CN106428441A - Overwater unmanned ice cutting ship - Google Patents

Overwater unmanned ice cutting ship Download PDF

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Publication number
CN106428441A
CN106428441A CN201611011594.1A CN201611011594A CN106428441A CN 106428441 A CN106428441 A CN 106428441A CN 201611011594 A CN201611011594 A CN 201611011594A CN 106428441 A CN106428441 A CN 106428441A
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CN
China
Prior art keywords
control
water
nobody
ship
ice
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Pending
Application number
CN201611011594.1A
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Chinese (zh)
Inventor
王飞
杨冉
卢文宝
虞国平
李志刚
刘佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU AEROSPACE SYSTEM ENGINEERING Co Ltd
Original Assignee
SUZHOU AEROSPACE SYSTEM ENGINEERING Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by SUZHOU AEROSPACE SYSTEM ENGINEERING Co Ltd filed Critical SUZHOU AEROSPACE SYSTEM ENGINEERING Co Ltd
Priority to CN201611011594.1A priority Critical patent/CN106428441A/en
Publication of CN106428441A publication Critical patent/CN106428441A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/08Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor
    • B63B35/12Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor having ice-cutters

Abstract

The invention discloses an overwater unmanned ice cutting ship which comprises a ship body. A video device and a mechanical arm are arranged on the front edge of the ship body. A cutting device is arranged on the mechanical arm. A propeller is arranged at the tail portion of the ship body. A ship-mounted control system, a communication module, a navigation system, an integrated control board and a power device are arranged in the ship body. The video device, the navigation system and the integrated control board are connected with the ship-mounted control system. The ship-mounted control system is in communication connection with a ground control center through the communication module. By installing the ice cutting device on an unmanned ship, rapid and efficient deicing is achieved, a series of problems that in winter, river surface is frozen, an environment-friendly manned ship can not break ice or clear river trash, a sensor probe can not be installed on the water-quality monitoring unmanned ship to monitor and process rive rway water quality, and a water surface terrain boundary sensor for unmanned surveying and mapping can not be installed on an unmanned surveying and mapping ship are solved, and the ice cutting ship has quite good application prospects.

Description

One kind is waterborne, and nobody cuts ice boat
Technical field
The invention belongs to unmanned boat technical field, in particular to one kind waterborne nobody cut ice boat.
Background technology
When ice and snow sky or weather are colder, lake surface would generally condense the ice having thick layer thick, this is often Lead to following problem:
1st, because common environmental protection unmanned boat can not navigate by water completely so that the rubbish of lake surface freezes in ice sheet on the lake surface freezing In cannot clear up, lead to lake surface rubbish welding attractive in appearance and polluted river channel lake;
2nd, water quality monitoring unmanned boat runs into when icing river, lake surface it is impossible to carry out specification behaviour such as " fixed points, regularly, quantitative, depthkeeping " Make, some water quality monitoring equipment such as water quality sampling water inlet tube tube head, flow rate monitor, cooling-water temperature sensor, salinity and electricity Derivative sensor, pH sensor, dissolved oxygen sensor, turbidity transducer etc. cannot be transferred to water, and doser also cannot be in river course Appointed place carries out throwing in the improvement that water treatment agent carries out polluted river channel;
3rd, unmanned mapping ship is when running into river, the lake surface of icing, can lead to that water surface landform boundary survey sensor cannot cloth under water The problems such as put.
At present, uniquely can solve the problem that the method for the problems referred to above is just made by ice breaker and is opened ice, but existing ice breaker Expend too high, be not suitable for the job requirement of above-mentioned unmanned boat, be therefore now badly in need of the unmanned boat that ice production apparatus are cut in a kind of carrying, can be remote Process control is cut to ice face, thus reaching unmanned boat voluntarily cut the purpose that ice face carries out respective operation at sea.
Content of the invention
In order to solve the problems, such as winter river surface freeze the assorted unmanned boat that brings cannot normal work, the present invention provides one kind Easy and simple to handle, cut that ice effect is good, expend low waterborne nobody cut ice boat.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
One kind is waterborne, and nobody cuts ice boat, and including a hull, the forward position of described hull is provided with video-unit and liftable, can stretch The mechanical arm of contracting, described mechanical arm is provided with cutter sweep, and the afterbody of described hull is provided with screw, described hull interior Portion is provided with onboard control system, communication module, navigation system, integrated control panel and power set;
Described video-unit, described navigation system and described integrated control panel are connected with described onboard control system respectively, described Onboard control system is communicated to connect with ground control centre by described communication module, to receive the control of described ground control centre Signal processed;Described integrated control panel is connected with described mechanical arm, described cutter sweep and described power set respectively;
Described onboard control system receives, by described communication module, the control signal sent described ground control centre and carries out Parsing, then described onboard control system sends instructions to described integrated control panel, and described integrated control panel is according to instruction control Described mechanical arm, described cutter sweep and the work of described power set;Described power set provide power for described screw, and Control is described, and nobody cuts advance, retrogressing and the turning of ice boat;Described cutter sweep is used for abolishing water surface ice sheet, described mechanical arm For expanding the cut coverage of described cutter sweep, when described cutter sweep without when be contracted on deck, broken when needing It is stretched over outside described hull by described mechanical arm when ice, and is reduced to ice face and opened ice;
Described video-unit is used for monitoring water surface situation and evades water surface risk, and picture signal is sent to described boat-carrying control System;Described onboard control system sends described picture signal by described communication module to described ground control centre;Described The video image that described video-unit is passed back is shown on giant-screen for ground control centre, and operating personnel are by these video shadows As judging ice face and the distance of hull and the orientation of rubbish, mechanical arm described in remote control is thus reach adjustment described cutting dress The purpose put, realizes quickly cutting ice, once losing signal, cuts off the electricity supply it is ensured that safety at once;
Described navigation system be used for described nobody cut ice boat and navigated and position, and coordinate information is sent to described boat-carrying Control system;Described onboard control system sends described coordinate information by described communication module to described ground control centre; Described ground control centre to described nobody cut the ship trajectory of ice boat and show, reach that described in real-time monitoring, nobody cuts ice boat The purpose of track.
Further, described communication module is 4G communication module, puts into SIM cards of mobile phones, institute in described 4G communication module State nobody and cut ice boat and just can be dissolved into communication network, thus transferring data to the webserver, described ground control centre It is controlled transmitting and the video monitoring of signal by PC.
Further, described navigation system is GPS navigation system or triones navigation system, and described nobody cuts ice boat and can pass through Described navigation system independently sets course line.
Further, when described nobody cut ice boat for refuse on water surface when, described mechanical arm is provided with for grabbing Take the manipulator of garbage on water, integrated control panel described in described machinery hand channel is controlled by described onboard control system;Meanwhile, described The string bag for loading garbage on water is provided with hull.
Further, when described nobody cut ice boat for river channel mapping when, described hull is provided with for surveying and drawing river course Water surface landform border sensor;When described nobody cut ice boat according to described navigation system reach mapping region after, the described water surface Landform border sensor is arranged in river course, and the surveying and mapping data collecting is passed through described by described water surface landform border sensor Integrated control panel is sent to described onboard control system, then is sent to institute by described communication module by described onboard control system State ground control centre.
Further, when described nobody cut ice boat for water quality monitoring when, described hull is provided with for monitoring water quality Water quality sensor;When described nobody cut ice boat monitoring point reached according to described navigation system after, described water quality sensor by under It is put in water, " fixed point, regularly, quantitative, the depthkeeping " that carry out water quality data is collected, described water quality sensor is by the water quality collecting Data is sent to described onboard control system by described integrated control panel, then by described onboard control system by described communication Module sends to described ground control centre.
Further, described water quality sensor includes water quality sampling water inlet tube tube head, flow rate monitor, water temperature sensing Device, salinity and conductivity sensor, pH sensor, dissolved oxygen sensor or turbidity transducer.
Compared with prior art, the invention has the beneficial effects as follows:
1st, the present invention will cut ice production apparatus and be installed on unmanned boat, solve winter river surface icing environmental protection unmanned boat and cannot open ice cleaning River garbage, water quality monitoring unmanned boat cannot process river water quality, unmanned mapping by " pinpoint, depthkeeping " placement sensor probe monitors Ship cannot arrange a series of problems, such as water surface landform border sensor carries out unmanned mapping.
2nd, nobody of the present invention cuts ice boat reasonable in design, and cutter sweep can quickly smash ice sheet, lowering or hoisting gear energy Thickness according to ice sheet adjusts upper and lower cutting position, realizes rapidly and efficiently deicing so that nobody cuts the river that ice boat freezes in winter Face efficiently can easily carry out the cleaning of rubbish, river water quality sample data collection, river topography mapping etc., well should have Use prospect.
3rd, nobody of the present invention cuts ice boat and is integrated with advanced Robot Control Technology, automatic navigation technology, 4G net simultaneously Network real-time communication technology, nobody cuts ice boat ship and independently can set course line by GPS navigation system, and constantly uploads institute in real time In position to ground control centre, the video that hull carries simultaneously also allows for ground control centre personnel and understands ice face feelings in real time Condition, timely obstacle avoidance, and carry urgent manual remote control intervention.
4th, the cutter sweep of the present invention can be fixed on the robotic arm, power initiation from minitype cutting machine on the market Manipulated by ground control centre, simultaneously by video image instruct manipulation, once losing signal, cut off the electricity supply at once it is ensured that Safety.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.
Brief description
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this Bright schematic description and description is used for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings:
For the present invention, nobody cuts the external structure schematic diagram of ice boat to Fig. 1;
For the present invention, nobody cuts the equipment electric diagram of ice boat to Fig. 2;
Fig. 3 is the present invention as equipment electric diagram during environmental protection unmanned boat;
Fig. 4 is the equipment electric diagram as river channel mapping ship time for the present invention;
Fig. 5 is the equipment electric diagram as water quality monitoring ship time for the present invention.
In figure label declaration:1st, hull;2nd, video-unit;3rd, mechanical arm;4th, cutter sweep;5th, onboard control system;6、 Communication module;7th, navigation system;8th, integrated control panel;9th, power set;10th, screw;11st, ground control centre;12nd, machinery Hand;13rd, water surface landform border sensor;14th, water quality sensor.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, to describe the present invention in detail.
Embodiment 1
Referring to shown in Fig. 1 and Fig. 2, one kind is waterborne, and nobody cuts ice boat, and including a hull 1, the forward position of described hull 1 is provided with video Device 2 and liftable, telescopic mechanical arm 3, described mechanical arm 3 is provided with cutter sweep 4, the afterbody of described hull 1 Be provided with screw 10, described hull 1 be internally provided with onboard control system 5, communication module 6, navigation system 7, integrated control Making sheet 8 and power set 9;
Described video-unit 2, described navigation system 7 and described integrated control panel 8 are connected with described onboard control system 5 respectively, Described onboard control system 5 is communicated to connect by described communication module 6 and ground control centre 11, is controlled with receiving described ground The control signal at center 11;Described integrated control panel 8 respectively with described mechanical arm 3, described cutter sweep 4 and described power set 9 connections;
Described onboard control system 5 receives the control signal sent described ground control centre 11 simultaneously by described communication module 6 Parsed, then described onboard control system 5 sends instructions to described integrated control panel 8, described integrated control panel 8 is according to finger Order controls described mechanical arm 3, described cutter sweep 4 and described power set 9 to work;Described power set 9 are described screw 10 offer power, and control described nobody cut advance, retrogressing and the turning of ice boat;Described cutter sweep 4 is used for abolishing the water surface Ice sheet, described mechanical arm 3 is used for expanding the cut coverage of described cutter sweep 4, when described cutter sweep 4 without when shrink On deck, it is stretched over outside described hull 1 by described mechanical arm 3 when needing to open ice, and is reduced to ice face and carry out Open ice;
Described video-unit 2 is used for monitoring water surface situation and evades water surface risk, and picture signal is sent to described boat-carrying control System 5 processed;Described onboard control system 5 sends described picture letter by described communication module 6 to described ground control centre 11 Number;The video image that described video-unit 2 is passed back is shown on giant-screen for described ground control centre 11, operating personnel by These video images judge ice face and the distance of hull and the orientation of rubbish, and described in remote control, mechanical arm 3 is thus reach tune The purpose of whole described cutter sweep 4, realizes quickly cutting ice, once losing signal, cuts off the electricity supply it is ensured that safety at once;
Described navigation system 7 be used for described nobody cut ice boat and navigated and position, and coordinate information is sent to described ship Borne control system 5;Described onboard control system 5 sends described seat by described communication module 6 to described ground control centre 11 Mark information;Described ground control centre 11 to described nobody cut the ship trajectory of ice boat and show, reach described in real-time monitoring Nobody cuts the purpose of ice boat track.
Further, described communication module 6 is 4G communication module, puts into SIM cards of mobile phones, institute in described 4G communication module State nobody and cut ice boat and just can be dissolved into communication network, thus transferring data to the webserver, described ground control centre 11 are controlled transmitting and the video monitoring of signal by PC.
Further, described navigation system 7 is GPS navigation system or triones navigation system, and described nobody cuts ice boat and can lead to Cross described navigation system 7 and independently set course line.
Embodiment 2
Referring to shown in Fig. 1 and Fig. 3, a kind of for refuse on water surface waterborne nobody cut ice boat, including a hull 1, described ship The forward position of body 1 is provided with video-unit 2 and liftable, telescopic mechanical arm 3, and described mechanical arm 3 is provided with cutting dress Put 4 and manipulator 12, described hull 1 is provided with the string bag, the afterbody of described hull 1 is provided with screw 10, described hull 1 It is internally provided with onboard control system 5, communication module 6, navigation system 7, integrated control panel 8 and power set 9;
Described video-unit 2, described navigation system 7 and described integrated control panel 8 are connected with described onboard control system 5 respectively, Described onboard control system 5 is communicated to connect by described communication module 6 and ground control centre 11, is controlled with receiving described ground The control signal at center 11;Described integrated control panel 8 respectively with described mechanical arm 3, described cutter sweep 4, described power set 9 Connect with described manipulator 12;
Described onboard control system 5 receives the control signal sent described ground control centre 11 simultaneously by described communication module 6 Parsed, then described onboard control system 5 sends instructions to described integrated control panel 8, described integrated control panel 8 is according to finger Order controls described mechanical arm 3, described cutter sweep 4, described power set 9 and described manipulator 12 to work;Described power set 9 For described screw 10 provide power, and control described nobody cut advance, retrogressing and the turning of ice boat;Described cutter sweep 4 For abolishing water surface ice sheet, described mechanical arm 3 is used for expanding the cut coverage of described cutter sweep 4, when described cutter sweep 4 not With when be contracted on deck, be stretched over outside described hull 1 by described mechanical arm 3 when needing to open ice, and drop As little as ice face is opened ice;
Described video-unit 2 is used for monitoring water surface situation and evades water surface risk, and picture signal is sent to described boat-carrying control System 5 processed;Described onboard control system 5 sends described picture letter by described communication module 6 to described ground control centre 11 Number;The video image that described video-unit 2 is passed back is shown on giant-screen for described ground control centre 11, operating personnel by These video images judge ice face and the distance of hull and the orientation of rubbish, and described in remote control, mechanical arm 3 is thus reach tune The purpose of whole described cutter sweep 4, realizes quickly cutting ice, puts into ship finally by manipulator described in remote control 12 pickup rubbish The subsidiary described string bag of body completes the cleaning of ice face rubbish, once losing video image signal, cuts off the electricity supply at once it is ensured that pacifying Entirely;
Described navigation system 7 be used for described nobody cut ice boat and navigated and position, and coordinate information is sent to described ship Borne control system 5;Described onboard control system 5 sends described seat by described communication module 6 to described ground control centre 11 Mark information;Described ground control centre 11 to described nobody cut the ship trajectory of ice boat and show, reach described in real-time monitoring Nobody cuts the purpose of ice boat track.
Further, described communication module 6 is 4G communication module, puts into SIM cards of mobile phones, institute in described 4G communication module State nobody and cut ice boat and just can be dissolved into communication network, thus transferring data to the webserver, described ground control centre 11 are controlled transmitting and the video monitoring of signal by PC.
Further, described navigation system 7 is GPS navigation system or triones navigation system, and described nobody cuts ice boat and can lead to Cross described navigation system 7 and independently set course line.
Embodiment 3
Referring to shown in Fig. 1 and Fig. 4, a kind of for river channel mapping waterborne nobody cut ice boat, including a hull 1, described hull 1 Forward position is provided with video-unit 2 and liftable, telescopic mechanical arm 3, and described mechanical arm 3 is provided with cutter sweep 4, institute The water surface landform border sensor 13 being provided with for surveying and drawing river course is stated on hull 1, the afterbody of described hull 1 is provided with screw 10, be internally provided with onboard control system 5, communication module 6, navigation system 7, integrated control panel 8 and the power of described hull 1 fill Put 9;
Described video-unit 2, described navigation system 7 and described integrated control panel 8 are connected with described onboard control system 5 respectively, Described onboard control system 5 is communicated to connect by described communication module 6 and ground control centre 11, is controlled with receiving described ground The control signal at center 11;Described integrated control panel 8 respectively with described mechanical arm 3, described cutter sweep 4, described power set 9 Connect with described water surface landform border sensor 13;
Described onboard control system 5 receives the control signal sent described ground control centre 11 simultaneously by described communication module 6 Parsed, then described onboard control system 5 sends instructions to described integrated control panel 8, described integrated control panel 8 is according to finger Order controls described mechanical arm 3, described cutter sweep 4 and described power set 9 to work, and described integrated control panel 8 also can receive institute State the surveying and mapping data that water surface landform border sensor 13 is gathered;Described power set 9 provide power for described screw 10, and Control is described, and nobody cuts advance, retrogressing and the turning of ice boat;Described cutter sweep 4 is used for abolishing water surface ice sheet, described machinery Arm 3 is used for expanding the cut coverage of described cutter sweep 4, when described cutter sweep 4 without when be contracted on deck, when needing It is stretched over outside described hull 1 by described mechanical arm 3 when to be opened ice, and is reduced to ice face and opened ice;
Described video-unit 2 is used for monitoring water surface situation and evades water surface risk, and picture signal is sent to described boat-carrying control System 5 processed;Described onboard control system 5 sends described picture letter by described communication module 6 to described ground control centre 11 Number;The video image that described video-unit 2 is passed back is shown on giant-screen for described ground control centre 11, operating personnel by These video images judge ice face and the distance of hull and the orientation of rubbish, and described in remote control, mechanical arm 3 is thus reach tune The purpose of whole described cutter sweep 4, realizes quickly cutting ice, once losing signal, cuts off the electricity supply it is ensured that safety at once;
When described nobody cut ice boat according to described navigation system 7 reach mapping region after, described water surface landform border sensor 13 It is arranged in river course, the surveying and mapping data collecting is passed through described integrated control panel 8 by described water surface landform border sensor 13 It is sent to described onboard control system 5, then sent to described ground by described communication module 6 by described onboard control system 5 Control centre 11;
Described navigation system 7 be used for described nobody cut ice boat and navigated and position, and coordinate information is sent to described ship Borne control system 5;Described onboard control system 5 sends described seat by described communication module 6 to described ground control centre 11 Mark information;Described ground control centre 11 to described nobody cut the ship trajectory of ice boat and show, reach described in real-time monitoring Nobody cuts the purpose of ice boat track.
Further, described communication module 6 is 4G communication module, puts into SIM cards of mobile phones, institute in described 4G communication module State nobody and cut ice boat and just can be dissolved into communication network, thus transferring data to the webserver, described ground control centre 11 are controlled transmitting and the video monitoring of signal by PC.
Further, described navigation system 7 is GPS navigation system or triones navigation system, and described nobody cuts ice boat and can lead to Cross described navigation system 7 and independently set course line.
Embodiment 4
Referring to shown in Fig. 1 and Fig. 5, a kind of for water quality monitoring waterborne nobody cut ice boat, including a hull 1, described hull 1 Forward position is provided with video-unit 2 and liftable, telescopic mechanical arm 3, and described mechanical arm 3 is provided with cutter sweep 4, institute The water quality sensor 14 being provided with for monitoring water quality is stated on hull 1, the afterbody of described hull 1 is provided with screw 10, described Hull 1 be internally provided with onboard control system 5, communication module 6, navigation system 7, integrated control panel 8 and power set 9;
Described video-unit 2, described navigation system 7 and described integrated control panel 8 are connected with described onboard control system 5 respectively, Described onboard control system 5 is communicated to connect by described communication module 6 and ground control centre 11, is controlled with receiving described ground The control signal at center 11;Described integrated control panel 8 respectively with described mechanical arm 3, described cutter sweep 4, described power set 9 Connect with described water quality sensor 14;
Described onboard control system 5 receives the control signal sent described ground control centre 11 simultaneously by described communication module 6 Parsed, then described onboard control system 5 sends instructions to described integrated control panel 8, described integrated control panel 8 is according to finger Order controls described mechanical arm 3, described cutter sweep 4 and described power set 9 to work, and described integrated control panel 8 also can receive institute State the water quality data that water quality sensor 14 is gathered;Described power set 9 provide power for described screw 10, and control described Nobody cuts advance, retrogressing and the turning of ice boat;Described cutter sweep 4 is used for abolishing water surface ice sheet, and described mechanical arm 3 is used for expanding The cut coverage of described greatly cutter sweep 4, when described cutter sweep 4 without when be contracted on deck, when needing to open ice When be stretched over outside described hull 1 by described mechanical arm 3, and be reduced to ice face and opened ice;
Described video-unit 2 is used for monitoring water surface situation and evades water surface risk, and picture signal is sent to described boat-carrying control System 5 processed;Described onboard control system 5 sends described picture letter by described communication module 6 to described ground control centre 11 Number;The video image that described video-unit 2 is passed back is shown on giant-screen for described ground control centre 11, operating personnel by These video images judge ice face and the distance of hull and the orientation of rubbish, and described in remote control, mechanical arm 3 is thus reach tune The purpose of whole described cutter sweep 4, realizes quickly cutting ice, once losing signal, cuts off the electricity supply it is ensured that safety at once;
When described nobody cut ice boat monitoring point reached according to described navigation system 7 after, described water quality sensor 14 is delegated to water In, " fixed point, regularly, quantitative, the depthkeeping " that carry out water quality data is collected, and described water quality sensor 14 is by the water quality data collecting Described onboard control system 5 is sent to by described integrated control panel 8, then by described onboard control system 5 by described communication Module 6 sends to described ground control centre 11;
Described navigation system 7 be used for described nobody cut ice boat and navigated and position, and coordinate information is sent to described ship Borne control system 5;Described onboard control system 5 sends described seat by described communication module 6 to described ground control centre 11 Mark information;Described ground control centre 11 to described nobody cut the ship trajectory of ice boat and show, reach described in real-time monitoring Nobody cuts the purpose of ice boat track.
Further, described communication module 6 is 4G communication module, puts into SIM cards of mobile phones, institute in described 4G communication module State nobody and cut ice boat and just can be dissolved into communication network, thus transferring data to the webserver, described ground control centre 11 are controlled transmitting and the video monitoring of signal by PC.
Further, described navigation system 7 is GPS navigation system or triones navigation system, and described nobody cuts ice boat and can lead to Cross described navigation system 7 and independently set course line.
Further, described water quality sensor 14 includes water quality sampling water inlet tube tube head, flow rate monitor, water temperature biography Sensor, salinity and conductivity sensor, pH sensor, dissolved oxygen sensor or turbidity transducer.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made, Equivalent, improvement etc., should be included within the scope of the present invention.

Claims (8)

1. a kind of waterborne nobody cut ice boat it is characterised in that:Including a hull(1), described hull(1)Forward position be provided with video Device(2)And liftable, telescopic mechanical arm(3), described mechanical arm(3)On be provided with cutter sweep(4), described hull (1)Afterbody be provided with screw(10), described hull(1)Be internally provided with onboard control system(5), communication module(6)、 Navigation system(7), integrated control panel(8)And power set(9);
Described video-unit(2), described navigation system(7)With described integrated control panel(8)Respectively with described onboard control system (5)Connect, described onboard control system(5)By described communication module(6)With ground control centre(11)Communication connection;Described Video-unit(2)For monitoring water surface situation, and picture signal is sent to described onboard control system(5);Described navigation system System(7)For to described nobody cut ice boat and navigated and position, and coordinate information is sent to described onboard control system (5);Described onboard control system(5)By described communication module(6)To described ground control centre(11)Send described picture Signal and described coordinate information, and receive described ground control centre(11)Control signal;
Described integrated control panel(8)Respectively with described mechanical arm(3), described cutter sweep(4)With described power set(9)Even Connect;Described integrated control panel(8)For receiving described onboard control system(5)Instruction and according to instruction control described mechanical arm (3), described cutter sweep(4)With described power set(9)Work;Described cutter sweep(4)For abolishing water surface ice sheet, described Mechanical arm(3)For expanding described cutter sweep(4)Cut coverage, described power set(9)For described screw(10)Carry For power.
2. according to claim 1 waterborne nobody cut ice boat it is characterised in that:Described communication module(6)For 4G communication mould Block.
3. according to claim 1 waterborne nobody cut ice boat it is characterised in that:Described navigation system(7)For GPS navigation system System or triones navigation system.
4. according to claim 1 waterborne nobody cut ice boat it is characterised in that:Described mechanical arm(3)On be provided with for The manipulator of crawl garbage on water(12), described manipulator(12)Through described integrated control panel(8)By described onboard control system (5)Control.
5. according to claim 4 waterborne nobody cut ice boat it is characterised in that:Described hull(1)On be provided with for filling Carry the string bag of garbage on water.
6. according to claim 1 waterborne nobody cut ice boat it is characterised in that:Described hull(1)On be provided with for surveying Paint the water surface landform border sensor in river course(13), described water surface landform border sensor(13)By described integrated control panel (8)The surveying and mapping data collecting is sent to described onboard control system(5), then by described onboard control system(5)By institute State communication module(6)Send to described ground control centre(11).
7. according to claim 1 waterborne nobody cut ice boat it is characterised in that:Described hull(1)On be provided with for supervising Survey the water quality sensor of water quality(14), described water quality sensor(14)By described integrated control panel(8)By the water quality collecting Data is sent to described onboard control system(5), then by described onboard control system(5)By described communication module(6)Send To described ground control centre(11).
8. according to claim 7 waterborne nobody cut ice boat it is characterised in that:Described water quality sensor(14)Including water quality Sampling pipe water inlet tube head, flow rate monitor, cooling-water temperature sensor, salinity and conductivity sensor, pH sensor, dissolved oxygen sensing Device or turbidity transducer.
CN201611011594.1A 2016-11-17 2016-11-17 Overwater unmanned ice cutting ship Pending CN106428441A (en)

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CN106930255A (en) * 2017-03-06 2017-07-07 徐芝香 A kind of air blows and melts continuous ice-breaking mechanism
CN107628204A (en) * 2017-09-21 2018-01-26 浙江海洋大学 A kind of icebreaking device of ice breaker
CN107651126A (en) * 2017-09-21 2018-02-02 浙江海洋大学 A kind of ice breaker
CN108411866A (en) * 2018-04-13 2018-08-17 宁波清智环保科技有限公司 Refuse disposal installation
CN110239662A (en) * 2019-07-23 2019-09-17 河南城建学院 Anti- floating offshore surveys and draws nobody probe loading attachment peculiar to vessel
CN112113611A (en) * 2020-08-24 2020-12-22 深圳市国艺园林建设有限公司 Unmanned ship flow velocity and flow measurement system

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CN107651126B (en) * 2017-09-21 2019-05-21 浙江海洋大学 A kind of ice breaker
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