CN107499486A - Mobile platform and its localization method on a kind of positioning intelligent water - Google Patents
Mobile platform and its localization method on a kind of positioning intelligent water Download PDFInfo
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- CN107499486A CN107499486A CN201710630599.0A CN201710630599A CN107499486A CN 107499486 A CN107499486 A CN 107499486A CN 201710630599 A CN201710630599 A CN 201710630599A CN 107499486 A CN107499486 A CN 107499486A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
- B63H23/321—Bearings or seals specially adapted for propeller shafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
- B63H23/321—Bearings or seals specially adapted for propeller shafts
- B63H2023/327—Sealings specially adapted for propeller shafts or stern tubes
Abstract
The invention discloses mobile platform and its localization method on a kind of positioning intelligent water, the platform includes hull, the afterbody of hull is provided with the first main driving mechanism to generation thrust in front of hull, second main driving mechanism, the first auxiliary drive mechanism is provided with hull, second auxiliary drive mechanism, the first described auxiliary drive mechanism produces the direction of thrust towards hull afterbody and forms angle with the direction of the first main driving mechanism generation thrust, the second described auxiliary drive mechanism produces the direction of thrust towards hull afterbody and forms angle with the direction of the second main driving mechanism generation thrust.The present invention uses said structure and method, has advantages below：1st, it can make hull can be by high accuracy positioning in the case of water currents in water；2nd, the present invention can make hull avoid water to penetrate into hull during propeller is used.
Description
Technical field
The present invention relates to Waterborne movable platform technology field, on more particularly to a kind of positioning intelligent water mobile platform and
Its localization method.
Background technology
At present, the prior art on Waterborne movable platform is：Disclosed document " is based on light vision unmanned boat water
Upper object detecting and tracking research " mainly have studied the waterborne target detecting and tracking technology based on photopic vision sensor, lead to
Flow surface image procossing, draw effective information such as position of hydrosphere line and waterborne target or barrier etc.；Document is " fixed double
The autonomous straight line path tracking system of unmanned water surface ship of oar driving " describes a kind of autonomous straight line path tracking system；Document
" a kind of Rudderless unmanned ship capable of automatically sailing " provides a kind of Rudderless unmanned ship capable of automatically sailing, including hull, two side floats, logical
Interrogate unit, navigation and positioning unit etc.；Document " intelligence fishing unmanned boat " proposes a kind of intelligent unmanned ship, has hull, electricity
Source, power set, wireless remote controller etc.；Document " unmanned boat mapping system " provides a kind of underwater topography mapping system；Text
Offer " a kind of waters multifunctional monitoring unmanned boat " and propose a kind of water environment detection ship, including hull, hull power section, detection
The functions such as system, flank anti-interference method；Document " unmanned boat for being used for river water quality monitoring and in-situ immobilization " provides a kind of use
In river water quality monitoring and in-situ immobilization unmanned boat, including hull, controller, promote etc. function.
Prior art is principally dedicated to application of the unmanned boat in some specific area, because hull can be by water in water
The influence of stream and natural wind can influence its high accuracy positioning especially for miniature self-service ship；Although a kind of waters of document is more
Function monitoring unmanned boat " is mentioned to be compensated in its flank installation motor to hull position, but it does not refer to how carrying out
Compensation.Document above all mentions dynamical system simultaneously, but because the power of ship is exactly mainly propeller, propeller is in hull
In installation will necessarily bring sealing problem, all do not referred in existing literature.
The content of the invention
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, there is provided a kind of position is moved up with intelligent water
Moving platform and its localization method, it can make hull can be by high accuracy positioning in the case of water currents in water；
Further, the present invention can make hull avoid water to penetrate into hull during propeller is used.
In order to solve the above technical problems, the technical scheme is that：Mobile platform on a kind of positioning intelligent water, bag
Hull is included, the afterbody of described hull is provided with the first main driving mechanism, the second main driving machine to generation thrust in front of hull
Structure, on described hull in be provided with the first auxiliary drive mechanism, the second auxiliary drive mechanism, the first described process auxiliary drive machine
Structure produces the direction of thrust towards hull afterbody and forms angle with the direction of the first main driving mechanism generation thrust, described
The direction of second auxiliary drive mechanism generation thrust produces the direction shape of thrust towards hull afterbody and with the second main driving mechanism
Into angle, described Waterborne movable platform also includes pressure water-impervious mechanism.
Described the first main driving mechanism, the second main driving mechanism, the first auxiliary drive mechanism, the second process auxiliary drive machine
Structure is drive mechanism, and described drive mechanism includes motor, shaft coupling, rotating shaft, propeller, and described motor passes through shaft coupling
Device drives axis of rotation, and rotating shaft drives propeller rotational to produce thrust；
Described drive mechanism also includes bearing supporting body, bearing, bearing (ball) cover, is provided with described bearings body
Oil pocket, bearing supporting body both ends are respectively equipped with locating slot；
Described bearing is two, is separately positioned in the locating slot at bearing supporting body both ends, described bearing is arranged on
In rotating shaft, bearing both sides are respectively equipped with end ring；
Described bearing (ball) cover is two, spacing to two bearings respectively；
Described bearing (ball) cover is socketed in rotating shaft, and bearing (ball) cover includes end cap body, is extended with and stretches on end cap body
Locating slot withstands the spacing convex body of bearing, and O-ring seal is provided between described end cap body and bearing supporting body；
Malthoid is provided between described bearing (ball) cover and rotating shaft.
Described bearing supporting body is arranged in hull wall, be extended with bearing supporting body be fitted in it is spacing on hull
Wall, sealing ring is provided between described limited wall and hull；
Described rotating shaft one end is placed in hull, and the rotating shaft other end stretches out hull and is connected with described propeller.
Described pressure water-impervious mechanism includes oil supply mechanism, booster body.
Described bearing supporting body is radially provided with oilhole, and described oil pocket is connected by oilhole with oil supply mechanism, described
Booster body include booster rod, flange, pressurized spring, supercharging cylinder body, connection oil pipe, piston, described supercharging cylinder body it is interior
Wall top is provided with internal thread, and the lower end of described booster rod, which is provided with, screws block, the described side wall for screwing block be provided with it is described
The external screw thread that internal thread is engaged, the described lower end for screwing block are connected by pressurized spring with piston, described piston
Booster cavity is formed between the inner bottom wall of face and supercharging cylinder body, madial wall, described booster cavity is connected by coupling oil pipe with oil pocket
It is logical, described oil pocket, booster cavity, oilhole, grease is equipped with connection oil pipe.
Described grease is conveyed by oil supply mechanism.
Described supercharging cylinder body upper end is provided with flange, and described booster rod is set through flange.
The front part sides of described hull are respectively equipped with force snesor, and the on both sides of the middle of hull is respectively equipped with other power
Sensor, the tail end of hull are provided with force snesor；
The front end of described hull is provided with gyroscope；
The tail end both sides of described hull are respectively equipped with displacement transducer；
Described force snesor, gyroscope, displacement transducer are connected with controller respectively；
Described controller and the motor connection of each drive mechanism.
The localization method of mobile platform, method comprise the following steps on a kind of positioning intelligent water：
A) hull is placed in water, and the first main driving mechanism, the second main driving mechanism produce thrust to hull front, respectively
For the first thrust, the second thrust, the first auxiliary drive mechanism produces the direction of thrust towards hull afterbody and led with first
The direction that drive mechanism produces thrust forms angle, the thrust be decomposed into first back pressure in opposite direction with the first thrust,
Perpendicular to the first side force of the first pusher force direction；
The second described auxiliary drive mechanism produces the direction of thrust towards hull afterbody and produced with the second main driving mechanism
The direction of raw thrust forms angle, and the thrust is decomposed into second back pressure in opposite direction with the second thrust, perpendicular to second
Second side force of pusher force direction；
Described the second side force and the first side force is in opposite direction；
B) information that system is gathered by force snesor, displacement transducer, gyroscope judges hull location status, simultaneously
Judge direction, the speed of current；By controlled motor so as to control revolution speed of propeller, and then before the first thrust of control, second
Enter power, the first back pressure, the second back pressure, the first side force, the size of the second side force；
When the first thrust and current are made a concerted effort, the second thrust and current make a concerted effort to be respectively greater than the first back pressure and current
With joint efforts, when the second back pressure and current are made a concerted effort, hull advances；When the first thrust and current make a concerted effort, the second thrust and current
Make a concerted effort to be respectively smaller than when the first back pressure is made a concerted effort with current, the second back pressure is made a concerted effort with current, hull retrogressing；When the first advance
Power and current are made a concerted effort, the second thrust and current are made a concerted effort be respectively equal to the first back pressure and current make a concerted effort, the second back pressure and water
When stream is made a concerted effort, hull does not have displacement in the longitudinal direction；
When the first side force and current make a concerted effort with current to make a concerted effort more than the second side force, hull moves to left；When first lateral
When power makes a concerted effort with current to make a concerted effort less than the second side force with current, hull moves to right；When the first side force and current make a concerted effort to be equal to the
When two side forces are made a concerted effort with current, hull does not have displacement in the lateral direction；
When hull is not having displacement on fore-and-aft direction, left and right directions, the static positioning of hull.
The encapsulating method of mobile platform, method comprise the following steps on a kind of positioning intelligent water：
Two bearings are separately positioned in the locating slot at bearing supporting body both ends, two end rings are set respectively
In bearing both sides, it is spacing that the spacing convex body on bearing (ball) cover is withstood into bearing, will be set between bearing (ball) cover and bearing supporting body
O-ring seal, then malthoid is set between bearing (ball) cover and rotating shaft, is provided with grease in oil pocket, outside pressure of grease and hull
Water pressure forms balance, coordinates O-ring seal, malthoid, prevents the water penetration outside hull from entering hull interior, realizes sealing.
The present invention uses said structure and method, has advantages below：1st, it can make hull can be by current shadow in water
High accuracy positioning in the case of sound；2nd, the present invention can make hull avoid water to penetrate into hull during propeller is used.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description；
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the decomposition texture schematic diagram of drive mechanism in the present invention；
Fig. 3 is the cross-sectional view of drive mechanism in the present invention；
Fig. 4 is the cross section structure schematic diagram of drive mechanism in the present invention；
Fig. 5 is the cross-sectional view of booster body in the present invention；
In Fig. 1~Fig. 5,1, hull；2nd, the first main driving mechanism；3rd, the second main driving mechanism；4th, the first process auxiliary drive
Mechanism；5th, the second auxiliary drive mechanism；6th, pressure water-impervious mechanism；7th, rotating shaft；8th, bearing supporting body；9th, bearing；10th, bearing
End cap；11st, end ring；12nd, O-ring seal；13rd, malthoid；15th, sealing ring；16th, oilhole；17th, oil pocket；18th, booster rod；
19th, flange；20th, pressurized spring；21st, supercharging cylinder body；22nd, oil pipe is coupled；23rd, piston；25th, block is screwed；26th, booster cavity.
Embodiment
The mobile platform on a kind of positioning intelligent water as shown in Fig. 1~Fig. 5, including hull 1, the afterbody of hull 1 be provided with to
Produce the first main driving mechanism 2, the second main driving mechanism 3 of thrust in front of hull, on hull 1 in be provided with the first process auxiliary drive
Mechanism 4, the second auxiliary drive mechanism 5, the first auxiliary drive mechanism 4 produce the direction of thrust towards the afterbody of hull 1 and with first
The direction that main driving mechanism 2 produces thrust forms angle, and the second auxiliary drive mechanism 5 produces the direction of thrust towards the tail of hull 1
Portion and the direction formation angle that thrust is produced with the second main driving mechanism 3, Waterborne movable platform also include pressure water-impervious mechanism
6。
First main driving mechanism 2, the second main driving mechanism 3, the first auxiliary drive mechanism 4, the second auxiliary drive mechanism 5
It is drive mechanism, drive mechanism includes motor, shaft coupling, rotating shaft 7, propeller, and motor drives 7 turns of rotating shaft by shaft coupling
Dynamic, rotating shaft 7 drives propeller rotational to produce thrust；
Drive mechanism also includes bearing supporting body 8, bearing 9, bearing (ball) cover 10, and oil pocket 17 is provided with bearing supporting body 8,
The both ends of bearing supporting body 8 are respectively equipped with locating slot；Bearing 9 is two, is separately positioned on the locating slot at the both ends of bearing supporting body 8
Interior, bearing 9 is arranged in rotating shaft 7, and the both sides of bearing 9 are respectively equipped with end ring 11；Bearing (ball) cover 10 is two, respectively to two
Individual bearing 9 is spacing；Bearing (ball) cover 10 is socketed in rotating shaft 7, and bearing (ball) cover 10 includes end cap body, is extended with end cap body
The spacing convex body that locating slot withstands bearing 9 is stretched into, O-ring seal 12 is provided between end cap body and bearing supporting body 8；Bearing
Malthoid 13 is provided between end cap 10 and rotating shaft 7.Bearing supporting body 8 is arranged on the wall of hull 1, is extended with bearing supporting body 8
The limited wall being fitted on hull 1, sealing ring 15 is provided between described limited wall and hull 1；The one end of rotating shaft 7 is placed in hull 1
Interior, the other end of rotating shaft 7 stretches out hull 1 and is connected with propeller.Pressure water-impervious mechanism 6 includes oil supply mechanism, booster body.
Bearing supporting body 8 is radially provided with oilhole 16, and oil pocket 17 is connected by oilhole 16 with oil supply mechanism, booster body
Including booster rod 18, flange 19, pressurized spring 20, supercharging cylinder body 21, connection oil pipe 22, piston 23, the inwall of supercharging cylinder body 21
Top is provided with internal thread, and the lower end of booster rod 18, which is provided with, screws block 25, and the side wall for screwing block 25 is provided with and is engaged with internal thread
External screw thread, the lower end for screwing block 25 is connected by pressurized spring 20 with piston 23, the lower surface of piston 23 and supercharging cylinder body 21
Booster cavity 26 is formed between inner bottom wall, madial wall, booster cavity 26 is connected by coupling oil pipe 22 with oil pocket 17, oil pocket 17, increases
Pressure chamber 26, oilhole 16, connection oil pipe 22 in be equipped with grease.Grease is conveyed by oil supply mechanism.The upper end of supercharging cylinder body 21 is provided with
Flange 19, booster rod 18 are set through flange 19.With interior hexagonal rotate booster rod 18, change pressurized spring 20 stroke from
And reach the adjustment to the internal pressure of supercharging cylinder body 21, that is, the seal pressure of adjustment sealing mechanism.
The structure of traditional driving part connection hull, certainly exists relative motion between moving component stationary parts, makes
Obtaining inside and outside hull has gap.Due to being water outside hull, inside is air, and external pressure is higher than internal pressure, and outside water is just
Hull interior can be penetrated into.And the present invention is provided with the sealing oil groove of sealing in seal member, from pouring orifice toward noting in this
Enter lubricating grease, and booster body is terminated with outside pouring orifice, it is ensured that the moment is full of grease herein, ensures sealing, will not ooze
Water.Encapsulating method is as follows：Two bearings 9 are separately positioned in the locating slot at the both ends of bearing supporting body 8, by two bearing ribs
Circle 11 is separately positioned on the both sides of bearing 9, and it is spacing that the spacing convex body on bearing (ball) cover 10 withstood into bearing 9, by bearing (ball) cover 10 with
O-ring seal 12 is set between bearing supporting body 8, then malthoid 13, oil pocket 17 are set between bearing (ball) cover 10 and rotating shaft 7
Interior to be provided with grease, pressure of grease is formed with the water pressure outside hull and balanced, and is coordinated O-ring seal 12, malthoid 13, is prevented hull
Outer water penetration enters hull interior, realizes sealing.
The front part sides of hull 1 are respectively equipped with force snesor, and the on both sides of the middle of hull 1 is respectively equipped with other power sensing
Device, the tail end of hull 1 are provided with force snesor；The front end of hull 1 is provided with gyroscope；The tail end both sides of hull 1 are respectively equipped with displacement
Sensor；Force snesor, gyroscope, displacement transducer are connected with controller respectively；Controller can use SMT32 single-chip microcomputers, control
Device processed and the motor connection of each drive mechanism.
The localization method of mobile platform, method comprise the following steps on a kind of positioning intelligent water：
A) hull is placed in water, and the first main driving mechanism, the second main driving mechanism produce thrust to hull front, respectively
For the first thrust, the second thrust, the first auxiliary drive mechanism produces the direction of thrust towards hull afterbody and led with first
The direction that drive mechanism produces thrust forms angle, the thrust be decomposed into first back pressure in opposite direction with the first thrust,
Perpendicular to the first side force of the first pusher force direction；
The second described auxiliary drive mechanism produces the direction of thrust towards hull afterbody and produced with the second main driving mechanism
The direction of raw thrust forms angle, and the thrust is decomposed into second back pressure in opposite direction with the second thrust, perpendicular to second
Second side force of pusher force direction；
Described the second side force and the first side force is in opposite direction；
B) information that system is gathered by force snesor, displacement transducer, gyroscope judges hull location status, simultaneously
Judge direction, the speed of current；By controlled motor so as to control revolution speed of propeller, and then before the first thrust of control, second
Enter power, the first back pressure, the second back pressure, the first side force, the size of the second side force；
When the first thrust and current are made a concerted effort, the second thrust and current make a concerted effort to be respectively greater than the first back pressure and current
With joint efforts, when the second back pressure and current are made a concerted effort, hull advances；When the first thrust and current make a concerted effort, the second thrust and current
Make a concerted effort to be respectively smaller than when the first back pressure is made a concerted effort with current, the second back pressure is made a concerted effort with current, hull retrogressing；When the first advance
Power and current are made a concerted effort, the second thrust and current are made a concerted effort be respectively equal to the first back pressure and current make a concerted effort, the second back pressure and water
When stream is made a concerted effort, hull does not have displacement in the longitudinal direction；
When the first side force and current make a concerted effort with current to make a concerted effort more than the second side force, hull moves to left；When first lateral
When power makes a concerted effort with current to make a concerted effort less than the second side force with current, hull moves to right；When the first side force and current make a concerted effort to be equal to the
When two side forces are made a concerted effort with current, hull does not have displacement in the lateral direction；
When hull is not having displacement on fore-and-aft direction, left and right directions, the static positioning of hull.
The present invention can make hull hull can be made to exist by high accuracy positioning in the case of water currents in water
Water is avoided to penetrate into hull during using propeller.
By controlled motor so as to control revolution speed of propeller, and then after the first thrust of control, the second thrust, first
Thrust, the second back pressure, the first side force, the size of the second side force；Its principle:
Force analysis is understood：
∑Fx=(F3-F4)sinα+(f4-f3)L2
∑Fy=(F1+F2)+(f1-f3)L4-(F4+F3)cosα
Wherein：
1、∑FxTo make a concerted effort suffered by x directions
2、∑FyTo make a concerted effort suffered by y directions
3rd, ∑ M is resultant moment, and direction is with clockwise for positive direction
4、F1, F2, F3, F4The thrust of respectively four propellers
5、f1, f2, f3, f4Uniform load respectively on four direction；
6、L4For the Breadth Maximum of hull part of the force；
7、L2For hull part of the force maximum length；
8th, axis where the center of gravity of O ships；
9th, remaining mark is as shown in figure.
The thrust F of propeller is：
F=KtPN2D4
Wherein：
KtFor thrust coefficient；
P is airscrew pitch；
N is revolution speed of propeller；
D is airscrew diameter；
The thrust formula of propeller is brought into：∑Fx, ∑ Fy, can obtain in ∑ M：
∑Fx=(Kt3P3N3 2D3 4-Kt4P4N4 2D4 4)sinα+(f4-f3)L2
∑Fy=(Kt1P1N1 2D1 4+Kt2P2N2 2D2 4)+(f1-f3)L4-(Kt4P4N4 2D4 4+Kt3P3N3 2D3 4)cosα
By conclusions：By the rotating speed N for controlling propeller1、N2、N3Can be obtained by control propeller thrust F and
Moment of torsion M, it can further obtain the state of ship motion.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by above-mentioned side
The limitation of formula, as long as employing the various improvement of technical scheme progress, or not improved directly apply to other fields
Close, within protection scope of the present invention.
Claims (10)
1. mobile platform on a kind of positioning intelligent water, including hull, it is characterised in that：The afterbody of described hull is provided with to ship
Produce the first main driving mechanism, the second main driving mechanism of thrust in front of body, on described hull in be provided with the first process auxiliary drive
Mechanism, the second auxiliary drive mechanism, the first described auxiliary drive mechanism produce the direction of thrust towards hull afterbody and with the
The direction that one main driving mechanism produces thrust forms angle, and the second described auxiliary drive mechanism produces the direction of thrust towards ship
Body afterbody and the direction formation angle that thrust is produced with the second main driving mechanism, described Waterborne movable platform are also prevented including pressure
Seep water mechanism.
2. mobile platform on a kind of positioning intelligent water according to claim 1, it is characterised in that：The first described main drive
Motivation structure, the second main driving mechanism, the first auxiliary drive mechanism, the second auxiliary drive mechanism are drive mechanism, described drive
Motivation structure includes motor, shaft coupling, rotating shaft, propeller, and described motor drives axis of rotation by shaft coupling, and rotating shaft drives spiral shell
Revolve oar and rotate generation thrust；
Described drive mechanism also includes bearing supporting body, bearing, bearing (ball) cover, and oil pocket is provided with described bearings body,
Bearing supporting body both ends are respectively equipped with locating slot；
Described bearing is two, is separately positioned in the locating slot at bearing supporting body both ends, described bearing is arranged on rotating shaft
On, bearing both sides are respectively equipped with end ring；
Described bearing (ball) cover is two, spacing to two bearings respectively.
3. mobile platform on a kind of positioning intelligent water according to claim 2, it is characterised in that：Described bearing (ball) cover
It is socketed in rotating shaft, bearing (ball) cover includes end cap body, is extended with end cap body and stretches into the limit convex that locating slot withstands bearing
Body, O-ring seal is provided between described end cap body and bearing supporting body；
Malthoid is provided between described bearing (ball) cover and rotating shaft.
4. mobile platform on a kind of positioning intelligent water according to Claims 2 or 3, it is characterised in that：Described bearing
Supporter is arranged in hull wall, and the limited wall being fitted on hull, described limited wall and ship are extended with bearing supporting body
Sealing ring is provided between body；
Described rotating shaft one end is placed in hull, and the rotating shaft other end stretches out hull and is connected with described propeller.
5. mobile platform on a kind of positioning intelligent water according to claim 1 or 2, it is characterised in that：Described pressure
Water-impervious mechanism includes oil supply mechanism, booster body；
Described bearing supporting body is radially provided with oilhole, and described oil pocket is connected by oilhole with oil supply mechanism, described increasing
Press mechanism includes booster rod, flange, pressurized spring, supercharging cylinder body, connection oil pipe, piston, on the inwall of described supercharging cylinder body
Portion is provided with internal thread, and the lower end of described booster rod, which is provided with, screws block, and the described side wall for screwing block is provided with and the interior spiral shell
The external screw thread that line is engaged, the described lower end for screwing block are connected by pressurized spring with piston, described piston lower surface with
Booster cavity is formed between the inner bottom wall of supercharging cylinder body, madial wall, described booster cavity is connected by coupling oil pipe with oil pocket, institute
The oil pocket stated, booster cavity, oilhole, grease is equipped with connection oil pipe.
6. mobile platform on a kind of positioning intelligent water according to claim 5, it is characterised in that：Described grease is by supplying
Oil machine structure conveys.
7. mobile platform on a kind of positioning intelligent water according to claim 5, it is characterised in that：Described supercharging cylinder body
Upper end is provided with flange, and described booster rod is set through flange.
8. mobile platform on a kind of positioning intelligent water according to claim 2, it is characterised in that：Before described hull
Portion both sides are respectively equipped with force snesor, and the on both sides of the middle of hull is respectively equipped with other force snesor, and the tail end of hull is provided with power
Sensor；
The front end of described hull is provided with gyroscope；
The tail end both sides of described hull are respectively equipped with displacement transducer；
Described force snesor, gyroscope, displacement transducer are connected with controller respectively；
Described controller and the motor connection of each drive mechanism.
A kind of 9. localization method of mobile platform on positioning intelligent water, it is characterised in that：Described method comprises the following steps：
A) hull is placed in water, and the first main driving mechanism, the second main driving mechanism are to producing thrust in front of hull, and respectively first
Thrust, the second thrust, the first auxiliary drive mechanism produce thrust direction towards hull afterbody and with the first main driving machine
The direction that structure produces thrust forms angle, the thrust be decomposed into first back pressure in opposite direction with the first thrust, perpendicular to
First side force of the first pusher force direction；
The second described auxiliary drive mechanism produces the direction of thrust towards hull afterbody and produced with the second main driving mechanism and pushed away
The direction of power forms angle, and the thrust is decomposed into second back pressure in opposite direction with the second thrust, perpendicular to the second pusher
Second side force of force direction；
Described the second side force and the first side force is in opposite direction；
B) information that system is gathered by force snesor, displacement transducer, gyroscope judges hull location status, while judges water
The direction of stream, speed；By controlled motor so as to control revolution speed of propeller, and then control the first thrust, the second thrust, the
One back pressure, the second back pressure, the first side force, the size of the second side force；
When the first thrust and current make a concerted effort, the second thrust and current are made a concerted effort respectively greater than the first back pressure and current make a concerted effort,
When second back pressure is made a concerted effort with current, hull advances；When the first thrust and current are made a concerted effort, the second thrust and current make a concerted effort to divide
Little Yu not be when the first back pressure and current be made a concerted effort, the second back pressure is made a concerted effort with current, hull retrogressing；When the first thrust and current
With joint efforts, when the second thrust and current make a concerted effort that respectively equal to the first back pressure and current are made a concerted effort, the second back pressure and current are made a concerted effort,
Hull does not have displacement in the longitudinal direction；
When the first side force and current make a concerted effort with current to make a concerted effort more than the second side force, hull moves to left；When the first side force with
When current make a concerted effort with current to make a concerted effort less than the second side force, hull moves to right；When the first side force and current make a concerted effort to be equal to the second side
When making a concerted effort to power and current, hull does not have displacement in the lateral direction；
When hull is not having displacement on fore-and-aft direction, left and right directions, the static positioning of hull.
A kind of 10. encapsulating method of mobile platform on positioning intelligent water according to claim 5, it is characterised in that：Institute
The method stated comprises the following steps：
Two bearings are separately positioned in the locating slot at bearing supporting body both ends, two end rings are separately positioned on bearing
Both sides, it is spacing that the spacing convex body on bearing (ball) cover is withstood into bearing, will set annular close between bearing (ball) cover and bearing supporting body
Seal, then malthoid is set between bearing (ball) cover and rotating shaft, grease, pressure of grease and the water pressure shape outside hull are provided with oil pocket
Into balance, coordinate O-ring seal, malthoid, prevent the water penetration outside hull from entering hull interior, realize sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710630599.0A CN107499486B (en) | 2017-07-28 | 2017-07-28 | Intelligent water moving platform for positioning and positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710630599.0A CN107499486B (en) | 2017-07-28 | 2017-07-28 | Intelligent water moving platform for positioning and positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107499486A true CN107499486A (en) | 2017-12-22 |
| CN107499486B CN107499486B (en) | 2023-05-30 |
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Cited By (2)
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| CN109738605A (en) * | 2019-03-04 | 2019-05-10 | 宁波大学 | A kind of Portable unmanned water surface movable water monitoring device |
| CN115258064A (en) * | 2022-08-02 | 2022-11-01 | 上海科泽智慧环境科技有限公司 | Water quality detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738605A (en) * | 2019-03-04 | 2019-05-10 | 宁波大学 | A kind of Portable unmanned water surface movable water monitoring device |
| CN115258064A (en) * | 2022-08-02 | 2022-11-01 | 上海科泽智慧环境科技有限公司 | Water quality detection device |
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