CN107272714A - Maritime affairs monitoring system - Google Patents
Maritime affairs monitoring system Download PDFInfo
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- CN107272714A CN107272714A CN201710674806.2A CN201710674806A CN107272714A CN 107272714 A CN107272714 A CN 107272714A CN 201710674806 A CN201710674806 A CN 201710674806A CN 107272714 A CN107272714 A CN 107272714A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 33
- 238000005183 dynamical system Methods 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004146 energy storage Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 5
- 230000009189 diving Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 239000013589 supplement Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 229920000271 Kevlar® Polymers 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000004761 kevlar Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
A kind of maritime affairs monitoring system, including ground control centre, unmanned boat and unmanned bathyscaph；The unmanned boat respectively with the ground control centre, the unmanned bathyscaph wireless connection；The unmanned boat is electrically connected by cable with the unmanned bathyscaph, and the unmanned boat provides electric energy by the cable to the unmanned bathyscaph；The unmanned boat is used to receive the control signal that the ground control centre is sent, and run according to the control signal and control the unmanned bathyscaph operation, and the operation information of itself and the unmanned bathyscaph is fed back to the ground control centre by the unmanned boat；The maritime affairs monitoring system is used cooperatively by ground control centre, unmanned boat and unmanned bathyscaph, the water surface can be carried out simultaneously, monitor under water, and unmanned boat to the unmanned bathyscaph can provide electric energy by cable, so as to be monitored under water for a long time, it can be seen that unmanned boat can reach mutual supplement with each other's advantages with common be monitored to maritime affairs of unmanned bathyscaph so that monitoring is more intuitively, more comprehensively.
Description
Technical field
The present invention relates to maritime affairs monitoring technology field, more particularly to a kind of maritime affairs monitoring system.
Background technology
Generally all it is to reach specific region by first going to sea, then send latent when carrying out maritime casualty investigation or underwater operation
The lower water of water person is monitored.This mode, because sea stormy waves is larger, field condition is complicated and changeable so that the peace for the personnel that go to sea
There is larger danger entirely, while acquired monitoring information waterborne and under water monitoring information are there is also the regular hour is poor,
Other diver enters water limited time so that the scope monitored is also smaller, thus can not intuitively, comprehensively monitor true feelings
Condition.
The content of the invention
Based on this, it is necessary to which for monitoring problem not directly perceived, incomplete, there is provided a kind of maritime affairs monitoring system.
A kind of maritime affairs monitoring system, including ground control centre, unmanned boat and unmanned bathyscaph；The unmanned boat respectively with
The ground control centre, the unmanned bathyscaph wireless connection；The unmanned boat passes through cable and the unmanned bathyscaph electricity
Connection, and the unmanned boat provides electric energy by the cable to the unmanned bathyscaph；The unmanned boat is used to receive described
The control signal that ground control centre is sent, and run according to the control signal and control the unmanned bathyscaph operation, and
The operation information of itself and the unmanned bathyscaph is fed back to the ground control centre by the unmanned boat.
In one of the embodiments, the unmanned boat include control system, the first power-supply system, the first dynamical system,
First task system and folding and unfolding electric power system；The control system respectively with the ground control centre, the unmanned bathyscaph
Wireless connection, and electrically connected respectively with first dynamical system, the first task system and the folding and unfolding electric power system, institute
State control system and control first dynamical system, the first task system and folding and unfolding electric power system operation, and control
The unmanned bathyscaph operation, and by first dynamical system, the first task system and the folding and unfolding electric power system
Operation information feeds back to ground control centre, and the operation information of the unmanned bathyscaph is fed back into ground control centre；Institute
Stating the first dynamical system is used to provide power for the unmanned boat；One end of the folding and unfolding electric power system passes through cable and the nothing
People's bathyscaph is electrically connected, and the other end of the folding and unfolding electric power system is electrically connected with first power-supply system；First power supply
System provides electric energy to the control system, first dynamical system, the first task system respectively, and for passing through institute
State folding and unfolding electric power system and provide electric energy to the unmanned bathyscaph.
In one of the embodiments, the unmanned boat also includes the first Transmission system, first Transmission system and institute
The electrical connection of first task system is stated, during the information transfer for the first task system to be gathered is controlled to the ground
The heart.
In one of the embodiments, the folding and unfolding electric power system include fixing device, moving guide rail, driver element, turn
Moving part, movable pulley and fixed pulley；The fixing device and the moving guide rail are installed on the unmanned boat；The driver element
It is fixed on the tumbler in the fixing device；The driver element is used to control the tumbler to rotate；It is described to determine cunning
Wheel is fixed on the top of the tumbler by the fixing device；The movable pulley can be slided along the moving guide rail；Institute
Cable is stated, one end is electrically connected with the unmanned bathyscaph, the other end bypasses the fixed pulley, the movable pulley and described turn successively
Moving part is electrically connected with first power-supply system, wherein, the tumbler rotates and makes the cable winds in the tumbler
On, or the cable is discharged from the tumbler.
In one of the embodiments, the folding and unfolding electric power system also includes pull force calculation component；The pull force calculation group
Part is connected with the cable on the movable pulley, and is electrically connected with the control system；The pull force calculation component is used to measure institute
State the pulling force of cable generation and by measurement feedback to the control system.
In one of the embodiments, first dynamical system includes engine, and the engine, which is used to drive, to be promoted
Device is run.
In one of the embodiments, first power-supply system include be sequentially connected electrically generator, energy-storage units and
Electric power source distribution device；The engine is used to drive the electrical power generators；The energy-storage units are used to store electric energy, and by electric energy
Dispensed by the electric power source distribution device.
In one of the embodiments, the first task system includes range sensor, current detection sensor, wind speed
One or more in meter, camera.
In one of the embodiments, the unmanned bathyscaph include second source system, the second dynamical system, second
Business system；The second source system is electrically connected with second dynamical system and the second task system respectively, and by described
Cable is electrically connected with the unmanned boat；The control system respectively with second dynamical system, second task system without
Line is connected, for controlling second dynamical system and second task system to run, and by the fortune of the unmanned bathyscaph
Row information feeds back to the ground control centre；The second source system is carried by the cable reception from the unmanned boat
The electric energy of confession, and provide electric energy to second dynamical system and the second task system；Second dynamical system is used for for institute
State unmanned bathyscaph and power is provided.
In one of the embodiments, the unmanned bathyscaph also includes the second Transmission system, second Transmission system
Electrically connected with second task system, during the information transfer for second task system to be gathered is controlled to the ground
The heart.
Above-mentioned maritime affairs monitoring system is used cooperatively by ground control centre, unmanned boat and unmanned bathyscaph, can be simultaneously
Carry out the water surface, monitor under water, and unmanned boat can be by cable to the unmanned bathyscaph offer electric energy, so as to prolonged
Monitored under water, it is seen that unmanned boat can reach mutual supplement with each other's advantages with common be monitored to maritime affairs of unmanned bathyscaph so that prison
Control is more intuitively, more comprehensively.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
The accompanying drawing of other embodiment is obtained according to these accompanying drawings.
The block diagram for the maritime affairs monitoring system that Fig. 1 provides for an embodiment；
Fig. 2 is the structural representation of one embodiment of the maritime affairs monitoring system of Fig. 1 illustrated embodiments；
Fig. 3 is the block diagram of one embodiment of the maritime affairs monitoring system of Fig. 1 illustrated embodiments；
Fig. 4 is the structure of one of embodiment of the folding and unfolding electric power system of the maritime affairs monitoring system of embodiment illustrated in fig. 3
Schematic diagram；
Fig. 5 is the block diagram of one of embodiment of the first power-supply system of the maritime affairs monitoring system of embodiment illustrated in fig. 3.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But, the present invention can be realized in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, the skill of technical field of all of technologies and scientific terms used here by the article with belonging to invention
The implication that art personnel are generally understood that is identical.Herein description is intended merely in the term used in the description of invention specifically
The purpose of embodiment, it is not intended that the limitation present invention.Term as used herein "and/or" includes one or more related institutes
The arbitrary and all combination of list of items.
It refer to Fig. 1 and Fig. 2, an embodiment provides a kind of maritime affairs monitoring system, including ground control centre 100,
Unmanned boat 200 and unmanned bathyscaph 300.
Wherein, unmanned boat 200 respectively with ground control centre 100, the wireless connection of unmanned bathyscaph 300, unmanned boat is used for
The control signal that ground control centre is sent is received, and is run according to control signal and controls unmanned bathyscaph to run, and nobody
The operation information of itself and unmanned bathyscaph is fed back to ground control centre by ship.In other words, ground control centre 100 can be with nothing
People's ship 200 carries out radio communication, and then controlled in wireless unmanned boat 200 is run, while unmanned boat 200 also can be wireless by relevant information
Feed back to ground control centre 100, in addition unmanned boat 200 can also the unmanned bathyscaph 300 of controlled in wireless run, unmanned bathyscaph
300 can also feed back to relevant information unmanned boat 200, preferably be monitored so as to realize.For example, during monitoring, ground
Face control centre 100 can according to circumstances control the speed of service of unmanned boat 200, while unmanned boat 200 also can control unmanned deep diving
Device 300 is run with the speed of service of unmanned boat 200, and unmanned boat 200 can also be by unmanned boat 200 and unmanned bathyscaph 300
Actual motion velocity feedback is to ground control centre 100；Or, ground control centre 100 can control unmanned boat 200 to perform wind
Speed test, while unmanned boat 200, which also can control unmanned bathyscaph 300, performs terrain detection, and unmanned boat 200 can also be by wind speed
Test result feeds back to ground control centre 100, and landform test result is fed back to unmanned boat 200 by unmanned bathyscaph 300, nobody
Ship 200 again sends landform test result to ground control centre 100.
Unmanned boat 200 is electrically connected by cable with unmanned bathyscaph 300, and unmanned boat 200 by cable to unmanned deep diving
Device 300 provides electric energy.
In present embodiment, electric energy is provided to unmanned bathyscaph 300 by cable 400 using unmanned boat 200, is due to nothing
People's ship 200 can be generated electricity by fuel engines etc., can provide electric energy for a long time for unmanned bathyscaph 300, so that
It substantially prolongs the monitoring period of unmanned bathyscaph 300.
Wherein, cable 400 be located between unmanned boat 200 and unmanned bathyscaph 300, the length of cable 400 can shorten or
Extension, for example：Unmanned boat 200 can reclaim cable 400, at this moment can shorten the top-stitching of unmanned boat 200 and unmanned bathyscaph 300
The length of cable 400, unmanned boat 200 can unclasp cable 400 again, at this moment can increase between unmanned boat 200 and unmanned bathyscaph 300
The length of cable 400.Therefore, cable 400 can carry out folding and unfolding, so can accordingly be decreased or increased unmanned bathyscaph 300 with
The distance between unmanned boat 200, it is to avoid occur cable 400 pulling force is excessive or the situation of the redundancy of cable 400 winding.For example：
When unmanned bathyscaph 300 decline and cable 400 pulling force increase when, cable 400 can be unclasped；When unmanned bathyscaph 300 rises
And during the pulling force reduction of cable 400, cable 400 can be reclaimed.In other states, such as biology touches cable 400 under water
When, can rock cable 400, so as to cause the pulling force of cable 400 to increase, and unmanned bathyscaph 300 does not rise or under
Drop, at this moment will not then control to carry out the operation of folding and unfolding cable 400, it is to avoid the danger for causing the redundancy of cable 400 to wind.
Specifically, cable 400 can be the photoelectricity compound wire of composite optical/electrical cable, for example, Kevlar fibers parcel.
Kevlar fibre densities are low, intensity is high, good toughness, high temperature resistant, can strengthen the pliability of wire, anti-twist, shock resistance and heavier
Mechanical load, the interference inside external disturbance and cable can be effective against, it is ensured that the stability of signal transmission.
In summary, the maritime affairs monitoring system that above-mentioned embodiment is provided, ground control centre 100, unmanned boat 200 and nothing
Cooperated between people's bathyscaph 300, the water surface can be carried out simultaneously, monitored under water, and unmanned boat 200 can be by cable 400 to institute
State unmanned bathyscaph 300 and electric energy is provided, so as to be monitored under water for a long time, it is seen that unmanned boat 200 and unmanned deep diving
Device 300 is monitored to maritime affairs jointly can reach mutual supplement with each other's advantages so that monitoring is more intuitively, more comprehensively.
In one of the embodiments, refer to Fig. 3, (solid line represents supply line, and short dash line represents control signal transmission
Circuit, pecked line represents transmission of wireless signals circuit), unmanned boat 200 includes control system 210, the first power-supply system 220, the
One dynamical system 230, first task system 240 and folding and unfolding electric power system 260.
Wherein, control system 210 and the wireless connection of ground control centre 100, and respectively with the first dynamical system 230, the
One task system 240 and folding and unfolding electric power system 260 are electrically connected.Control system 210 is used to receive from ground control centre 100
Control signal, to control the first dynamical system 230, first task system 240 and folding and unfolding electric power system 260 to run, and by first
The operation information of dynamical system 230, first task system 240 and folding and unfolding electric power system 260 feeds back to ground control centre 100.
In addition, control system 210 also with the unmanned wireless connection of bathyscaph 300, to control unmanned bathyscaph 300 to run, and will be unmanned deep
The operation information of latent device 300 feeds back to ground control centre 100.
First dynamical system 230 is used to provide power to unmanned boat 200.First dynamical system 230 can include engine
231.Further, the driving of engine 231 propeller 232 is run, to drive unmanned boat 200 to run.
First task system 240 is electrically connected with control system 210, for performing inter-related task and gathering information, and can be by
The information wireless feedback of collection is to control system 210.Specifically, Fig. 2 is refer to, first task system 240 can include distance
One or more in sensor 241, current detection sensor 242, airspeedometer 243, camera 244.
Further, unmanned boat 200 also includes the first Transmission system 250, the first Transmission system 250 and first task system
240 electrical connections.Specifically, the data message of collection is sent to the first Transmission system 250, first and passed by first task system 240
Defeated system 250 receives the data message that first task system 240 is sent, and by data information transfer to ground control centre 100.
One end of folding and unfolding electric power system 260 is electrically connected by cable 400 with unmanned bathyscaph 300, folding and unfolding electric power system 260
The first power-supply system of the other end 220 electrically connect, folding and unfolding electric power system 260 be used for cable 400 carry out retractable operation.Wherein,
Folding and unfolding electric power system 260 is used to carry out retractable operation to cable 400, and in other words, folding and unfolding electric power system 260 can reclaim cable
400, cable 400 can also be unclasped.
Specifically, Fig. 4 is refer to, folding and unfolding electric power system 260 includes fixing device 261, moving guide rail 262, driver element
263rd, tumbler 264, movable pulley 265 and fixed pulley 266.Fixing device 261 and moving guide rail 262 are installed on unmanned boat 200.
Driver element 263 and tumbler 264 are fixed in fixing device 261.Driver element 263 is used to control tumbler 264 to rotate.Tool
Body, driver element 263 can include motor 2631 and gear 2632, wherein, motor 2631 is received from control
The control signal of system 210, and rotated according to control signal band moving gear 2632.Specifically, tumbler 264 can be with gear
2632 are meshed, and at this moment motor 2631 can drive tumbler 264 to rotate by gear 2632.
Fixed pulley 266 is fixed on the top of tumbler 264 by fixing device 261.Movable pulley 265 is located at moving guide rail
On 262, and line slip can be entered along moving guide rail 262.Further, folding and unfolding electric power system 260 can also include sliding block 268 and solid
Determine part 269.Wherein, moving guide rail 262 is extended in a first direction.Specifically, moving guide rail 262 is that bar shaped is shaft-like.268 sets of sliding block
On moving guide rail 262, and along moving guide rail 262 bearing of trend slidably.Fixture 269 is fixed on sliding block 268, with
Sliding block 268 is set to drive fixture 269 to slide.Movable pulley 265 is rotatably fixed on fixture 269.Therefore, sliding block 268 is moved
When dynamic, the movable pulley 265 on fixture 269 can also accordingly enter line slip.
One end of cable 400 is electrically connected with unmanned bathyscaph 300, and the other end bypasses fixed pulley 266, movable pulley 265 successively
Electrically connected with tumbler 264 with the first power-supply system 220.Wherein, tumbler 264 rotates and cable 400 is wrapped in tumbler
(cable 400 is reclaimed on 264), or cable 400 is discharged (unclasping cable 400) from tumbler 264.Further,
One section of cable 400 (being denoted as line segment AB) between fixed pulley 266 and movable pulley 265 is with being located at movable pulley 265 and tumbler
One section of cable 400 (being denoted as line segment CD) between 264 is parallel, so that the pulling force born on two sections of cables 400 is equal.
Further, please continue to refer to Fig. 4, folding and unfolding electric power system 260 also includes pull force calculation component 267.Pull force calculation
Component 267 is connected with the cable 400 on movable pulley 265, and is electrically connected with control system 210.Pull force calculation component 267 is used to survey
Measure pulling force that cable 400 produces and by measurement feedback to control system 210.Pull force calculation component 267 can produce a court
The pulling force of second direction, second direction is with first direction on the contrary, so that pull force calculation component 267 detects cable 400 to movable pulley
265 value of thrust, and pull force calculation component 267 can feed back to value of thrust control system 210.
Specifically, pull force calculation component 267 includes signal feedback device 2671 and tensiometer 2672.Signal feedback device is consolidated
It is scheduled on unmanned boat 200.Also, signal feedback device 2671 and the wireless connection of control system 210.One end of tensiometer 2672 with
Signal feedback device 2671 is fixedly connected, and the other end of tensiometer 2672 is fixedly connected with fixture 269.Tensiometer 2672 is given
Movable pulley 265 provides an elastic pulling force towards second direction, so that tensiometer detects cable 400 to the component of movable pulley 265
Value of thrust, and value of thrust is transmitted to signal feedback device 2671, value of thrust is fed back to control by signal feedback device 2671 again
System 210.
Wherein, what the control signal and tensiometer 2672 that control system 210 can be sent according to ground control centre 100 were surveyed
Value of thrust sends control signal, i.e., the control signal that control system 210 is sent is simultaneously by the unmanned bathyscaph running status of control
Control signal and signal feedback device 2671 feed back value of thrust influence.For example, when ground control centre 100 sends control
The control signal that unmanned bathyscaph 300 declines, and signal feedback device feeds back the movable pulley that 2671 tensiometer 2672 is detected
When 265 values of thrust being subject to increase, control system 210 just sends corresponding control to the motor 2631 of driver element 263
Signal, is rotated tumbler 264 so that cable 400 departs from tumbler 264 (i.e. unwrapping wire)；When ground control centre 100 is sent out
Go out the control signal for controlling unmanned bathyscaph 300 to rise, and signal feedback device feeds back the pulling force that 2671 movable pulley 265 is subject to
When value reduces, control system 210 just sends corresponding control signal to the motor 2631 of driver element 263, makes tumbler
264 are rotated so that cable 400 is wrapped in tumbler 264 (i.e. take-up)；And only when moving that signal feedback device 2671 feeds back
Value of thrust increase or reduce that pulley 265 is subject to, and when being not received by the control signal for controlling unmanned bathyscaph 300 to run,
Control system 210 would not send control signal to motor 2631.
First power-supply system 220 is provided to control system 210, the first dynamical system 230, first task system 240 respectively
Electric energy, and for being powered by the folding and unfolding electric power system 260 to the unmanned bathyscaph 300.Specifically, the first power-supply system
220 generator 221, energy-storage units 222 and electric power source distribution devices 223 including being sequentially connected electrically.Wherein, the driving of engine 231 hair
Motor 221 generates electricity, i.e., after engine 231 starts running, and drives generator 221 to operate, and generator 221 just can be with after running well
Energy-storage units 222 are charged.Energy-storage units 222 are used to store electric energy, and electric energy is dispensed by electric power source distribution device 223.
Wherein, energy-storage units 222 can be batteries.Electric power source distribution device 223 is by a part of electric energy respectively to control system 210,
One dynamical system 230, first task system 240 are conveyed, by another part electric energy by folding and unfolding electric power system 260, cable 400 to
Unmanned bathyscaph 300 is conveyed.
In one of the embodiments, please continue to refer to Fig. 3, (solid line represents supply line, and short dash line represents control signal
Transmission line, pecked line represents transmission of wireless signals circuit).Unmanned bathyscaph 300 is dynamic including second source system 310, second
Force system 320, the second task system 330.
Second source system 310 is electrically connected with the second dynamical system 320 and the second task system 330 respectively, and passes through line
Cable 400 is electrically connected with unmanned boat 200.Second source system 310 is used for the second dynamical system 320 and the second task system 330
Electric energy is provided, and the electric energy for coming from unmanned boat 200 is received by cable 400.Specifically, second source system 310 may include
Electric power source distribution device, the electric energy for coming from unmanned boat 200 is distributed to the second dynamical system 320 and second of unmanned bathyscaph 300
Task system 330.
Second dynamical system 320 is used to provide power, the dynamical system of control system 210 and second for unmanned bathyscaph 300
320 wireless connections, to control the second dynamical system 320 to run, and feed back to ground by the operation information of the second dynamical system 320
Control centre 100.Specifically, the second dynamical system 320 can for piston-mode motor, fanjet, turbo oar engine or
Other kinds of engine etc..
Second task system 330 and the wireless connection of control system 210, for performing inter-related task and gathering information, and can
By the information wireless feedback gathered to control system 210.Specifically, the second task system 330 can include camera 331,
One or more in terrain detection instrument 332, searchlight 333.
In one of the embodiments, unmanned bathyscaph 200 also includes the second Transmission system 340, the second Transmission system 340
Electrically connected with the second task system 330.Specifically, the data message gathered is sent to second and passed by the second task system 330
Defeated system 340, the second Transmission system 340 receives the data message transmitted by the second task system 330, and by data information transfer
To ground control centre 100.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of maritime affairs monitoring system, it is characterised in that including ground control centre, unmanned boat and unmanned bathyscaph；The nothing
People's ship respectively with the ground control centre, the unmanned bathyscaph wireless connection；The unmanned boat passes through cable and the nothing
People's bathyscaph is electrically connected, and the unmanned boat provides electric energy by the cable to the unmanned bathyscaph；The unmanned boat is used
The control signal sent in the reception ground control centre, and run according to the control signal and control the unmanned deep diving
Device is run, and the operation information of itself and the unmanned bathyscaph is fed back to the ground control centre by the unmanned boat.
2. maritime affairs monitoring system according to claim 1, it is characterised in that the unmanned boat includes control system, first
Power-supply system, the first dynamical system, first task system and folding and unfolding electric power system；The control system is controlled with the ground respectively
Center processed, the unmanned bathyscaph wireless connection, and respectively with first dynamical system, the first task system and described
Folding and unfolding electric power system is electrically connected, and the control system controls first dynamical system, the first task system and the receipts
Put electric power system operation, and control the unmanned bathyscaph operation, and by first dynamical system, the first task system
And the operation information of the folding and unfolding electric power system feeds back to ground control centre, and the operation information of the unmanned bathyscaph is anti-
It is fed to ground control centre；First dynamical system is used to provide power for the unmanned boat；The folding and unfolding electric power system
One end is electrically connected by cable with the unmanned bathyscaph, the other end of the folding and unfolding electric power system and first power-supply system
Electrical connection；First power-supply system is carried to the control system, first dynamical system, the first task system respectively
Power supply energy, and for providing electric energy to the unmanned bathyscaph by the folding and unfolding electric power system.
3. maritime affairs monitoring system according to claim 2, it is characterised in that the unmanned boat also includes the first transmission system
System；First Transmission system is electrically connected with the first task system, for by the information of the first task system acquisition
Transmit to the ground control centre.
4. maritime affairs monitoring system according to claim 2, it is characterised in that the folding and unfolding electric power system includes fixed fill
Put, moving guide rail, driver element, tumbler, movable pulley and fixed pulley；The fixing device and the moving guide rail are installed on institute
State on unmanned boat；The driver element and the tumbler are fixed in the fixing device；The driver element is used to control
The tumbler is rotated；The fixed pulley is fixed on the top of the tumbler by the fixing device；The movable pulley energy
It is enough to be slided along the moving guide rail；The cable, one end is electrically connected with the unmanned bathyscaph, and the other end bypasses described fixed successively
Pulley, the movable pulley and the tumbler are electrically connected with first power-supply system, wherein, the tumbler rotates and makes institute
Cable winds are stated on the tumbler, or the cable is discharged from the tumbler.
5. maritime affairs monitoring system according to claim 4, it is characterised in that the folding and unfolding electric power system also includes pulling force and examined
Survey component；The pull force calculation component is connected with the cable on the movable pulley, and is electrically connected with the control system；It is described to draw
Power detection components are used to measuring the pulling force that the cable produces and by measurement feedback to the control system.
6. the maritime affairs monitoring system according to any one of claim 2 to 5 claim, it is characterised in that described first
Dynamical system includes engine, and the engine is used to drive propeller to run.
7. maritime affairs monitoring system according to claim 6, it is characterised in that first power-supply system includes being electrically connected successively
Generator, energy-storage units and the electric power source distribution device connect；The engine is used to drive the electrical power generators；The energy-storage units
Dispensed for storing electric energy, and by electric energy by the electric power source distribution device.
8. the maritime affairs monitoring system according to any one of claim 2 to 5 claim, it is characterised in that described first
Task system includes the one or more in range sensor, current detection sensor, airspeedometer, camera.
9. the maritime affairs monitoring system according to any one of claim 1 to 5 claim, it is characterised in that it is described nobody
Bathyscaph includes second source system, the second dynamical system, the second task system；The second source system is respectively with described
Two dynamical systems and the electrical connection of the second task system, and electrically connected by the cable with the unmanned boat；The control system
Respectively with second dynamical system, the second task system wireless connection, for controlling second dynamical system and institute
The operation of the second task system is stated, and the operation information of second dynamical system and second task system is fed back to described
Ground control centre；The electric energy that the second source system is provided by the cable reception from the unmanned boat, and to institute
State the second dynamical system and the second task system provides electric energy；Second dynamical system is used to provide for the unmanned bathyscaph
Power.
10. maritime affairs monitoring system according to claim 9, it is characterised in that the unmanned bathyscaph also includes second and passed
Defeated system, second Transmission system is electrically connected with second task system, for gather second task system
Information transfer is to the ground control centre.
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| CN201710674806.2A CN107272714A (en) | 2017-08-09 | 2017-08-09 | Maritime affairs monitoring system |
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| CN201710674806.2A CN107272714A (en) | 2017-08-09 | 2017-08-09 | Maritime affairs monitoring system |
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