propeller and the right propeller to produce the effects of "jitter" and "sumo" similar to insects. The ship is efficient, manoeuvrable and stable.

Description

A solar unmanned boat

technical field

A solar unmanned boat belongs to the technical field of ships, in particular to an unmanned boat.

Background technique

The propellers of traditional ships mostly use propellers. Although the drive is convenient, the efficiency is low. The manufacturing process of the blades is complicated, and wakes will be generated when used; Just after entering the water and before leaving the water, the water resistance is relatively large and the thrust produced is very small, the energy loss is large, the efficiency is low, and the noise is large. Authorized notification number is the patent of CN100360378C, discloses a kind of bionic flat ship propeller, although efficiency is higher, structure is more complicated. Traditional remote control boats are controlled by remote control, and the distance of remote control is limited.

Contents of the invention

The purpose of the invention is to overcome the deficiencies of traditional ship technology and to invent a solar unmanned boat with higher efficiency.

A solar unmanned boat comprises a hull, a solar power generation panel, a left thruster, a right thruster, a controller and multiple sets of position sensors. The controller is installed in the hull, and the position sensors are distributed around the hull. The solar power generation panel is supported on the top of the hull by brackets. The electricity generated by the solar panels is processed and stored in batteries. The distance information collected by the position sensor from the obstacle to the hull is transmitted to the controller through the signal line, so that the controller can control the solar unmanned boat to avoid the obstacle. The controller can communicate with the ground station. The left propeller and the right propeller have the same structure, and they are symmetrically installed on the left and right sides of the hull. The controller and position sensor are battery powered.

The specific structure of the right propeller is: the right propeller includes rails, electric trolleys, annular flat plate blades, traction rods, positioning rods and shells. The annular flat plate blade comprises identical arc-shaped bodies at both ends and two identical flat plates in the middle section. The casing includes a left side board, a bottom board, a right side board and a top board, the left side board and the right side board are vertically arranged, and the bottom board and the top board are arranged horizontally. Directly utilize the right side wall of the hull as the left side panel of the shell. The positioning rod is located in the middle of the front and rear direction of the casing and is fixedly installed on the bottom plate of the casing near the left side plate. The positioning rod is arranged vertically. The gap between the positioning rod and the left side plate can ensure the flexible operation of the annular flat blade in the casing. semi-circular motion. The annular flat blade is set on the positioning rod and is located inside the casing, and the annular flat blade is perpendicular to the bottom plate of the casing. The track is a closed semicircle, and the track is horizontally installed under the roof, and the electric trolley is installed on the track, and the electric trolley can move along the track under the control of the controller. The upper end of the drawbar is installed on the electric trolley, the drawbar is vertically arranged, and the lower section of the drawbar is inserted into the annular flat blade. The electric trolley is powered by a battery, and the controller controls the magnitude and direction of the thrust of the left propeller and the right propeller by controlling the magnitude and direction of the motor of the electric trolley.

The unmanned ship is equipped with an automatic navigation system to facilitate automatic cruise according to the set path; it is also equipped with shooting equipment to facilitate water surface patrol and shooting.

A solar unmanned boat of the present invention produces beneficial effects in this way: the controller controls the operation of the left thruster and the right thruster according to the preset path and work program, or controls the left thruster and the right thruster according to the instructions of the ground station run. The left and right thrusters work the same way. The right propeller works like this. At first, the annular flat blade is at the frontmost position in the longitudinal direction, that is, the inner wall of the rear end of the annular flat blade is close to the rear edge of the positioning rod, the front end of the annular flat blade is at the front end, and the left side of the annular flat blade Close to the right side of the left side plate of the casing, the controller controls the electric trolley to start moving. Looking down at the right propeller from top to bottom, the electric trolley drives the drawbar to move. For the restriction of the flat blade, the electric trolley drives the traction rod to make a semi-circular motion, and at the same time drives the annular flat blade to make a semi-circular motion in the casing, that is, the annular flat blade rotates clockwise around the positioning rod for half a circle at the longitudinal front position and reaches the longitudinal final position, and then Go straight ahead to the most longitudinal position, and then the annular flat blade turns clockwise for half a circle around the positioning rod, and then advances straight to the most longitudinal position, that is, returns to the initial position. Next, the above process is repeated periodically. In this way, the annular flat plate blades will continuously introduce the water in the front into the casing and then push it to the rear to generate forward thrust. During the movement, the ring-shaped flat blades quickly open between the front and the left side panel of the shell and quickly close between the rear and the left side panel, producing the "jittery" and "sumo" movement effects similar to insects, and Due to the shackles of the shell, the movement of the annular flat blades in the shell also produces a mirror effect, which can generate a large thrust. The blade of the left propeller makes a counterclockwise semi-circular motion, which also produces a large thrust forward. Since the left propeller and the right propeller operate independently, the solar unmanned boat does not need to be equipped with a rudder, and turning and retreating can be realized conveniently. The fast and slow movements of the left propeller and the right propeller can realize turning and driving. Changing the direction of motion of the blades can make the solar unmanned boat run backwards. If the blades of the left propeller and the right propeller move in the same direction, they can turn in circles. The solar unmanned boat of the present invention includes but is not limited to the following advantages: small energy loss, high efficiency, flexible maneuvering, stable operation, and easy-to-make blades, which will not produce obvious wakes like propeller boats, nor will they produce obvious wakes like traditional paddle steamers. There is serious water splashing. The battery is charged by solar panels during the day, enabling continuous cruising around the clock.

The solar unmanned boat of the present invention can be used for various tasks such as patrolling the water surface, transporting goods, and saving lives on water, and can also be used for feeding and feeding animals, spraying aquatic products, etc. when equipped with related equipment.

Description of drawings

Fig. 1 is a top view schematic diagram of a solar unmanned boat of the present invention; Fig. 2 is a rear view schematic diagram of an enlarged right propeller; Fig. 3 is a top view schematic diagram of Fig. 2; Fig. 4 is the motion of the annular flat blade of the right propeller Schematic diagram.

In the figure, A-hull, A1-the bow, A2-the stern; B-ship direction indication; C-left thruster; D-right thruster; E-controller; F-position sensor; G-solar energy power generation panel. 1-track; 2-electric trolley; 3-annular flat blade, 31-indicates that the annular flat blade is in the longitudinal position, 32-indicates that the annular flat blade is in the transverse position, 33-indicates that the annular flat blade is in the longitudinal position, 34-annular Rotation direction indication of flat blade; 35- forward direction indication of annular flat blade; 4- traction rod; 5- positioning rod, 51- wear-resistant flat gasket; 63-right side plate, 64-top plate; 7-filter screen.

Detailed ways

The present invention is described in conjunction with accompanying drawing now: a kind of solar energy unmanned boat, comprises hull A, solar power generation board G, left thruster C, right thruster D, controller E and multiple groups of position sensors F. The controller E is installed in the hull A, and the position sensors F are distributed around the hull A. The solar power generation panel G is supported above the hull A by a bracket. The electricity generated by the solar panel G is processed and stored in the battery. The position sensor F collects the distance information of the obstacle from the hull A and transmits it to the controller E through the signal line, so that the controller controls the solar unmanned boat to avoid the obstacle. The controller E can exchange information with the ground station. The left propeller C and the right propeller D have the same structure, and they are symmetrically installed on the left and right sides of the hull A. Controller E and position sensor F are powered by batteries.

The specific structure of the right propeller D is: the right propeller D includes a track 1, an electric trolley 2, an annular flat blade 3, a draw bar 4, a positioning bar 5 and a casing 6. The annular flat plate blade 3 comprises identical arc-shaped bodies at both ends and two identical flat plates in the middle section. The casing 6 includes a left side plate 61, a bottom plate 62, a right side plate 63 and a top plate 64, the left side plate 61 and the right side plate 63 are arranged vertically, and the bottom plate 62 and the top plate 64 are arranged horizontally. Positioning rod 5 is in the middle of the front and rear direction of housing 6 and is fixedly installed on the bottom plate 62 of housing 6 near the left side plate 61. Positioning rod 5 is vertically arranged, and the gap between positioning rod 5 and left side plate 61 can ensure the annular The flat blade 3 flexibly moves in a semi-circle in the casing 6 . The annular flat blade 3 is sleeved on the positioning rod 5 and located inside the casing 6 , and the annular flat blade 3 is perpendicular to the bottom plate 62 of the casing 6 . The track 1 is a closed semicircle, and the track 1 is horizontally installed under the top plate 64. The electric trolley 2 is installed on the track 1, and the electric trolley 2 can move along the track 1 under the drive of power. The upper end of the drawbar 4 is installed on the electric trolley 2, the drawbar 4 is vertically arranged, and the lower section of the drawbar 4 is inserted in the annular flat plate blade 3. The electric trolley 2 is powered by a battery, and the controller E controls the magnitude and direction of the thrust of the right propeller D by controlling the speed and direction of the motor of the electric trolley 2 . In order to prevent sundries such as fish and aquatic plants from entering the shell 6, a filter screen 7 is installed in the front and rear of the shell 6. For reducing the friction between the bottom of the annular flat blade 3 and the upper surface of the bottom plate 62 of the casing 6 when the annular flat blade 3 moves in the housing 6, a wear-resistant flat gasket 51 is placed on the positioning rod 5, and the wear-resistant flat gasket The sheet 51 is located on the upper surface of the bottom plate 62 of the housing 6 and pads on the bottom of the annular flat blade 3; the density of the annular flat blade 3 is between 1000kg/m ³ and 1300kg/m ³ . For reducing the friction between the draw bar 4 and the positioning bar 5 and the inner surface of the annular plate blade 3, the traction bar 4 and the positioning bar 5 are all inlaid with anti-friction balls or needle rollers. In order to reduce the friction between the outer surface of the annular flat blade 3 and the right side of the left side plate 61 of the casing 6, the right side of the left side plate 61 is inlaid with anti-friction balls or needles.

The solar unmanned boat works like this: the controller E controls the left propeller C and the right propeller D to run according to the preset path and working program, or controls the left propeller C and the right propeller according to the instructions of the ground station D run. The left thruster C and the right thruster D work on the same principle. The right propeller D works like this. At first, the annular flat blade 3 is in the longitudinal frontmost position, that is, the inner wall of the rear end of the annular flat blade 3 is close to the rear edge of the positioning rod 5, and the front end of the annular flat blade 3 is at the front end. The left side of the blade 3 is close to the right side of the left side plate 61 of the casing 6, and the controller E controls the electric trolley 2 to start moving. Looking down at the right propeller D from top to bottom, the electric trolley 2 drives the drawbar 4 to move, because The drawbar 4 is inserted into the annular flat blade 3, limited by the track 1 and the annular flat blade 3, the electric trolley 2 drives the drawbar 4 to make a semicircular motion, and at the same time drives the annular flat blade 3 to make a semicircular motion in the shell 6, namely The annular flat blade 3 rotates clockwise around the positioning rod 5 for half a circle at the longitudinal front position and then reaches the longitudinal final position, and then moves straight forward to the longitudinal front position, and then the annular flat blade 3 rotates clockwise around the positioning rod 5 for half a circle, and then straightly Move forward to the most longitudinal position, that is, return to the original position. Next, the above process is repeated periodically. In this way, the annular flat plate blade 3 will continuously introduce the water in the front into the casing 6 and then push it to the rear to generate forward thrust. During the movement, the annular flat blade 3 is quickly opened between the front and the left side plate 61 of the housing 6 and quickly closed between the back and the left side plate 61, resulting in "snap" and "sumo" similar to insects Movement effect, and due to the restraint of the casing 6, the movement of the annular flat plate blade 61 in the casing 6 also produces a mirror effect, which can produce a large thrust. Under the control of the controller E, the blades of the left propeller C move counterclockwise in a semi-circle, which also produces a large forward thrust. Since the left propeller C and the right propeller D operate independently, the solar unmanned boat does not need to be equipped with a rudder, and turning and retreating can be easily realized. The fast and slow movements of the left propeller C and the right propeller D can realize turning. Changing the direction of motion of the blades can make the solar unmanned boat run backwards. If the blades of the left propeller C and the right propeller D move in the same direction, they can turn around in situ. The solar unmanned boat of the present invention includes but is not limited to the following advantages: energy saving and environmental protection, low noise, flexible maneuvering, stable operation, and easy production of blades, which will not produce obvious wakes like propeller boats, and will not exist like traditional paddle boats Severe splashing phenomenon.

Claims (3)

1. a kind of solar energy manless boat, it is characterised in that：Including hull（A）, solar panel（G）, left propeller（C）、 Right propeller（D）, controller（E）With multigroup position sensor（F）；Controller（E）Mounted on hull（A）It is interior, position sensor （F）It is distributed in hull（A）Around；Solar panel（G）Hull is supported in by holder（A）Top；Solar panel （G）The electricity sent out is stored in battery after processing；Position sensor（F）Collect barrier disembarkation body（A）Range information it is logical It crosses signal wire and passes to controller（E）；Controller（E）Information interchange can be carried out with earth station；Left propeller（C）With right propeller （D）Structure is identical, they are symmetrically arranged on hull（A）The left and right sides；Controller（E）And position sensor（F）It is supplied by battery Electricity；Right propeller（F）Concrete structure be：Right propeller（F）Including track（1）, motor-driven carrier（2）, ring plate blade （3）, draw bar（4）, locating rod（5）And shell（6）；Ring plate blade（3）Identical arc body including both ends and stage casing Two pieces of identical tablets；Shell（6）Including left plate（61）, bottom plate（62）, right plate（63）And top plate（64）, left plate （61）And right plate（63）Longitudinal vertical arrangement, bottom plate（62）And top plate（64）It is horizontally disposed；Locating rod（5）In shell （6）Middle part in the front-back direction and be fixedly installed in shell（6）Bottom plate（62）Upper close left plate（61）Place, locating rod（5） Vertical arrangement, locating rod（5）And left plate（61）Between gap can ensure that ring plate blade（3）In shell（6）It is interior flexible Make half circular motion in ground；Ring plate blade（3）It is sleeved on locating rod（5）On, and it is located at shell（6）Inside, annular flat plate leaf Piece（3）With shell（6）Bottom plate（62）Vertically；Track（1）For closed semicircle, track（1）It is horizontally installed to top plate（64） Below, motor-driven carrier（2）Mounted on track（1）On, the motor-driven carrier under the driving of power（2）It can be along track（1）Movement；It leads Draw bar（4）Upper end be mounted on motor-driven carrier（2）On, draw bar（4）Vertical arrangement, draw bar（4）Hypomere be inserted into annular flat Plate leaf piece（3）In；

Left propeller（C）With right propeller（D）Operation principle it is identical, right propeller（D）It works in this way, originally, annular Plate blade（3）In longitudinal front position, i.e. ring plate blade（3）Rear end inner wall be close to locating rod（5）Rear, ring Shape plate blade（3）Front end be in front end, ring plate blade（3）Left side be close to shell（6）Left plate（61） Right side, controller（E）Manipulate motor-driven carrier（2）Setting in motion, motor-driven carrier（2）Drive draw bar（4）Movement, due to leading Draw bar（4）It is inserted in ring plate blade（3）In, by track（1）With ring plate blade（3）Limitation, motor-driven carrier（2）It drives Draw bar（4）Make half circular motion, while driving ring plate blade（3）In shell（6）Inside make half circular motion, i.e. annular flat Plate leaf piece（3）In longitudinal foremost position around locating rod（5）Reach longitudinal rearmost position after rotating clockwise half cycle, then straight line Proceed to front position, following ring plate blade（3）Again around locating rod（5）Half cycle is rotated clockwise, then again before straight line Row has returned to original position, has next been repeated periodically the above process to front position.

2. a kind of solar energy manless boat according to claim 1, it is characterised in that：It is configured with automated navigation system, side Just setting path automatic cruising is pressed；It is provided with capture apparatus, beat surface is facilitated to shoot.

3. a kind of solar energy manless boat according to claim 1 or 2, it is characterised in that：To prevent sundries from entering shell （6）It is interior, in shell（6）Front and back be assembled with strainer（7）；To reduce ring plate blade（3）In shell（6）Middle fortune Ring plate blade when dynamic（3）Bottom and shell（6）Bottom plate（62）Upper surface between friction, in locating rod（5）On Cover a wear-resisting flat shim（51）, wear-resisting flat shim（51）Positioned at shell（6）Bottom plate（62）Upper surface on and be padded on annular Plate blade（3）Bottom；Ring plate blade（3）Density Density in 1000kg/m³To 1300kg/m³Between；It is led to reduce Draw bar（4）And locating rod（5）With ring plate blade（3）Inner surface between friction, draw bar（4）And locating rod（5）'s Surrounding all studs with antifriction ball or needle roller；To reduce ring plate blade（3）Outer surface and shell（6）Left plate（61）'s Friction between right side, left plate（61）Right side stud with antifriction ball or needle roller.