CN106394815A - Combined system of unmanned ship and unmanned submersible - Google Patents
Combined system of unmanned ship and unmanned submersible Download PDFInfo
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- CN106394815A CN106394815A CN201610965516.9A CN201610965516A CN106394815A CN 106394815 A CN106394815 A CN 106394815A CN 201610965516 A CN201610965516 A CN 201610965516A CN 106394815 A CN106394815 A CN 106394815A
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- Prior art keywords
- unmanned
- submersible
- unmanned boat
- unmanned submersible
- center
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
A combined system of an unmanned ship and an unmanned submersible comprises the unmanned ship located on the water surface and the unmanned submersible located underwater. The unmanned ship and the unmanned submersible are connected through an umbilical cable. A power twisted pair for power supply and duration and a signal line for transmitting control signals and data signals are contained in the umbilical cable. An unreeling system for automatically reeling and unreeling the umbilical cable is arranged on the unmanned ship and comprises an unreeling winch used for twisting the umbilical cable, an unreeling steering engine for controlling the unreeling winch to rotate to reel and unreel the umbilical cable and an encoder for measuring the unreeling length. A butt joint berthing device is arranged between the unmanned ship and the unmanned submersible. By the adoption of the combined system, the umbilical cable is reeled and unreeled through the unreeling system, and the underwater locating accuracy is improved; the unmanned submersible and the unmanned ship can be in butt joint stably through the butt joint berthing device, the butt joint berthing device is driven by the unmanned ship to move on the water surface, and the navigation efficiency is improved; and when underwater observation is needed, the unmanned submersible can be automatically separated from the unmanned ship, and the launching depth of the unmanned ship is controlled through the unreeling system.
Description
Technical field
The present invention relates to a kind of unmanned boat adds the combined system of unmanned submersible.
Background technology
Unmanned underwater robot is common unmanned remotely controlled submersible vehicle (ROV) and two kinds of autonomous underwater robot (AUV).ROV
The energy is obtained by the umbilical cable being connected with the water surface, power is sufficient, the activity duration is not limited by the energy, working performance is high.
AUV relies on the capacity of self-government of itself to manage and to draw oneself up to complete given mission, range of activity is big, mobility is good,
Intelligence degree is high, autonomy is strong.Above two underwater robot has weak point：It is supporting that wherein ROV typically requires lash ship,
The spending of lash ship and a series of activities personnel is huge, and range of activity is limited；AUV is then limited by the self-contained energy, energy of continuing a journey
Power is limited；And due to can not carry out the radio communication of distance under water, AUV detects the data obtaining under water and is difficult in real time
Passback.
Content of the invention
The invention provides a kind of docking separate reliable quick, range of activity is wide, endurance is strong, data feedback timely
Unmanned boat adds the combined system of unmanned submersible.
The technical solution used in the present invention is：
A kind of unmanned boat adds the combined system of unmanned submersible, including positioned at the water surface unmanned boat, be located under water unmanned
Submersible and remote manipulation control device, described unmanned boat and unmanned submersible are connected by umbilical cables, in described umbilical cables
Containing power supply continuation of the journey power supply twisted-pair feeder and transmission of control signals data signal holding wire it is characterised in that：Described unmanned boat
It is provided with the paying off system of automatic deploying and retracting umbilical cables, described paying off system includes being wound around the unwrapping wire capstan winch of umbilical cables, controls and put
Line capstan winch rotates the unwrapping wire steering wheel of retractable cable, the encoder of surveying setting-out length, and described unwrapping wire capstan winch and unwrapping wire steering wheel are respectively provided with
Connect in the cabin of unmanned boat and by the first synchronization system, the slip ring tied a knot by anti-umbilical cables in one end of described umbilical cables
It is connected with the electronic equipment in cabin, its other end bypasses in the stem pulley being fixed on unmanned boat front end and unmanned submersible
Electronic equipment connects, and described encoder is connected with stem pulley by the second synchronization system, is provided with above described stem pulley
Prevent the safty shield that umbilical cables depart from；It is provided between described unmanned boat and unmanned submersible and dock stop device, described right
Direct-stop device is included located at the downward projection of two L-type docking forks of unmanned boat bottom with anhydrous submersible top
For accommodating the groove of docking fork, in described groove, it is provided with the rubber blanket ensureing absorption affinity.The present invention by paying off system Lai
Folding and unfolding umbilical cables, and the burst size of umbilical cables can be automatically controlled by encoder, improve the accuracy of Underwater Navigation；By docking
Unmanned submersible can be docked with unmanned boat to consolidate and be driven water surface movable by unmanned boat by stop device, improve efficiency of navigation；When
When needing to carry out underwater observation, unmanned submersible can be separated with unmanned boat automatically, controls unmanned boat by paying off system
Lower water depth.
Further, described unmanned submersible includes main cabin, propeller and center of gravity adjustment module, and described main cabin is sealed compartment,
Its both sides is connected with lateral bolster fagging, and inside is provided with fixed mount, and described fixed mount is provided with the first electronics that navigation controls
Equipment, the first power control unit, transmission video signal to unmanned boat power carrier equipment, control impeller speed brushless
The head of electricity tune, photographic head and control photographic head orientation, illuminating LED；Described propeller includes being separately fixed at both sides
The left-hand airscrew propeller of horizontal positioned and right-hand screw oar propeller and be arranged on unmanned submersible center of gravity in the gripper shoe of face
Vertical placement center convolution oar propeller；Described center of gravity adjustment module includes two centers of gravity being arranged on unmanned submersible center
Adjustment axis, described center of gravity adjustment axis are set with change fixed position and adjust transverse center of gravity and change quality to adjust longitudinal weight
The center of gravity regulating block of the heart.
Further, described main cabin includes transparent shroud and both sides end cap, and both sides end cap is using double O-ring seals, described end
Lid has screwed hole on outer ring, is connected with lateral bolster fagging by bolt, is fixedly connected by threaded rod between the connecting plate of two sides,
The through hole of described end cap central is provided with adjusts, for brushless electricity, the watertight connector being connected with propeller, and described end cap inner ring passes through
Connector is fixedly connected with fixed mount.
Further, the first electronic equipment in described main cabin includes realizing signals collecting and control and passing through letter with unmanned boat
First main control board of number line transmission signal, for measuring external water pressure and then converting and obtain unmanned submersible place depth
Depth gauge, for measure carrier 3-axis acceleration and angular velocity the first inertial sensor and for real-time measurement athletic posture and
First electronic compass of course angle；Described first power control unit includes standby 3S lithium battery group and the first power supply
Plate.
Further, described photographic head is arranged on and is connected with the main control board controlling its switch on head, described head bag
Include rotation steering wheel, the connecting plate on being arranged on fixed mount and be fixed on the pitch-control motor on connecting plate.
Further, described unmanned boat includes hull, and the lamellar body of the cabin at described hull Shi You center and both sides connects composition
Twin hull construction, be provided with described cabin navigation control the second electronic equipment, wireless telecommunications system, second source control
Control equipment and video picture transmitting equipment, the ship stern both sides of described lamellar body are separately installed with left-hand airscrew navigation propeller and the right side
Propeller navigates by water propeller, and described deck in ship structure is provided with the solar panel increasing cruising time, described solar-electricity
The photovoltaic voltage controller that pond plate passes through in cabin is connected with power supply, and the stem of described cabin is provided with boat-carrying photographic head.
Further, the second electronic equipment in described cabin include the second main control board, the second inertial sensor, second
Electronic compass, described wireless telecommunications system includes data link, and described second source control device includes primary 3S lithium battery
Group and second source panel, described video picture transmitting equipment includes demodulator of PM signal PM, figure passes emitter and watertight antenna, institute
State demodulator of PM signal PM be connected with unmanned submersible by video signal pass to figure pass emitter, watertight antenna is by bottom nozzle mounts, sky
Irdome and radio antenna, aerial head lid and the gps antenna composition installing its inside that its inside is installed..
Further, described first main control board and the second main control board all using the STM32L152 of super low-power consumption at
Reason device as main control chip, modules using the switched-mode power supply pattern being controlled by corresponding power board, according to corresponding function
Needs, it is powered.When equipment does not need work, it is in low-power consumption mode to save electricity, increases cruising time,
Described power board is realized controlling the primary power cource on the power on/off of modules equipment and unmanned boat and unmanned diving
Stand-by power supply switching on device, enables stand-by power supply when the main power source electricity on unmanned boat is less than certain value, when primary on ship
Electric quantity of power supply reactivates when recovering, and charges for stand-by power supply simultaneously.The feedback of sensing data adopts interrupt requests mechanism.
Further, described remote manipulation control device is an intelligent electronic device or remote manipulator and display device group
The structure closed, the preferred Android mobile phone of intelligent electronic device.
The invention has the beneficial effects as follows：
1st, unmanned boat adds unmanned submersible's combined system, and compared to traditional ROV, cost is lower, and range of activity is bigger；
2nd, compared to traditional AUV, because unmanned boat plus unmanned submersible's combined system can utilize solar powered, increasing
Add cruising time.
3rd, realize the real-time passback of underwater detectoscope data；
4th, realize the automatic deploying and retracting of unmanned submersible, automatically control the burst size of umbilical cables, improve the accurate of Underwater Navigation
Property；
5th, unmanned submersible can automatically be reclaimed.In the case of not needing undersea detection, unmanned submersible is attached to unmanned
Ship hull bottom, both are an entirety, when navigation is to target area, then unmanned submersible can be transferred, carry out in surface navigation
Undersea detection.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the axonometric chart of the unmanned submersible of the present invention.
Fig. 3 is the rearview of the unmanned submersible of the present invention.
Fig. 4 is the cut-away view of the unmanned submersible of the present invention.
Fig. 5 is the structural representation of the center of gravity adjustment module of the unmanned submersible of the present invention.
Fig. 6 is the front perspective view of the unmanned boat of the present invention.
Fig. 7 is the face upwarding stereogram of the unmanned boat of the present invention.
Fig. 8 is the internal structure schematic diagram of the unmanned boat of the present invention.
Fig. 9 is the structural representation of the paying off system of the unmanned boat of the present invention.
Figure 10 is the structural representation one of the docking stop device of the present invention.
Figure 11 is the structural representation two of the docking stop device of the present invention.
Specific embodiment
The present invention is further described with reference to specific embodiment, but do not limit the invention to these tools
Body embodiment.One skilled in the art would recognize that present invention encompasses being potentially included in Claims scope
All alternatives, improvement project and equivalents.
Referring to Fig. 1, a kind of unmanned boat adds the combined system of unmanned submersible, including positioned at the water surface unmanned boat 70, be located at
Unmanned submersible 80 under water and remote manipulation control device, pass through umbilical cables 35 between unmanned boat 70 and unmanned submersible 80
Connect.Solar panel 44 is provided with unmanned boat 70, the energy can be made full use of, cruising time is greatly improved；Unmanned latent
The unmanned boat 80 that the underwater video of hydrophone 80 and undersea detection data can be transmitted to the water surface by umbilical cables 35, and by unmanned
Ship 80 is transmitted to bank base by way of radio communication.Power supply twisted-pair feeder and holding wire, power supply twisted-pair feeder is comprised in umbilical cables 35
Transmission modulation video signal and supply current together, holding wire transmission state signal, sensor signal and control signal.Unmanned
Ship can be with synergy movement it is also possible to individually move with unmanned submersible.Combined system is controlled by remote manipulation control device,
Remote manipulation control device is an intelligent electronic device or the structure of remote manipulator and display device combination, and smart electronicses set
Standby preferred Android mobile phone.
As in Figure 2-4, unmanned submersible 80 of the present invention includes main cabin 3, propeller, top docking facilities 12 and weight
Heart adjustment module 10, main cabin is sealed compartment, and including transparent shroud, left side end cap 5 and right side end cap 4, both sides end cap is using double O-shaped
Sealing ring 13, end cap has through hole on outer ring, is connected 1 with lateral bolster fagging by bolt, the through hole of end cap central installs watertight even
Connect device 7, end cap inner ring fixes fixed mount 18 by connector, two sides gripper shoe is connected by threaded rod 2, unmanned latent
Generally one flat shape of hydrophone 80；Propeller includes：The left-hand airscrew that there is horizontal positioned unmanned submersible 80 both sides pushes away
Enter device 9 and right-hand screw oar propeller 11 carry out forward-reverse, turn round and pivot stud motion；Unmanned submersible 80 center of gravity has
One center convolution oar propeller 6 vertically placed carries out snorkeling motion.
As shown in figure 4, being provided with the first electronic equipment of aircraft control in main cabin 3, the first electronic equipment includes the
One main control board 26, depth gauge 14, the first inertial sensor 22 and the first electronic compass 27, described depth gauge 14 is used for measuring
External water pressure and then the depth obtaining that aircraft is located that converts, the signal that the first main control board 26 realizes unmanned submersible 80 is adopted
Collection and control, transfer signals on unmanned boat 70 by the holding wire in umbilical cables 35, and the first electronic compass 27 adopts high property
The microprocessor of energy and advanced kinetics resolve and Kalman's dynamic filter algorithm, can be rapidly to unmanned submersible's 80
Real time kinematics attitude and course angle measure, and the first inertial sensor 22 is used for measuring carrier 3-axis acceleration and angular velocity,
For navigate, position and motion carrier control；First power control unit, the first power control unit bag are installed in main cabin 3
Include the standby 3S lithium battery group 16 being fixed on fixed mount 18 and the first power board 24；In main cabin 3, transmission video is installed
The power carrier equipment 20 of signal, video signal and signal of telecommunication mixing are passed through power supply Double-strand transmission on unmanned boat 70, by
Figure on unmanned boat 70 passes emitter and carries out one-way transmission to host computer direction, and control signal, status signal and sensor letter
Number between unmanned submersible 80 and unmanned boat 70, transmitted in both directions is carried out by holding wire, between unmanned boat 70 and host computer
Transmitted in both directions is carried out by the data transmission device on unmanned boat, status signal and sensor signal are passing the same of host computer back
When, on unmanned boat 70, the second main control board 64 receives the control signal being sent by host computer；Brushless electricity is installed in main cabin 3 adjust
19, electricity is adjusted and is connected with propeller by watertight connector 7；Head and photographic head 21 are installed in main cabin 3 middle part, and head includes fixing
Rotation steering wheel 17 on frame 18, connecting plate 23 and the pitch-control motor 25 being fixed on connecting plate, photographic head 21 is fixed on head,
Photographic head 21 is controlled to switch by the first main control board 26；It is illuminated equipped with LED 15 in main cabin 3, by main control board control
The opening and closing of system 26 control lamp and brightness, the brightness of LED can be adjusted with level Four；
As shown in figure 5, center of gravity adjustment module 10 include being arranged on unmanned submersible 80 center two center of gravity adjustment axis 29,
31, described center of gravity adjustment axis 29,31 are all set with change fixed position regulation transverse center of gravity and change quality is vertical to adjust
Center of gravity regulating block to center of gravity.Transverse center of gravity position is adjusted by center of gravity regulating block 28 fixed position before changing, and front center of gravity is adjusted
Locking nub 28 is enclosed within the center of gravity adjustment axis 29 of a lateral arrangement, and front center of gravity regulating block 28 can move, by tightening on axle
Screw is fixed, and longitudinal center of gravity position is changed by the quality of the center of gravity regulating block 28 or 30 on two axles before and after adjusting.
As Figure 6-9, unmanned boat 70 of the present invention includes hull, propeller, unwrapping wire capstan winch 66, encoder 43, ship
Carry photographic head 33, watertight antenna 62 and solar panel 44；Hull adopts twin hull construction, the cabin including center and both sides
Lamellar body 40, and hull bottom docking facilities 50, use rubber sheet gasket 39 between deck on the ship and hull bottom, fixed by screw, docking
Device adopt screens connect, when dock with unmanned submersible 80, the groove of unmanned submersible top docking facilities 12 and nobody
Boat bottom docking fork docking, in groove, rubber blanket can hold docking fork, and during advance, docking is more firm, only needs one when separating
Determine strength just can separate；Lamellar body 40 ship stern both sides, underwater arrangement left-hand airscrew peculiar to vessel navigation propeller 45 and right-hand screw
Oar navigation propeller 32 controls forward-reverse and cornering maneuver；On boat deck, solar panel 44 is installed, using solar energy is
Battery charges, and increases cruising time；Stem installs encoder 43, boat-carrying photographic head 33, pulley spindle 51 pass through shafting bearing 38 with
Hull connects, and encoder 43 passes through the second Timing Belt 37 and the second synchronizing wheel 42 is connected with stem pulley spindle 51, and surveying setting-out is long
Degree, boat-carrying photographic head 33 is used for observing water surface situation；Ship stern install watertight antenna 62, watertight antenna 62 by bottom nozzle mounts 46,
Its 49 groups internal of gps antenna of antenna cover 47 and the radio antenna installing its inside, aerial head lid 48 and installation
Become.
As shown in figure 8, unwrapping wire capstan winch 66 is connected with slip ring 67, when slip ring 67 continuously rotates for unwrapping wire capstan winch, rotation
Between unwrapping wire capstan winch and fixing cabin, power supply and the transmission of data signal, install photovoltaic voltage controller 56 in cabin, control
Solar energy input voltage, is connected with the primary 3S lithium battery group 52 in cabin；The second electricity that aircraft controls is installed in cabin
Sub- equipment, wireless telecommunications system, second source control device and video picture transmitting equipment, the second electronic equipment includes second
Main control board 64, the second inertial sensor 59 and the second electronic compass 57, wireless telecommunications system includes data link 63, the
Two power control units include primary 3S lithium battery group 52 and second source panel 61, and video picture transmitting equipment includes signal
Demodulator 60, figure pass emitter 58 and gps antenna 62, and demodulator of PM signal PM 60 is connected with unmanned submersible 80, video signal is passed
Pass emitter 58 to figure, gps antenna 62 is installed on the quarter.
As shown in Figure 8, Figure 9, the paying off system of automatic deploying and retracting umbilical cables of the present invention includes being wound around the unwrapping wire of umbilical cables 35
Capstan winch 66, the unwrapping wire steering wheel 54 controlling unwrapping wire capstan winch rotation retractable cable, the encoder 43 of surveying setting-out length, of the present invention
Unwrapping wire capstan winch 66 passes through the first Timing Belt 53 and the first synchronizing wheel 55 and unwrapping wire steering wheel 54 connects, the cunning fed back by encoder 43
The signal of wheel shaft 51 rotational angle controls unwrapping wire steering wheel 54 to work, and controls unwrapping wire capstan winch 66 to rotate by unwrapping wire steering wheel 54, described
One end of umbilical cables 35 is connected with the second electronic equipment in cabin by slip ring 67, and its other end bypasses and is fixed on unmanned boat 70
The stem pulley 36 of front end is connected with the first electronic equipment in unmanned submersible 80, and encoder 43 is contained in stem, unwrapping wire capstan winch
66 with unwrapping wire steering wheel 54 all belowdecks, and umbilical cables 35 are stretched out by aperture, and aperture carries out dynamic sealing equipped with O-ring seal, on
Equipped with rain visor 41, the safty shield 34 on stem pulley 36 is fixed on stem, prevents umbilical cables 35 from departing from, stem posts for side
Rubber blanket, reduces abrasion.
As shown in Figure 10,11, docking stop device of the present invention, by two of unmanned boat 70 hull bottom docking facilities 50
L-type docks the groove composition of fork and unmanned submersible 80 top docking facilities 12, when unmanned boat 70 and unmanned submersible 80 are right
When connecing, system receives docking instruction, is withdrawn umbilical cables 35 by paying off system, makes unmanned submersible 80 top docking facilities 12
It reach a certain height, now, then coordinate the folding and unfolding of umbilical cables 35 and the motion of unmanned submersible 80, using unmanned boat 70 bottom L
Type docks the guidance quality of fork, realizes unmanned submersible 80 top docking facilities 12 and sticks into unmanned boat 70 bottom L-type docking fork,
And ensure that docking is firm by the rubber blanket 69 in unmanned submersible 80 groove, thus realizing unmanned submersible 80 to depend on unmanned boat
70 lower section, both form an entirety and can move together.Unmanned submersible 80 unmanned boat 70 relatively moves forward, and shakes off rubber
The absorption affinity of rubber cushion 69 just can leave L-type docking fork, moves freely.
The main control board of unmanned submersible 80 of the present invention and unmanned boat 70 is all using the STM32L152 of super low-power consumption
Processor, as main control chip, modules switched-mode power supply, according to the needs of corresponding function, is powered to it.When equipment not
When needing work, it is in low-power consumption mode to save electricity, increases cruising time.Described power board is realized controlling each
Stand-by power supply switching on primary power cource and unmanned submersible 80 in the power on/off of module device and unmanned boat 70, when unmanned
Main power source electricity on ship 70 enables stand-by power supply when being less than certain value, when on ship, primary power cource electricity reactivates when recovering,
Charge for stand-by power supply simultaneously.The feedback of sensing data adopts interrupt requests mechanism.
Depth gauge, inertial sensor, electronic compass and shooting is carried by one first-class unmanned latent during present invention work
Hydrophone 80 dive, to requiring depth, navigates to job site by dead reckoning, is passed with 21 underwater picture information of photographic head
Feedwater face unmanned boat 70, unmanned boat 70 transmits the video to the control system in bank base again by wireless transport module, and passes through
The image information of passback and state parameter as feedback, by human-computer interaction interface remote control unmanned boat and unmanned submersible Lai
Observed object.It is connected by umbilical cables 35 between unmanned boat 70 and unmanned submersible 80, in umbilical cables 35, comprise power supply twisted-pair feeder
And holding wire.
Unmanned boat 70 of the present invention can be with synergy movement it is also possible to individually move with unmanned submersible 80.Combined system
During by mobile phone remote, mobile phone remote can be realized controlling by both of which, and one is on the interface by control software on mobile phone
Button control unmanned boat 70 and unmanned submersible 80 motion, its each control knob can control unmanned submersible 80 respectively
Move forward and backward under water and motion, lamplight brightness and the camera angle such as floating dive adjustment, interface switching can control
The motion such as steering before and after unmanned boat.By Wi-Fi distance data transmission, monitor in real time unmanned diving can be shown on interface
The state of hydrophone 80, the such as position of unmanned submersible 80, attitude, battery electric quantity etc.；The information of display self-sensor device, such as
Display 3-axis acceleration and angle in real time, reading of sensor such as display magnetometer etc.；Can by monitoring information with txt or
Excel form preserves, and monitoring information contains the timestamp of sampling instant；The video letter of unmanned submersible 80 upload can be received
Breath, and show that unmanned submersible 80 shoots video；Two is the situation understanding combined system by mobile phone software interface, bag
Include unmanned submersible 80 position, unmanned boat 70 position, under water picture and submerged condition information etc., carry out location navigation, combination
System can go to destination automatically.Control software is based on socket procotol, is write using Android Studio.
Whole communication process mainly includes slave computer communication module, data conversion module, data transmission module and Upper machine communication module,
Carry out two-way communication.
Combined system can also be controlled by traditional remote controller plus display screen.Display screen display unmanned submersible 80 position, no
People's ship 70 position, under water picture and submerged condition information etc., by the stick proportion adjustment combined system on remote control
Motion.
Claims (9)
1. a kind of unmanned boat adds the combined system of unmanned submersible, including positioned at the water surface unmanned boat, be located under water unmanned latent
Hydrophone and remote manipulation control device, described unmanned boat and unmanned submersible are connected by umbilical cables, and described umbilical cables include
Power supply continuation of the journey power supply twisted-pair feeder and transmission of control signals data signal holding wire it is characterised in that：On described unmanned boat
It is provided with the paying off system of automatic deploying and retracting umbilical cables, described paying off system includes being wound around the unwrapping wire capstan winch of umbilical cables, controls unwrapping wire
Capstan winch rotates the unwrapping wire steering wheel of retractable cable, the encoder of surveying setting-out length, and described unwrapping wire capstan winch and unwrapping wire steering wheel are arranged at
Connect in the cabin of unmanned boat and by the first synchronization system, one end of described umbilical cables is set with the electronics in cabin by slip ring
Standby connect, its other end is bypassed and is fixed on the stem pulley of unmanned boat front end and is connected with the electronic equipment in unmanned submersible, institute
State encoder to be connected with stem pulley by the second synchronization system, be provided with above described stem pulley and prevent umbilical cables from departing from
Safty shield；It is provided between described unmanned boat and unmanned submersible and docks stop device, described docking stop device includes setting
In unmanned boat bottom downward projection of two L-types dock forks and in anhydrous submersible top for accommodate docking fork
Groove, be provided with described groove ensure absorption affinity rubber blanket.
2. as claimed in claim 1 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：Described unmanned latent
Hydrophone includes main cabin, propeller and center of gravity adjustment module, and described main cabin is sealed compartment, and its both sides is connected with lateral bolster fagging, interior
Portion is provided with fixed mount, described fixed mount is provided with and navigates by water the first electronic equipment controlling, the first power control unit, transmission
Video signal to unmanned boat power carrier equipment, control impeller speed brushless electricity adjust, photographic head and control photographic head side
The head of position, illuminating LED；Described propeller includes being separately fixed at the left-hand screw of horizontal positioned in the gripper shoe of two sides
The center convolution oar of oar propeller and right-hand screw oar propeller and the vertical placement being arranged on unmanned submersible center of gravity advances
Device；Described center of gravity adjustment module includes the two center of gravity adjustment axis being arranged on unmanned submersible center, and described center of gravity adjustment axis cover
Adjust transverse center of gravity and change the center of gravity regulating block that quality to adjust longitudinal center of gravity equipped with changing fixed position.
3. as claimed in claim 2 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：Described main cabin bag
Include transparent shroud and both sides end cap, both sides end cap, using double O-ring seals, there is screwed hole described end cap outer ring, by bolt
It is connected with lateral bolster fagging, is fixedly connected by threaded rod between the connecting plate of two sides, the through hole of described end cap central is provided with
Adjust the watertight connector being connected with propeller for brushless electricity, described end cap inner ring is fixedly connected with fixed mount by connector.
4. as claimed in claim 2 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：In described main cabin
The first electronic equipment include realizing signals collecting and control and pass through the first master control electricity of holding wire transmission signal with unmanned boat
Road plate, for measure external water pressure so that convert obtain the depth gauge of unmanned submersible place depth, be used for measuring carrier three axle
The first inertial sensor of angular velocity and the first electronic compass for real-time measurement athletic posture and course angle；Described first
Power control unit includes standby 3S lithium battery group and the first power board.
5. as claimed in claim 2 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：Described photographic head
It is arranged on and is connected with the main control board controlling its switch on head, described head includes the rotation rudder on being arranged on fixed mount
Machine, connecting plate and be fixed on the pitch-control motor on connecting plate.
6. a kind of unmanned boat as described in one of Claims 1 to 5 add unmanned submersible combined system it is characterised in that：Institute
State unmanned boat and include hull, the lamellar body of the cabin at described hull Shi You center and both sides connects the twin hull construction of composition, described
The second electronic equipment, wireless telecommunications system, second source control device and the video figure that navigation controls is installed in cabin
As transmission equipment, the ship stern both sides of described lamellar body are separately installed with left-hand airscrew navigation propeller and the navigation propulsion of right-hand screw oar
Device, described deck in ship structure is provided with the solar panel increasing cruising time, and described solar panel passes through in cabin
Photovoltaic voltage controller be connected with power supply, the stem of described cabin is provided with boat-carrying photographic head.
7. as claimed in claim 6 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：In described cabin
The second electronic equipment include the second main control board, the second inertial sensor, the second electronic compass, described wireless telecommunications system
Including data link, described second source control device includes primary 3S lithium battery group and second source panel, described regards
Frequency graphic transmission equipment includes demodulator of PM signal PM, figure passes emitter and watertight antenna, described demodulator of PM signal PM and unmanned submersible
Connect and video signal is passed to figure biography emitter, described watertight antenna by bottom nozzle mounts, antenna cover and installs its inside
Radio antenna, aerial head lid and gps antenna composition installing its inside.
8. as claimed in claim 7 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：First master control electricity
Road plate and the second main control board all using super low-power consumption STM32L152 processor as main control chip, modules adopt
The switched-mode power supply pattern being controlled by corresponding power board.
9. as claimed in claim 8 a kind of unmanned boat add unmanned submersible combined system it is characterised in that：Described remote control behaviour
It is an intelligent electronic device or the structure of remote manipulator and display device combination as control device.
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