CN107640292A - The autonomous oiling method of unmanned boat and system - Google Patents
The autonomous oiling method of unmanned boat and system Download PDFInfo
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- CN107640292A CN107640292A CN201710666921.5A CN201710666921A CN107640292A CN 107640292 A CN107640292 A CN 107640292A CN 201710666921 A CN201710666921 A CN 201710666921A CN 107640292 A CN107640292 A CN 107640292A
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- signal
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- oil
- receiving device
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Abstract
The invention provides a kind of autonomous oiling method of unmanned boat and system, is independently refueled for unmanned boat sea, including：S1, by oily ship remaining fuel of fuel tank is detected, send when needing and refueling and want oily signal；S2, bowser, which receive, to be wanted oily signal and drives towards by oily ship, to the sensor " transmitting receives " by oily ship；S3, drawn close by the most strong point of signal reflex of the oily ship to sensor；S4, two ships and rearward, bowser stretch out refueling device to the oil-receiving device by oily ship；S5, locked, sealing after being connected by the oil-receiving device of oily ship with refueling device, fueling signal is sent by oily ship；S6, bowser receive fueling signal and perform oiling；S7, filled it up with by oily ship to send after oil and fill it up with signal, and complete unblock, disengaging and the capping action of oil-receiving device.
Description
Technical field
The present invention relates to bunkering technical field, in particular it relates to a kind of autonomous oiling method of unmanned boat and system.
Background technology
Unmanned boat is a kind of unattended surface ship, is mainly used in performing danger and is unsuitable for the execution of someone's ship
Task.After advanced control system, sensing system, communication system and armament systems are equipped with, a variety of wars can be performed
Strive with non-war operations task, such as, scout, search, detection and the removal of mines；Search and rescue, navigation and hydro_geography are reconnoitred；Antisubmarine work
War, anti-special operations and patrol, strike pirate, anti-terrorism attack etc..In order to increase the maneuverability of unmanned boat, unmanned boat moves
Power is based on fuel oil, therefore fuel oil supplement the problem of being inevitable.
The oiling mode of unmanned boat carries out hand oiling, this oiling to allow unmanned boat to return to female ship (control centre) at present
Mode not only reduces the operating efficiency of unmanned boat, while also exposes the position of female ship, to personnel on female ship and ship
Huge potential safety hazard be present.
Therefore, it is important research direction that unmanned boat, which at sea independently refuels,.However, the refueling at sea of ship is different from flying
The air refuelling of machine, under atrocious weather environment, wave promotes bowser and unmanned boat (by oily ship) constantly to move up and down,
Both can not keep relative static conditions, therefore marine autonomous oiling difficulty is very big.
The content of the invention
For in the prior art the defects of, it is an object of the invention to provide a kind of autonomous oiling method of unmanned boat and system.
According to a kind of autonomous oiling method of unmanned boat provided by the invention, including step：
S1, by oily ship remaining fuel of fuel tank is detected, send when needing and refueling and want oily signal；
S2, bowser, which receive, to be wanted oily signal and drives towards by oily ship, to sensor " send-receive " scope by oily ship
It is interior；
S3, drawn close by the most strong point of signal reflex of the oily ship to sensor；
S4, two ships and rearward, bowser stretch out refueling device to the oil-receiving device by oily ship；
S5, locked, sealing after being connected by the oil-receiving device of oily ship with refueling device, fueling signal is sent by oily ship；
S6, bowser receive fueling signal and perform oiling；
S7, filled it up with by oily ship to send after oil and fill it up with signal, and complete unblock, disengaging and the capping action of oil-receiving device.
Preferably, the range sensor be arranged at the oil-receiving device by hydraulic fluid port.
Preferably, the one side or both sides of the oil-receiving device and the refueling device is flexibly connected with respective hull.
Preferably, wanted oily signal, fueling signal and fill it up with signal to be received by female ship simultaneously by what oily ship was sent.
According to a kind of autonomous fuel loading system of unmanned boat provided by the invention, including by oily ship part and bowser part；
It is described to be included by oily ship part：
Fuel level sensor, to detect by Fuel Oil Remaining in oily ship fuel tank, sent when oil level is less than minimum predetermined value low
Oil level signal, high oil level signal is sent when oil level is higher than highest predetermined value；
Oil-receiving device, including range sensor, locking mechanism and sealing mechanism, the range sensor have one " transmitting-
Receive " scope, send docking pass signal when detecting that the oil-receiving device is completed and docked with bowser；
Communicator, it is connected with the fuel level sensor and the range sensor, is receiving the low oil level signal
When send and want oily signal, send fueling signal when receiving the docking pass signal, receiving the high oil level signal
When send and fill it up with signal；
Bowser part includes：
Signal receiving device, controlling organization and refueling device, the controlling organization, the refueling device and the signal
Reception device is connected, and after oily signal is wanted described in receiving, the controlling organization control bowser is driven towards by oily ship, is being received
After the fueling signal, the refueling device performs oiling, and after signal is filled it up with described in receiving, the refueling device stops adding
Oil.
Preferably, the range sensor be arranged at the oil-receiving device by hydraulic fluid port.
Preferably, the one side or both sides of the oil-receiving device and the refueling device is flexibly connected with respective hull.
Preferably, wanted oily signal, fueling signal and fill it up with signal to be received by female ship simultaneously by what oily ship was sent.
Compared with prior art, the present invention has following beneficial effect：
Want oily ship to refuel by being equally the bowser of unmanned boat, overcome the problem of refueling at sea, without artificial right
Connect, the safety of personnel on the female ship of effective guarantee and female ship.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of flow chart of the autonomous oiling method of unmanned boat provided by the invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, the autonomous fuel loading system of a kind of unmanned boat provided by the invention, including by oily ship part and bowser
Part.
It is provided with by oily ship part：Fuel level sensor, oil-receiving device, and communicator.
Fuel level sensor, to detect by Fuel Oil Remaining in oily ship fuel tank, sent when oil level is less than minimum predetermined value low
Oil level signal, high oil level signal is sent when oil level is higher than highest predetermined value；
Oil-receiving device, including range sensor, locking mechanism and sealing mechanism, range sensor are arranged at oil-receiving device
By on hydraulic fluid port, there is " send-receive " scope, send and docked successfully when detecting that oil-receiving device is completed and docked with bowser
Signal；
Communicator, it is connected with fuel level sensor and range sensor, being sent when receiving low oil level signal will oil letter
Number, fueling signal is sent when receiving docking pass signal, is sent when receiving high oil level signal and fills it up with signal.
Bowser part is provided with：Signal receiving device, controlling organization and refueling device, controlling organization, refueling device
Be connected with signal receiving device, after receiving and wanting oily signal, controlling organization control bowser is driven towards by oily ship, receiving plus
After oily signal, refueling device performs oiling, and after receiving and filling it up with signal, refueling device stops refueling.
Wherein, the one side or both sides of oil-receiving device and refueling device is flexibly connected with respective hull, to adapt to sea
Wave effect, and prevent plus, oil-receiving device damage.
The workflow of the present invention is as follows：
S1, remaining fuel of fuel tank detected by the fuel level sensor by oily ship, send when needing and refueling and want oily signal；
S2, bowser, which receive, to be wanted oily signal and drives towards by oily ship, to range sensor " send-receive " model by oily ship
In enclosing；
S3, drawn close by the most strong point of signal reflex of the oily ship to sensor；
S4, two ships and rearward, bowser stretch out refueling device to the oil-receiving device by oily ship；
S5, locked, sealing after being connected by the oil-receiving device of oily ship with refueling device, fueling signal is sent by oily ship；
S6, bowser receive fueling signal and perform oiling；
S7, filled it up with by oily ship to send after oil and fill it up with signal, and complete unblock, disengaging and the capping action of oil-receiving device.
Preferably, wanted oily signal, fueling signal and fill it up with signal to be received by female ship simultaneously by what oily ship was sent, so as to
It is monitored in real time.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the case where not conflicting, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (8)
1. a kind of autonomous oiling method of unmanned boat, it is characterised in that including step：
S1, by oily ship remaining fuel of fuel tank is detected, send when needing and refueling and want oily signal；
S2, bowser, which receive, to be wanted oily signal and drives towards by oily ship, to by the range of the sensor " send-receive " of oily ship；
S3, drawn close by the most strong point of signal reflex of the oily ship to sensor；
S4, two ships and rearward, bowser stretch out refueling device to the oil-receiving device by oily ship；
S5, locked, sealing after being connected by the oil-receiving device of oily ship with refueling device, fueling signal is sent by oily ship；
S6, bowser receive fueling signal and perform oiling；
S7, filled it up with by oily ship to send after oil and fill it up with signal, and complete unblock, disengaging and the capping action of oil-receiving device.
2. the autonomous oiling method of unmanned boat according to claim 1, it is characterised in that the range sensor is arranged at institute
State oil-receiving device by hydraulic fluid port.
3. the autonomous oiling method of unmanned boat according to claim 1, it is characterised in that the oil-receiving device and the oiling
The one side or both sides of device is flexibly connected with respective hull.
4. the autonomous oiling method of unmanned boat according to claim 1, it is characterised in that by oily ship send want oily signal,
Fueling signal and filling it up with while is received signal by female ship.
5. a kind of autonomous fuel loading system of unmanned boat, it is characterised in that including by oily ship part and bowser part；
It is described to be included by oily ship part：
Fuel level sensor, to detect by Fuel Oil Remaining in oily ship fuel tank, low oil level is sent when oil level is less than minimum predetermined value
Signal, high oil level signal is sent when oil level is higher than highest predetermined value；
Oil-receiving device, including range sensor, locking mechanism and sealing mechanism, the range sensor have one " to launch-connect
Receive " scope, send docking pass signal when detecting that the oil-receiving device is completed and docked with bowser；
Communicator, it is connected with the fuel level sensor and the range sensor, is sent out when receiving the low oil level signal
Go out and want oily signal, send fueling signal when receiving the docking pass signal, sent out when receiving the high oil level signal
Go out to fill it up with signal；
Bowser part includes：
Signal receiving device, controlling organization and refueling device, the controlling organization, the refueling device and the signal receive
Device is connected, and after oily signal is wanted described in receiving, the controlling organization control bowser is driven towards by oily ship, described receiving
After fueling signal, the refueling device performs oiling, and after signal is filled it up with described in receiving, the refueling device stops refueling.
6. the autonomous fuel loading system of unmanned boat according to claim 5, it is characterised in that the range sensor is arranged at institute
State oil-receiving device by hydraulic fluid port.
7. the autonomous fuel loading system of unmanned boat according to claim 5, it is characterised in that the oil-receiving device and the oiling
The one side or both sides of device is flexibly connected with respective hull.
8. the autonomous fuel loading system of unmanned boat according to claim 5, it is characterised in that by oily ship send want oily signal,
Fueling signal and filling it up with while is received signal by female ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666921.5A CN107640292A (en) | 2017-08-07 | 2017-08-07 | The autonomous oiling method of unmanned boat and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666921.5A CN107640292A (en) | 2017-08-07 | 2017-08-07 | The autonomous oiling method of unmanned boat and system |
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| CN107640292A true CN107640292A (en) | 2018-01-30 |
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| CN201710666921.5A Pending CN107640292A (en) | 2017-08-07 | 2017-08-07 | The autonomous oiling method of unmanned boat and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408678A (en) * | 2018-03-23 | 2018-08-17 | 青岛中邦防务智能装备有限公司 | A kind of adjustable amphibious unmanned boat fuel loading system of oil transportation rate and oiling method |
| CN108820130A (en) * | 2018-04-13 | 2018-11-16 | 上海大学 | A kind of unmanned boat marine inflight refuelling system and method |
| CN113072030A (en) * | 2021-04-12 | 2021-07-06 | 亿海蓝（北京）数据技术股份公司 | Remote oil sending control method, system and readable storage medium |
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| CN105666502A (en) * | 2016-04-12 | 2016-06-15 | 山东国兴智能科技有限公司 | Full-automatic oiling serving robot for unmanned oiling station and oiling serving method |
| KR20170053508A (en) * | 2015-11-06 | 2017-05-16 | 삼성중공업 주식회사 | Hose with displacement senor |
| CN106882333A (en) * | 2017-01-20 | 2017-06-23 | 上海大学 | A kind of marine autonomous fuel loading system of unmanned boat and method |
| CN107392963A (en) * | 2017-06-28 | 2017-11-24 | 北京航空航天大学 | A kind of imitative hawkeye moving target localization method for soft autonomous air refuelling |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52143014U (en) * | 1976-04-24 | 1977-10-29 | ||
| JPS6421890U (en) * | 1987-07-30 | 1989-02-03 | ||
| KR20120004664U (en) * | 2010-12-20 | 2012-06-28 | 대우조선해양 주식회사 | System for transferring fluid |
| KR20170053508A (en) * | 2015-11-06 | 2017-05-16 | 삼성중공업 주식회사 | Hose with displacement senor |
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| CN106882333A (en) * | 2017-01-20 | 2017-06-23 | 上海大学 | A kind of marine autonomous fuel loading system of unmanned boat and method |
| CN107392963A (en) * | 2017-06-28 | 2017-11-24 | 北京航空航天大学 | A kind of imitative hawkeye moving target localization method for soft autonomous air refuelling |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408678A (en) * | 2018-03-23 | 2018-08-17 | 青岛中邦防务智能装备有限公司 | A kind of adjustable amphibious unmanned boat fuel loading system of oil transportation rate and oiling method |
| CN108820130A (en) * | 2018-04-13 | 2018-11-16 | 上海大学 | A kind of unmanned boat marine inflight refuelling system and method |
| CN113072030A (en) * | 2021-04-12 | 2021-07-06 | 亿海蓝（北京）数据技术股份公司 | Remote oil sending control method, system and readable storage medium |
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Application publication date: 20180130 |