CN107140171A - A kind of waters robot assisted brake gear and application method - Google Patents
A kind of waters robot assisted brake gear and application method Download PDFInfo
- Publication number
- CN107140171A CN107140171A CN201710237495.3A CN201710237495A CN107140171A CN 107140171 A CN107140171 A CN 107140171A CN 201710237495 A CN201710237495 A CN 201710237495A CN 107140171 A CN107140171 A CN 107140171A
- Authority
- CN
- China
- Prior art keywords
- brake
- module
- waters
- hull
- power
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/44—Steering or slowing-down by extensible flaps or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/50—Slowing-down means not otherwise provided for
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Braking Arrangements (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to waters robotic technology field, a kind of waters robot assisted brake gear and application method are disclosed.Wherein, technical scheme includes being provided with control system, communication module, monitoring modular, power brake module and water resistance brake module in hull；Control system, communication module are connected two-by-two between monitoring modular；Control system connects power brake module and water resistance brake module respectively；Power brake module, including intelligent rudder and brake propeller, intelligent rudder are connected with brake propeller, intelligent rudder control brake propeller work；Water resistance brake module includes brake disc, displacement module and rotating module, and brake disc connects displacement module and rotating module respectively, and displacement module controls folding for brake disc；Rotating module controls the anglec of rotation of brake disc.The present invention is that the adaptive speed of a ship or plane of waters robot and water volume flow rate provide facility, and multi-angle draught control is realized in vertical and horizontal, so as to meet, robot controllability in waters is strong, the brake technique demand of efficiency high.
Description
【Technical field】
The present invention relates to waters robotic technology field, and in particular to a kind of waters robot assisted brake gear and uses
Method.
【Background technology】
With widespread adoption of the waters robot in modern development in science and technology, the operating characteristics to waters robot will
More and more higher is sought, wherein brake control has technological deficiency always.In daily ordinary ships in use, steamer under sail from
The inertia of body is larger, and make it that the braking effect under same brake operation is deteriorated as the loading capacity of itself increases, brake
Design is always to perplex the problem of designer.
In existing brake method, by the order of emergency situation from small to large, steamer can use different brake methods
To be braked, such as using the operation steering to rudder for ship, make itself and water (flow) direction contrary, the resistance of ship is realized by water body
Bring to；The power source that for example hull is navigated by water is closed so that ship, which runs out of steam, voluntarily to be stopped；For example hull power set are opened
Open to reverse gear, it is stopped on the contrary, offsetting traveling inertia using reverse power with hull travel direction；It is for example quick to carry out
Cast anchor operation, brake hard is implemented to hull.But, these brake methods can not all meet the braking requirement of waters robot,
Wherein, method braking effect is brought to slowly using what current drove in the wrong direction, brake controllability of casting anchor is relatively low, and the method that brings to for shelves of driving in reverse gear
Applicable surface is narrower, and is easily reduced or loses steerage.So, frequently brake demand, find to meet waters robot
It is a kind of that strong robot completion controllability in waters, the brake gear of efficiency high and application method can be aided in very necessary.
【The content of the invention】
In order to solve the above-mentioned technical problem pointed out, the invention discloses a kind of waters robot assisted brake gear and this
The application method of device, to reach waters robot during traveling, can complete that controllability is strong, efficiency high brake behaviour
Make, meet the purpose of its demand of frequently braking.
The embodiment of the present invention is adopted the following technical scheme that：
Control system, communication mould are provided with a kind of waters robot assisted brake gear, including hull, described hull
Two between block, monitoring modular, power brake module and water resistance brake module, described control system, communication module and monitoring modular
Two are connected；Control system connects power brake module and water resistance brake module respectively.Described power brake module, including intelligence
Rudder and brake propeller, intelligent rudder are connected with brake propeller, the operating power of intelligent rudder control brake propeller and work side
To；Described water resistance brake module includes brake disc, displacement module and rotating module, wherein, the brake disc connects shifting respectively
Position module and rotating module, the displacement module are used to control folding for brake disc；The rotating module is used to control brake disc
The anglec of rotation.
Described displacement module also includes displacement stepper motor and displacement push rod；Described rotating module also includes rotation step
Stepper motor and rotating push rod；Then described water resistance brake module also includes driver；Described driver connects displacement step respectively
Stepper motor and rotating stepper motor；Stepper motor connection displacement push rod is shifted, rotating stepper motor connection rotating push rod, displacement is pushed away
Bar and rotating push rod are all acted on brake disc.
Described power brake module and water resistance brake module is not limited to single and single combination, single and multiple group
Close, multiple and multiple combinations；The installation site of power brake module and water resistance brake module in hull is not limited to ship
The afterbody of body and both sides, can carry out many places installation settings in hull bottom surface as needed.
As a preference of the present invention, described monitoring modular may be provided at many places in hull, the attitude parameter of hull is carried out
Real-time monitoring, and can be by parameter feedback to control system, control system can be analyzed and processed to parameter as needed, and in fact
When to outside command system send.
As a preference of the present invention, being additionally provided with one or more emission port, emission port along along the side around hull
Drag parachute is inside installed, drag parachute is connected by catapult-launching gear with hull controlling system, instruction of the drag parachute in control system
Under, eject hull through emission port or be recovered in hull.
A kind of application method of waters robot assisted brake gear, is comprised the following steps：Control system refers to according to brake
Order or waters robot current operating conditions, inquiry braking property storehouse, form control instruction, send control instruction；
Power brake module and water resistance brake module obtain control instruction, then the propeller that brakes is opened into target direction and mesh
Power is marked, brake disc is moved to target location, rotation to angle on target.
Wherein, braking property storehouse preparation method includes：According to the physical characteristic of hull weight and center of gravity is included, in design ship
Simulation flowchart is carried out during body, the corresponding external force size for obtaining waters robot required in the range of friction speed, so that
Determine correspondence parameter under various brake demands；This correspondence parameter include power brake module in brake propeller initial power and
Inceptive direction.The initial angle of brake disc in water resistance brake module.
As the preferred of this method, the application method also includes optimal control step, and control system is in initial control instruction
After issuing, monitoring modular monitors waters robotary information and feeds back to control system in real time；Control system is believed according to state
Breath provides the advanced control instruction to the device.
Water resistance brake module controls position and the anglec of rotation of brake disc in time after advanced control instruction is received.Rotation
Turn whether the corresponding sensor detection rotating push rod of stepper motor reaches angle on target, and testing result fed back into driver,
Driver feeds back to control system again, and control system compares the testing result and initial control instruction obtained, assigns advanced control
Instruction is adjusted, untill rotating push rod reaches angle on target, so as to realize rotation feedback control.
In summary, the present invention has the advantages that：
The brake gear is easy for installation, safeguard simple, wherein, water resistance brake module and power brake module can be adjusted individually
Section, is that the adaptive speed of a ship or plane of waters robot and water volume flow rate provide facility, the brake gear can be realized polygonal in vertical and horizontal
Draught control is spent, with left and right multi-angle adjustable resistance before and after being provided for waters robot.Power brake module and water resistance brake
Module can realize feedback regulation control, more accurately complete brake instruction, can meet that robot controllability in waters is strong, efficiency high
Brake technique demand.
【Brief description of the drawings】
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Accompanying drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the hardware architecture diagram of embodiment 1；
Fig. 2 is signal flow graph between the module of embodiment 1；
Fig. 3 is the detailed construction schematic diagram of power brake module in embodiment 1；
Fig. 4 is the detailed construction schematic diagram of water resistance brake module in embodiment 1；
Fig. 5 is the cross-sectional view of embodiment 1；
Fig. 6 is signal flow graph between the module of embodiment 4；
Fig. 7 is the drag parachute modular structure schematic diagram in embodiment 4；
Fig. 8 is the drag parachute module in embodiment 4 in hull schematic view of the mounting position；
Wherein, 1, hull；2nd, control system；3rd, communication module；4th, monitoring modular；5th, power brake module；6th, water resistance is stopped
Car module；7th, outside command system；8th, intelligent rudder；9th, brake propeller；10th, driver；11st, stepper motor is shifted；12nd, shift
Push rod；13rd, rotating stepper motor；14th, rotating push rod；15th, brake disc；16th, drag parachute module；17th, message recipient；18th, even
Spindle；19th, catapult-launching gear；20th, drag parachute.
【Embodiment】
In order that technical scheme is clearer, below with reference to drawings and Examples, carry out further detailed
Describe in detail bright.
In the description of the invention, indicated position relationship is based on position relationship shown in the drawings, merely to just
In the description present invention rather than require that the present invention must be with specific azimuth configuration and operation, therefore be not construed as to this hair
Bright limitation.
As long as in addition, technical characteristic involved in each embodiment of invention described below is each other not
Constituting conflict can just be mutually combined.
Embodiment 1：
As shown in Fig. 1~5, the embodiment of the present invention 1 provides a kind of waters robot assisted brake gear, is applicable to nothing
The various waters robots such as people's ship or underwater robot.
Control system 2 is provided with a kind of waters robot assisted brake gear, including hull 1, described hull 1, is led to
Believe module 3, monitoring modular 4, power brake module 5 and water resistance brake module 6；Described control system 2, communication module 3 and prison
It is connected two-by-two between survey module 4；Control system 2 sends mutually signal, monitoring modular 4 with outside command system 7 by communication module 3
The status information of the waters robot can be monitored in real time, and gained status information can be delivered separately to control system 2 and outside commander
System 7 is controlled in real time.
Control system 2 connects power brake module 5 and water resistance brake module 6 respectively；Described power brake module 5, bag
Intelligent rudder 8 and brake propeller 9 are included, intelligent rudder 8 is connected with brake propeller 9, the work of the intelligent control of rudder 8 brake propeller 9
Power and operative orientation；Described water resistance brake module 6 includes brake disc 15, displacement module and rotating module, wherein, it is described to stop
Hull 15 connects displacement module and rotating module respectively, and brake disc 15 is placed in water body when working, and the displacement module is used to control
Brake disc 15 processed is folded；The rotating module is used for the anglec of rotation for controlling brake disc 15.
Described power brake module 5, water resistance brake module 6 are usually the left and right sides for being arranged in pairs in the bottom surface of hull 1,
With a left power brake module 5-1, right power brake module 5-2, the left and of water resistance brake module 6 in embodiment 1
Exemplified by one right water resistance brake module 6, the position relationship of intermodule as shown in Figure 5,1~5 pair of embodiment 1 below in conjunction with the accompanying drawings
The course of work be described in detail.
Described displacement module also includes displacement stepper motor 11 and displacement push rod 12；Described rotating module also includes rotation
Turn stepper motor 13 and rotating push rod 14；Then described water resistance brake module 6 also includes driver 10；10 points of described driver
Stepper motor 11 and rotating stepper motor 13 Lian Jie not shifted；Shift the connection displacement push rod 12 of stepper motor 11, rotation stepping electricity
Machine 13 connects rotating push rod 14, and displacement push rod 12 and rotating push rod 14 are all acted on brake disc 15.
Under normal circumstances, each module is convenient to install and change by power system power supply in the embodiment of the present invention, and boat-carrying weight
Amount is smaller, for example：Battery or solar cell；It can also be powered by hybrid power system, for example：Diesel engine-electric power is mixed
Close dynamical system, nuclear energy-electric hybrid system etc..Monitoring modular 4 can be various sensors in the embodiment of the present invention, this
Monitoring modular 4 in embodiment includes the various biographies such as obliquity sensor, acceleration transducer, vibrating sensor, velocity sensor
Sensor, for monitoring the state of hull 1 under steam, the monitoring modular 4 may be provided at many places of hull 1, to realize that hull 1 is believed
The real-time and accurate monitoring of breath.Similarly, the brake propeller 9 in embodiment can also be a variety of, such as screw propeller, spray
Gas propeller, hydraulic propeller, extraordinary propeller etc., the brake propeller 9 in this embodiment is more by motor and propeller group
Into the direction of rotation of the intelligent control of rudder 8 propeller and unlatching power, motor provide power for propeller.
The application method of the waters robot assisted brake gear, is comprised the following steps：Control system 2 is according to brake instruction
Or waters robot current operating conditions, inquiry braking property storehouse, control instruction is formed, control instruction is sent；Power brake mould
Block 5 and water resistance brake module 6 obtain control instruction, then the propeller 9 that brakes is opened into target direction and target power, brake disc 15
It is moved to target location, rotation to angle on target.
During work, outside command system 7 sends initial control instruction, or water into waters robot by communication module 3
The hull status information that domain robot itself is monitored according to monitoring modular 4 generates initial control instruction；Described initial control
Instruction includes：Brake propeller 9 is opened into target direction and target power, the target location that brake disc 15 is moved to, brake disc
Angle on target of 15 rotations etc..
Control system 2 timely responds to initial control instruction, and inquiry is stored in itself internal braking property storehouse, stopped to power
Car module 5 and water resistance brake module 6 send initial control instruction, i.e., left power brake module 5-1 and right power brake module 5-2
Respectively obtain the target direction and target power of propeller in respective module, left water resistance brake module 6 and right water resistance brake module 6
Obtain the target location that brake disc 15 is moved in respective module and the angle on target rotated.
Motor start-up in left and right power brake module 5-2, propeller is entered in water body, and intelligent rudder 8 is by propeller
Rotate to open after target direction and arrive target power, meanwhile, the driver 10 in left and right water resistance brake module 6 starts, in driving
Brake disc 15 is pushed into water body by displacement stepper motor 11 by shifting push rod 12 under the control of device 10, shifts stretching for push rod 12
Contracting length is fixed, and brake disc 15 is pushed into fixed position by displacement push rod 12, i.e., whole brake disc 15, which is submerged in water body, then to be moved
Complete, rear rotating stepper motor 13 is started working, brake disc 15 rotated in the presence of rotating push rod 14 to and water (flow) direction
Vertical angle on target.When monitoring modular 4 monitors that waters robot stops, hull status information is sent to control system 2,
Control system 2 sends the spiral shell in the instruction that is stopped, power brake module 5 to power brake module 5 and water resistance brake module 6 afterwards
Rotation oar is stopped, and shrinks back in hull 1；Meanwhile, the brake disc 15 in water resistance brake module 6 rotates back to home position, displacement
Push rod withdraws brake disc 15 in hull 1.
So far, waters robot is under the collective effect of left and right power brake module 5-2 and left and right water resistance brake module 6
Brake operation is completed, the purpose of waters robot stop motion is reached.
Embodiment 2：
In the application method of the waters robot assisted brake gear, described braking property storehouse preparation method has a lot
Kind, such as by carrying out the marine experiment of real ship, founding mathematical models and analogue system obtain reference data, due to analogue system
Application surface is wider, and conventional efficient is high, generally special from brake is made by the experiment of various analogue systems in the embodiment of the present invention
Property storehouse.The manufacturing process in braking property storehouse is illustrated below based on the block combiner pattern in embodiment 1.
According to the weight of hull 1 and the physical characteristic of center of gravity, simulation flowchart is carried out when designing hull 1, waters is obtained
Corresponding external force size of the robot required in the range of friction speed, so that it is determined that during the stopping of hull 1 needed for modules
Correspondence parameter；I.e. the correspondence parameter includes the initial power and inceptive direction of brake propeller 9 in power brake module 5, water resistance
The initial angle of brake disc 15 in brake module 6.
Change the speed of hull 1 in an experiment, while monitoring modular 4 monitors hull status data, by controlling brake disc
15 the cross section direction of hull 1 angle, while start left and right two power brake modules 5 and left and right two water resistances brake mould
Block 6, and by controlling its operating power and operative orientation, make the stopping in time of hull 1, record each ginseng of the now state of hull 1
Number.
Wherein, above-mentioned parameter includes [V, W1, B1, W2, B2, A1, A2], represents respectively：The V- speeds of service, the left brakes of W1-
The power of propeller 9, the left brake operative orientations of propeller 9 of B1-, the right brake operating powers of propeller 9 of W2-, the right brake propellers of B2-
9 work sides, the left anglecs of rotation of brake disc 15 of A1-, the right anglecs of rotation of brake disc 15 of A2-.Due in the alternative, in order to up to
To easier operation, wherein, the position of brake disc 15 is is fixedly installed in water resistance brake module 6, and displacement push rod 12 will brake
Disk 15 is pushed completely into water body, then the length parameter of push rod 12 is shifted in water resistance brake module 6, not above-mentioned transformable
In parameter area.
After many experiments, range intervals can be averagely divided into multistage by each parameter one range intervals of correspondence of gained
Data, the hop count that parameter is divided into is more, then the regulation and control of corresponding parameter are finer, below so that range of parameter values is divided into 6 sections
Exemplified by explanation.
The parameter V is the speed of service, the actual speed of hull 1 is divided into 6 sections according to the maximal rate of design, every section right
It should average, i.e., correspond to respectively：V1, V2, V3, V4, V5, V6 are worth for 6 totally；Pair that will be detected in above parameter value and experiment
Answer the attitude parameter of hull 1 [W1, B1, W2, B2, A1, A2] to match, form braking property storehouse, simply enumerate several possible combinations
Form, it is as shown in the table：
In practical work process, control system 2 by receiving the initial control instruction of brake of outside command system 7, or
Control system 2 voluntarily generates the initial control instruction of brake by hull status information, and control system 2 is looked into according to initial control instruction
Braking property storehouse is ask, the speed of service for example now is V3, the then corresponding parameter information obtained [W1 (3), B1 (3), W2 (3), B2
(3), A1 (3), A2 (3)], the initial control instruction of brake of as control system 2.
Left power brake module 5-1, right power brake module 5-2 respectively obtain the initial control instruction of control system 2, i.e.,
Left intelligent rudder 8 works according to the left brake propeller 9 of [W1 (3), B1 (3)] instruction control, and right intelligent rudder 8 is according to [W2 (3), B2
(3)] the right brake propeller 9 of instruction control works；
Control system 2 to power brake module 5 send instruction while, also send instruction, Zuo Shui to water resistance brake module 6
Resistance brake module 6 and right water resistance brake module 6 respectively obtain the initial control instruction of control system 2, i.e. left and right driving device 10 and obtained
To the initial control values of brake disc 15, instructed according to [A1 (3)], drive the stepper motor 11 that shifts left to work, pushed away via shifting left
Bar 12 pushes left brake disc 15 to fix behind operating position in water to, and driving anticlockwise stepper motor 13 works, and is pushed away via anticlockwise
Left brake disc 15 is rotated to target operation angle by bar 14；Meanwhile, instructed according to [A2 (3)], driving dextroposition stepper motor 11
Work, pushes right water resistance brake disc 15 to fix behind operating position in water to via dextroposition push rod 12, similarly, drives anticlockwise
Stepper motor 13 is worked, and left brake disc 15 is rotated into target operation angle via anticlockwise push rod 14；Then initial control instruction
[W1 (3), B1 (3), W2 (3), B2 (3), A1 (3), A2 (3)] is completed.
When monitoring modular 4 monitors that waters robot stops, hull status information, rear control are sent to control system 2
System 2 sends the instruction that is stopped to power brake module 5 and water resistance brake module 6, then the propeller in power brake module 5
It is stopped, shrinks back home position in hull 1；Meanwhile, the brake disc 15 in water resistance brake module 6 rotates back to home position,
Displacement push rod withdraws brake disc 15 in hull 1.So far, waters robot is in left and right power brake module 5-2 and left and right water
The collective effect of resistance brake module 6 is issued to brake purpose.
Embodiment 3：
Further, water velocity is very fast in current water environment, and Lidar Equation is larger, or the waters robot is hindered
Thing is hindered to influence, in the case of travel route is non-directional, based on the situation of the module combination mode in embodiment 2, left and right water resistance
Brake module 6 is during initial control instruction [W1, B1, W2, B2, A1, A2] is performed, and left and right brake disc 15 is completed initially
After control instruction [A1, A2], and because deviateed angle on target by externalities.
Now, feedback optimized step can be set on water resistance brake module 6, and control system 2 is sent to water resistance brake module 6
Advanced control instruction；Described advanced control instruction is under the initial control instruction of [W1, B1, W2, B2, A1, A2] in information
After hair, the real-time monitoring robot hull status information of monitoring modular 4, and feed back to control system 2；Control system 2 is according to waters
The robot speed of service, provides the advanced control instruction to brake gear, and the advanced control instruction is generally adopted in control system 2
Fuzzy PID algorithm is calculated in real time.
Control system 2 sends the corresponding sensing of advanced control instruction, i.e. anticlockwise stepper motor 13 to water resistance brake module 6
Whether device feedback anticlockwise push rod 14 reaches angle on target [A1], and feeds back to left driver 10, until anticlockwise push rod 14 is arrived
Untill angle on target [A1]；Similarly, whether the corresponding sensor feedback right rotation push rod 14 of Natural Spin Turn stepper motor 13 arrives
Up to angle on target [A2], and right driver 10 is fed back to, untill right rotation push rod 14 reaches angle on target [A2]；So as to real
The rotation feedback control of existing water resistance brake module 6.
Described feedback optimized step is arranged on after the initial control instruction of brake gear execution brake, rotation stepping electricity
Set sensor is fed back to Real-time Feedback on machine 13, and control system 2 can carry out once or repeatedly feedback as needed
Optimization Steps.When monitoring modular 4 monitors that waters robot stops, hull status information, rear control are sent to control system 2
System 2 issues the instruction that is stopped.
Embodiment 4：
Describe the course of work of the waters robot brake gear in the case of conventional environment in above-described embodiment 1, but
In some special weather conditions, such as stormy waves waterborne is larger, hull speed and travel direction is impacted is continually changing, especially when
When wind speed has exceeded the record scope in waters robot braking property storehouse, power brake module 5 and water resistance brake are relied solely on
Module 6 can not effectively be brought to, and now waters robot can be set drag parachute module 16 to carry out brake hard.
Based on above-mentioned use environment, with reference to accompanying drawing 6~8, the present embodiment is described in detail.Embodiment 4 is in embodiment 1
On the basis of provide it is a kind of disliked in weather environment, in the case that wind speed is excessive, the use of waters robot assisted brake system
Method.
As can be seen from figures 6 to 8, the waters robot assisted brake system also includes drag parachute module 16, described control system
Wind speed inductor is provided with system 2, drag parachute module 16 is arranged on the side periphery of hull 1, and described drag parachute module 16 includes
Message recipient 17, connecting shaft 18, catapult-launching gear 19 and drag parachute 20；Described message recipient 17 and control system in hull 1
System 2 is connected, and drag parachute 20 is arranged in catapult-launching gear 19, and message recipient 17 and catapult-launching gear 19 are connected with connecting shaft 18, resistance
Power umbrella 20 is under the instruction of control system 2, and drag parachute 20 ejects hull 1 or is recovered in hull 1.
As described in example 1 above, during the initial control instruction of the generation of control system 2 brake, it can be sent out simultaneously by monitoring modular 4
The hull status information gone out, generates the pop instruction of drag parachute 20, or believe by receiving outside command system 7 when such as wind speed is excessive
The breath generation pop instruction of drag parachute 20, drag parachute module 16 as shown in Figure 8 installs combination, such as when hull 1 is run before the wind,
Then control system 2 sends work order to the head resistance umbrella module 16 of hull 1, and message recipient 17 receives instruction, i.e. drag parachute
Catapult-launching gear 19 is stretched out emission port by the connecting shaft 18 in module 16, after drag parachute 20 is ejected.Similarly, if hull 1 is to turn
During curved traveling, then control system 2 sends work order to the drag parachute module 16 of the respective side of hull 1, and such as hull 1 is griping
When, then control system 2 sends work order to the drag parachute module 16 of quarter.When monitoring modular 4 monitors waters robot
During stopping, hull status information is sent to control system 2, rear control system 2 issues the instruction that is stopped, then message recipient 17
Reception is stopped instruction, rotation after connecting rod withdraws catapult-launching gear 19 in hull 1, by the way that umbrella rope is wrapped in into catapult-launching gear
Withdrawn on 19 and by drag parachute 20 in hull 1, finally, the cover plate of hull 1 of correspondence emission port is closed.
Because drag parachute module 16 is the embodiment in the case of brake hard, probability is used in common water environment
It is smaller, to facilitate installation, it is cost-effective, disposable mounting means, above-mentioned reality are selected the mounting means of drag parachute 20 more
It is one of its disposable occupation mode to apply example 4.
This operation can be also performed separately simultaneously with the brake operation in embodiment 1, respectively by different moulds
Block performs operation, there is independent power supply module, will not influence each other.Catapult-launching gear 19 in the drag parachute module 16 can select liquid
Press ejection, pneumatic ejection, electromagnetic launch etc. a variety of single or combination mode, to ensure that brake operation is fast and accurately completed.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of waters robot assisted brake gear, including hull (1), it is characterised in that：It is provided with described hull (1)
Control system (2), communication module (3), monitoring modular (4), power brake module (5) and water resistance brake module (6), described control
It is connected two-by-two between system (2) processed, communication module (3) and monitoring modular (4)；Control system (2) connects power brake module respectively
And water resistance brake module (6) (5)；Described power brake module (5), including intelligent rudder (8) and brake propeller (9), intelligence
Rudder (8) is connected with brake propeller (9), the operating power and operative orientation of intelligent rudder (8) control brake propeller (9)；It is described
Water resistance brake module (6) include brake disc (15), displacement module and rotating module, wherein, the brake disc (15) connects respectively
The displacement module and the rotating module are connect, the displacement module is used to control folding for brake disc (15)；The rotating mould
Group is used for the anglec of rotation for controlling brake disc (15).
2. robot assisted brake gear in waters according to claim 1, it is characterised in that：Described displacement module is also wrapped
Include displacement stepper motor (11) and displacement push rod (12)；Described rotating module also includes rotating stepper motor (13) and rotation is pushed away
Bar (14)；Then described water resistance brake module (6) also includes driver (10)；Described driver (10) connects displacement step respectively
Stepper motor (11) and rotating stepper motor (13)；Shift stepper motor (11) connection displacement push rod (12), rotating stepper motor
(13) connection rotating push rod (14), displacement push rod (12) and rotating push rod (14) are all acted on brake disc (15).
3. robot assisted brake gear in waters according to claim 1, it is characterised in that：The monitoring modular (4) sets
Put in the hull (1) one or more.
4. robot assisted brake gear in waters according to claim 1, it is characterised in that：Described power brake module
And water resistance brake module (6) is one or more pairs of left and right sides for being arranged on hull (1) bottom surface (5).
5. robot assisted brake gear in waters according to claim 1, it is characterised in that：Described control system (2)
In be additionally provided with wind speed inductor.
6. robot assisted brake gear in waters according to claim 1, it is characterised in that：The device also includes resistance
Umbrella module (16), drag parachute module (16) is arranged on hull (1) side periphery, and described drag parachute module (16) connects including information
Receive device (17), connecting shaft (18), catapult-launching gear (19) and drag parachute (20)；Described message recipient (17) is interior with hull (1)
Control system (2) is connected, and drag parachute (20) is arranged in catapult-launching gear (19), and message recipient (17) and catapult-launching gear (19) are used
Connecting shaft (18) is connected.
7. the application method suitable for the waters robot assisted brake gear according to any one of claim 1~6, its
It is characterised by：
Control system (2) is according to brake instruction or waters robot current operating conditions, and inquiry braking property storehouse forms control and referred to
Order, sends control instruction；
Power brake module (5) and water resistance brake module (6) obtain control instruction, then the propeller (9) that brakes is opened into target side
To and target power, brake disc (15) is moved to target location, rotation to angle on target.
8. the application method according to claim 7 suitable for waters robot assisted brake gear, it is characterised in that：Institute
The braking property storehouse preparation method stated includes：
According to the physical characteristic of hull (1) weight and center of gravity is included, simulation flowchart is carried out when designing hull (1), is obtained
Corresponding external force size of the waters robot required in the range of friction speed, so that it is determined that correspondence ginseng under various brake demands
Number；
The correspondence parameter includes the initial power and inceptive direction of brake propeller (9) in power brake module (5)；Water resistance brakes
The initial angle of brake disc (15) in module (6).
9. the application method according to claim 8 suitable for waters robot assisted brake gear, it is characterised in that：It is right
The propeller (9) that should brake is provided with sensor, the direction of sensor detection brake propeller (9) unlatching, power, brake disc (15)
Control system (2) is fed back to after mobile position, the angle of rotation, control system (2) is according to initial control instruction and feedback coefficient
According to being adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237495.3A CN107140171A (en) | 2017-04-12 | 2017-04-12 | A kind of waters robot assisted brake gear and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237495.3A CN107140171A (en) | 2017-04-12 | 2017-04-12 | A kind of waters robot assisted brake gear and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107140171A true CN107140171A (en) | 2017-09-08 |
Family
ID=59773800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710237495.3A Pending CN107140171A (en) | 2017-04-12 | 2017-04-12 | A kind of waters robot assisted brake gear and application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107140171A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382532A (en) * | 2018-03-23 | 2018-08-10 | 青岛中邦防务智能装备有限公司 | A kind of waters robot assisted turning device and application method |
| CN109131806A (en) * | 2018-09-19 | 2019-01-04 | 浙江汉诺光电科技有限公司 | Culvert type marine propeller |
| CN109956021A (en) * | 2017-12-14 | 2019-07-02 | 东北林业大学 | Wireless steering/brake apparatus for air feed formula hull |
| CN111343427A (en) * | 2020-02-28 | 2020-06-26 | 苏州昭轩数字科技有限公司 | Automatic rice field planting control method and system based on artificial intelligence |
| CN111645841A (en) * | 2020-06-16 | 2020-09-11 | 陈杰明 | Electric outboard engine propeller |
| CN112323637A (en) * | 2020-10-31 | 2021-02-05 | 六安德玛机械设备有限公司 | Safety detection device and detection method for construction bridge |
| WO2021164780A1 (en) * | 2020-02-21 | 2021-08-26 | 曾德润 | Watercraft fast-response steering method and application |
| CN113320675A (en) * | 2021-07-08 | 2021-08-31 | 山东理工职业学院 | Brake device of unmanned ship |
| US20220126972A1 (en) * | 2020-10-28 | 2022-04-28 | Naiad Maritime Group, Inc. | Marine Vessel Brake Assist And Stabilization System |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB116425A (en) * | 1917-09-12 | 1918-06-13 | Preston Ellsworth Gatchell | Improvements in and relating to the Ship Brakes. |
| JPH02262496A (en) * | 1989-04-03 | 1990-10-25 | Yoshinobu Sugita | Hull structure |
| CN2808736Y (en) * | 2005-02-21 | 2006-08-23 | 许惠民 | Whole rotary lifting type steering oar device |
| CN102448808A (en) * | 2009-05-28 | 2012-05-09 | 施奥泰尔有限公司 | Rudder propeller vessel propulsion system and vessel equipped therewith and assembly and disassembly method therefor |
| CN103112578A (en) * | 2012-12-06 | 2013-05-22 | 王军辉 | Dual-rudder multi-powder ship capable of braking |
| CN103818527A (en) * | 2014-03-10 | 2014-05-28 | 罗琮贵 | Ship close-range collision preventation device and method, umbrella and ship |
| CN104443342A (en) * | 2014-11-04 | 2015-03-25 | 武汉包尼喜科技有限公司 | Ship emergency braking device |
| CN105599886A (en) * | 2016-01-18 | 2016-05-25 | 虞静丽 | Municipal electric ship with braking device |
-
2017
- 2017-04-12 CN CN201710237495.3A patent/CN107140171A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB116425A (en) * | 1917-09-12 | 1918-06-13 | Preston Ellsworth Gatchell | Improvements in and relating to the Ship Brakes. |
| JPH02262496A (en) * | 1989-04-03 | 1990-10-25 | Yoshinobu Sugita | Hull structure |
| CN2808736Y (en) * | 2005-02-21 | 2006-08-23 | 许惠民 | Whole rotary lifting type steering oar device |
| CN102448808A (en) * | 2009-05-28 | 2012-05-09 | 施奥泰尔有限公司 | Rudder propeller vessel propulsion system and vessel equipped therewith and assembly and disassembly method therefor |
| CN103112578A (en) * | 2012-12-06 | 2013-05-22 | 王军辉 | Dual-rudder multi-powder ship capable of braking |
| CN103818527A (en) * | 2014-03-10 | 2014-05-28 | 罗琮贵 | Ship close-range collision preventation device and method, umbrella and ship |
| CN104443342A (en) * | 2014-11-04 | 2015-03-25 | 武汉包尼喜科技有限公司 | Ship emergency braking device |
| CN105599886A (en) * | 2016-01-18 | 2016-05-25 | 虞静丽 | Municipal electric ship with braking device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109956021A (en) * | 2017-12-14 | 2019-07-02 | 东北林业大学 | Wireless steering/brake apparatus for air feed formula hull |
| CN108382532A (en) * | 2018-03-23 | 2018-08-10 | 青岛中邦防务智能装备有限公司 | A kind of waters robot assisted turning device and application method |
| CN109131806A (en) * | 2018-09-19 | 2019-01-04 | 浙江汉诺光电科技有限公司 | Culvert type marine propeller |
| CN109131806B (en) * | 2018-09-19 | 2020-07-17 | 浙江唯海科技有限公司 | Ducted ship propeller |
| WO2021164780A1 (en) * | 2020-02-21 | 2021-08-26 | 曾德润 | Watercraft fast-response steering method and application |
| CN111343427A (en) * | 2020-02-28 | 2020-06-26 | 苏州昭轩数字科技有限公司 | Automatic rice field planting control method and system based on artificial intelligence |
| CN111645841A (en) * | 2020-06-16 | 2020-09-11 | 陈杰明 | Electric outboard engine propeller |
| US20220126972A1 (en) * | 2020-10-28 | 2022-04-28 | Naiad Maritime Group, Inc. | Marine Vessel Brake Assist And Stabilization System |
| CN112323637A (en) * | 2020-10-31 | 2021-02-05 | 六安德玛机械设备有限公司 | Safety detection device and detection method for construction bridge |
| CN113320675A (en) * | 2021-07-08 | 2021-08-31 | 山东理工职业学院 | Brake device of unmanned ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107140171A (en) | A kind of waters robot assisted brake gear and application method | |
| US11002251B2 (en) | Power generating windbags and waterbags | |
| EP3004632B1 (en) | Submersible power plant having multiple turbines | |
| CN104153942A (en) | Wind turbines and methods for controlling wind turbine loading | |
| CN104802971B (en) | Deep-sea working ROV (Remotely Operated Vehicle) propeller system | |
| CN110481777A (en) | A kind of empty amphibious unmanned Succor plain stage of water | |
| AU2018413663B2 (en) | Remote control unmanned surface vehicle with wind-driven cycloidal propeller | |
| CN109116838B (en) | Automatic berthing auxiliary control method for small ship | |
| Vermillion et al. | Modeling and control design for a prototype lighter-than-air wind energy system | |
| CN207389479U (en) | A kind of water vessel and its control system | |
| CN109466778B (en) | Method for controlling pitching and rolling postures of ejection seat based on posture parameter derivation | |
| CN114995133B (en) | Ship longitudinal queuing hybrid prediction control method based on hybrid logic dynamic model | |
| CN201687651U (en) | Rotary reducing flapping wing | |
| CN108859638A (en) | A kind of amphibious detection helicopter of No Tail Rotor high speed single rotor and its control method | |
| CN108069011A (en) | Marine drive and the method for running marine drive | |
| CN106427433A (en) | Amphibious mobile house generating power through wind energy and solar energy | |
| CN111391589A (en) | Sea, land and air cross-medium robot with rotor track composite structure | |
| CN108382532B (en) | Water area robot auxiliary turning device and using method | |
| US11738842B2 (en) | Process for maximizing speed of marine vessels propelled by natural renewable energy by managing the harvesting, storage and re-use of natural energy | |
| Kato et al. | Development of a supplementary outboard side thruster system for dynamic positioning control of autonomous surface vehicle | |
| CN108137146B (en) | The method for manipulating ship | |
| Beal et al. | Unified scaling for flapping fins | |
| CN107953981B (en) | A kind of serial mixed power change aerofoil profile bionic mechanical fish formula submariner device | |
| Win et al. | Novel Rigid-Wing Bi-Directional Sailboat Design and Method of Sailing | |
| CN214451813U (en) | Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170908 |