CN109323887A - A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat - Google Patents

A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat Download PDF

Info

Publication number
CN109323887A
CN109323887A CN201811246630.1A CN201811246630A CN109323887A CN 109323887 A CN109323887 A CN 109323887A CN 201811246630 A CN201811246630 A CN 201811246630A CN 109323887 A CN109323887 A CN 109323887A
Authority
CN
China
Prior art keywords
unmanned boat
main
sheet
hydrofoil
powered
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811246630.1A
Other languages
Chinese (zh)
Inventor
吴家鸣
梁严
陈宇庆
罗鹿鸣
范书华
陈锐东
张鸣阳
李润锋
张仕华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Shun Hai Shipbuilding Co Ltd
South China University of Technology SCUT
Original Assignee
Guangzhou Shun Hai Shipbuilding Co Ltd
South China University of Technology SCUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Shun Hai Shipbuilding Co Ltd, South China University of Technology SCUT filed Critical Guangzhou Shun Hai Shipbuilding Co Ltd
Priority to CN201811246630.1A priority Critical patent/CN109323887A/en
Publication of CN109323887A publication Critical patent/CN109323887A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00Sampling; Preparing specimens for investigation
    • G01N1/02Devices for withdrawing samples
    • G01N1/10Devices for withdrawing samples in the liquid or fluent state
    • G01N1/14Suction devices, e.g. pumps; Ejector devices

Abstract

The invention discloses a kind of multi-level propulsion space and time continuous seawater parameter samplings to monitor unmanned boat;Mainly it is made of main hull and towed body;The towed body includes torpedo main body and powered by wave energy hydrofoil;Multiple powered by wave energy hydrofoils are arranged at intervals on the two sides of torpedo main body, and powered by wave energy hydrofoil is flexibly connected by shaft with the aperture in torpedo main body, and powered by wave energy hydrofoil moves in the range of positive and negative 20 degree around the shaft;Torpedo body front end is equipped with pressure sensor;Towing cable one ends wound is on winch on main hull, and the other end passes through Main Control Tank and girder is connected with towed body;Towing cable be hollow structure steel hawser, it is hollow in be equipped with power transmission line and drinking-water pipe.The present invention, as a kind of supplementary means for overcoming towrope resistance, is allow unmanned boat to be more efficiently completed seawater parameter and adopts water operation using propulsive force caused by powered by wave energy hydrofoil.

Description

A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat
Technical field
The present invention relates to a kind of water quality sampling unmanned boat, more particularly to the more of a kind of comprehensive utilization solar energy and wave energy Step by step advance, space and time continuous seawater parameter sampling monitor unmanned boat.
Background technique
Water quality monitoring is that people study ocean, develops ocean and the important means using ocean.It is supervised by water quality abundant Survey data people can sum up the water quality characteristics of the specific bodies of water, and then make guidance for subsequent development research work.In order to obtain Detailed water quality detection data is taken, needs periodically to extract water sample in detection sea area space and time continuous or interruption right place.Although mentioning The work of water sampling is simultaneously uncomplicated, and acquired volume of water sample is also little, but needs several people to complete this task but The sampling Team Member of composition goes to sea completion by ship, and which increases the investments of the man power and material in sampling process, cause Unnecessary waste.Based on this, in order to enable water quality using more convenient, safe and efficient, uses remote-controlled unmanned boat as adopting The substitution tool of sample work be can yet be regarded as a kind of excellent choosing.
Since water quality sampling often relates to the region within the scope of 100 nautical miles of offshore, unmanned boat is needed to have good resistance to wave Property, endurance and remote-controlled property.The ship type of unmanned boat is mostly small-sized ship type on the market at this stage, to the wave within the scope of target water Unrestrained resistivity is lower.And due to the limitation of hull size, unmanned boat can not carry sufficient stored energy source and complete remote control Equipment is to cope with long-distance navigation.During although some products are used using the renewable energy such as photovoltaic means as navigation Energy source, but the single means of supplementing out economy and limited converting apparatus equally limit the extension of endurance.Therefore from full From the point of view of the operational requirements of full border seawater parameter acquisition, one type of exploitation can use multiple renewable energy sources, using a variety of Propulsion mode, can with space and time continuous seawater parameter sampling, facilitate remote control and there is the unmanned boat of sufficient deposit load to meet Market expectations and actual needs.
Summary of the invention
It is an object of the invention to combine the work characteristics of water quality sampling unmanned boat, provide it is a kind of rationally using solar energy and Wave energy multi-level propulsion space and time continuous seawater parameter sampling as a source of power monitors unmanned boat, with realize remote control and Steady steaming and energy conservation.
The present invention is achieved by the following technical means:
A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat, which is characterized in that mainly by main hull It is constituted with towed body;The towed body includes torpedo main body and powered by wave energy hydrofoil;Multiple powered by wave energy hydrofoils interval The two sides of torpedo main body are set, and powered by wave energy hydrofoil is flexibly connected by shaft with the aperture in torpedo main body, wave Wave can drive hydrofoil to move in the range of positive and negative 20 degree around the shaft;Torpedo body front end is equipped with pressure sensor;
The main hull includes sheet body, stringer, crossbeam, girder, pillar and the Main Control Tank of the left and right sides;Left and right sides piece Battery is housed in vivo, the tail portion bottom end of left and right sides sheet body is mounted on a brushless motor propeller;The piece of the left and right sides Body interval is arranged, and is equipped at intervals with more crossbeams between two stringer transverse directions on sheet body, is spaced between two stringer longitudinal directions on sheet body Equipped with more stringers, the middle part of the sheet body of the left and right sides is equipped with girder;The longitudinal and cross beam of the sheet body of the left and right sides is equipped with too Positive energy solar panel;Girder is connect with crossbeam;The top of girder is equipped with Main Control Tank, and rear is connected with control vane;It is put in the middle part of Main Control Tank Winch and suction pump are set, middle part both ends are respectively equipped with control canyon and water sample storehouse;Water sample storehouse is connect with suction pump;Control equipment Room is equipped with control equipment;Towing cable one ends wound is on winch, and the other end passes through Main Control Tank and girder is connected with towed body;Towing cable is The steel hawser of hollow structure, it is hollow in be equipped with power transmission line and drinking-water pipe;Drinking-water pipe one end connects suction pump, and the other end is from towing Body stretches out;Power transmission line one end is separately connected with the sensor on pressure sensor and monitoring inner wall of the pipe, and the other end is set with control Standby series connection;Solar panel is connect with battery;Battery is connect with control equipment;Control equipment respectively with control vane, nothing Brush motor propeller, suction pump are connected with winch.
To further realize the object of the invention, it is preferable that be equipped with fixed plate in each sheet body upper surface, stringer passes through pillar It is connect with fixed plate.
Preferably, the powered by wave energy hydrofoil is symmetricly set on the two sides of torpedo main body.
Preferably, the torpedo main body periphery is equipped at intervals with monitoring pipeline;Chemistry is installed in monitoring inner wall of the pipe Element sensor and physical sensors.
Preferably, the stringer is 12, crossbeam is 8, pillar is 16, stringer, crossbeam, girder and pillar welding Frame structure is formed together, and is connected using bolt with left and right sides sheet body by the fixed plate of lower rod end;Frame knot The neutral gear formed among structure installs solar panel on neutral gear.
Preferably, the left and right sides sheet body is internally divided into four regions, and tail region is for being equipped with brushless electricity Machine propeller;Cabin is equipped between two deposit cabins, cabin is equipped with one layer of bilge deck, and battery is placed on bilge deck;Battery is 12 pieces, select rake 12V/200Ah lead-acid accumulator;Two deposit cabins provide reserve buoyancy for unmanned boat or are temporarily used as storing Storehouse.
Preferably, Main Control Tank underface and girder corresponding position are provided with through-hole and pass through for towing cable, and opened hole is answered There are the nargin of 5-10cm for opposite towing cable diameter, and reinforcement processing is done around through-hole.
Preferably, the control equipment choosing ARM embedded development control panel TMS320C6657, is integrated with China thereon For ME909S-120Mini PCIe 4G wireless communication module, 30MHZ short wave communication module and GPS positioning chip;
Preferably, the thunder type main body is made with powered by wave energy hydrofoil of aluminum alloy materials, wherein torpedo master Body is having a size of 0.3 × 2.15m of Φ, wall thickness 10mm;The powered by wave energy hydrofoil profile is NACA0018, and chord length is 0.4m, span 1.4m, wall thickness 5mm.
Preferably, the left and right sides sheet body manufactures a length of 6m, width 0.4m using glass-reinforced plastic material, and moldeed depth is 0.55m, sheet body wall thickness are 5mm;Bilge deck is identical as the material of sheet body 1;The girder is made of Q235 Steel material, specification For 5.01 × 0.3 × 0.3m, wall thickness 5mm;The stringer is made of Q235 Steel material, specification be 1.58 × 0.05 × 0.05m, wall thickness 2mm;The crossbeam is made of Q235 Steel material, and specification is 1.766 × 0.05 × 0.03m, and wall thickness is 2mm;The pillar is made of Q235 Steel material, and specification is 0.2 × 0.05 × 0.04m, wall thickness 2mm;The solar energy Totally 12 pieces of solar panel 5, selecting rated power is the hard photovoltaic panel of 200W;The diameter of the towing cable be 3cm, drinking-water pipe it is straight Diameter is 1cm, and the diameter of power transmission line is 0.5cm;The brushless motor propeller selects 48 pounds of ship's propellers;The winch Select 24V small-sized electric winch;The rudder blade span of the control vane be 0.4m, chord length 0.4m, a length of 0.23m of rudder stock, directly Diameter is 5cm, and steering engine is the brushless steering engine of 48V shark.
Compared with the prior art, the present invention has following technical advantage:
1) present invention is using propulsive force caused by powered by wave energy hydrofoil as a kind of nondominant hand for overcoming towrope resistance Section, allows unmanned boat to be more efficiently completed seawater parameter and adopts water operation.Towed body resistance suffered during towing is larger, If do not taken in, the route speed of unmanned boat not only will affect, will also result in bigger energy loss.It is asked to solve this Topic utilizes the whole vertical fortune in wave of unmanned boat inventors have found that powered by wave energy hydrofoil is combined with towed body It is dynamic, powered by wave energy hydrofoil can be made to generate forward thrust under the action of gravity and hydrodynamic force, and then offset towed body and exist Suffered some resistance during towing.
2) continuous sampling over time and space may be implemented in the present invention, and is analyzed in real time sample.The present invention Merged powered by wave energy hydrofoil technology, reduced towrope resistance, navigation when can also by torpedo main body into the water into The temporal continuous sampling of row.The pressure sensor for being mounted on torpedo body front end then can detecte position locating for torpedo main body The hydraulic pressure set, and according to water pressure data, controlling equipment may determine that the depth of water locating for torpedo main body, and it is long to adjust towing cable by winch Degree controls the depth of water position of torpedo main body, continuous deep-controlled sampling operation spatially may be implemented.And it is arranged in torpedo Related chemistry element and physical sensors are installed in the pipeline of type main body surrounding, it, can during towing when water flow piping Seawater parameter is analyzed and be monitored in real time.
3) seakeeping capacity of the present invention is more preferable, and stored energy source and load are sufficient.Since hull uses left and right sides sheet body composition Catamaran structural form, so that unmanned boat of the present invention is coped with bigger more complicated wave, to be more suitable remote Navigation.On the other hand, twin hull construction form also increases the arrangement space of unmanned boat institute carrying equipment, allows to carry More batteries and equipment are to cope with increasingly complex situation.
4) wave energy of the present invention and solar energy are unmanned boat energy supply simultaneously, increase the power resources of unmanned boat, increase The endurance of unmanned boat.
5) communication distance of the present invention is remote, remote control convenience.Unmanned boat of the present invention is logical using 4G within the scope of offshore 25km Letter mode, the base station 4G covered by bank, can be well realized remote control.After being more than base station communication range, benefit It may be implemented farther with the advantage of short wave communication distance apart from upper manipulation unmanned boat.
6) maneuverability of the present invention is preferable.Unmanned boat of the present invention is cooperated using the rotation of propeller differential and control vane Manipulation form, the manipulation of realization that can be more efficient to unmanned boat makes unmanned boat become more flexible.
7) survival ability of the present invention is strong.Unmanned boat of the present invention is equipped with two brushless motor propellers and a manipulation Rudder.When there is a brushless motor propeller failure, unmanned boat can be promoted under control vane cooperation using a brushless motor Device, which promotes, to be returned.When control vane breaks down, unmanned boat can also be realized by the rotational speed difference of two brushless motor propellers The steering of unmanned boat, therefore unmanned boat of the present invention has more powerful vitality.
8) present invention is simple to manufacture, low in cost.Unmanned boat of the present invention uses modular design concept, each portion of whole ship / relatively independent, it can manufacture parallel, build working hour to save.The equipment installed on unmanned boat also selects market as far as possible Upper existing device model, further reduced the cost of research and development and manufacture.
Detailed description of the invention
Fig. 1 is multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat top view of the invention.
Fig. 2 is multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat main view of the invention.
Fig. 3 is multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat right view of the invention.
Fig. 4 is multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat towing schematic diagram of the invention.
Fig. 5 is arrangement schematic diagram inside Main Control Tank.
Fig. 6 is the internal battery arrangement schematic diagram of piece.
Fig. 7 is towing cable internal pipeline distribution schematic diagram.
Fig. 8 is towed body signal.
Fig. 9 is powered by wave energy hydrofoil ascending motion stress diagram.
Figure 10 is powered by wave energy hydrofoil descending motion stress diagram.
It is shown in figure: sheet body 1, fixed plate 2, stringer 3, crossbeam 4, solar panel 5, girder 6, Main Control Tank 7, control vane 8, pillar 9, brushless motor propeller 10, towed body 11, towing cable 12, control equipment 13, winch 14, suction pump 15, water sample cabin 16, Lay in cabin 17, bilge deck 18, battery 19, drinking-water pipe 20, power transmission line 21, torpedo main body 22, powered by wave energy hydrofoil 23, Pressure sensor 24, monitoring pipeline 25.
Specific embodiment
For a better understanding of the invention, the present invention will be further explained below with reference to the attached drawings, but embodiment party of the invention Formula is not limited only to this.
As Figure 1-Figure 4, a kind of multi-level propulsion space and time continuous seawater parameter sampling monitors unmanned boat, mainly by main ship Body and towed body 12 are constituted;Wherein main hull includes sheet body 1, stringer 3, crossbeam 4, girder 6, pillar 9 and the master control of the left and right sides Case 7;Left and right sides sheet body 1 is provided with battery 19, and the tail portion bottom end of left and right sides sheet body 1 is mounted on a brushless motor and pushes away Into device 10;The sheet body 1 of the left and right sides is spaced setting, is equipped with fixed plate 2 in each 1 upper surface of sheet body, and sheet body 1 is equipped with stringer 3, It is preferred that stringer 3 is connect by pillar 9 with fixed plate 2;More crossbeams 4, piece are equipped at intervals between two 3 transverse directions of stringer on sheet body 1 More stringers are equipped at intervals on body 1 between two 3 longitudinal directions of stringer, the middle part of the sheet body 1 of the left and right sides is equipped with girder 6;Left and right two The stringer 3 and crossbeam 4 of the sheet body 1 of side are equipped with solar panel 5;Girder 6 is connect with crossbeam 4;The top of girder 6 is equipped with master Case 7 is controlled, rear is connected with control vane 8;As shown in figure 5, winch 14 and suction pump 15 are placed in the middle part of Main Control Tank 7, middle part both ends point Canyon and water sample storehouse 16 She You not controlled;Water sample storehouse 16 is connect with suction pump 15;It controls canyon and is equipped with control equipment 13;It drags 12 one ends wound of cable is on winch 14, and the other end passes through Main Control Tank 7 and girder 6 is connected with towed body 11;As shown in fig. 7, towing cable 12 be hollow structure steel hawser, it is hollow in be equipped with power transmission line 21 and drinking-water pipe 20;20 one end of drinking-water pipe connects suction pump 15, The other end is stretched out from towed body 11, for extracting water sample;21 one end of power transmission line and pressure sensor 24 and monitoring 25 inner wall of pipeline On sensor connect respectively, the other end with control equipment 13 connect;Solar panel 5 is connect with battery 19, is electric power storage It charges in pond 19;Battery 19 is connect with control equipment 13, is powered for it.Control equipment 13 is pushed away with control vane 8, brushless motor respectively It is connected into device 10, suction pump 15 and winch 14, controls the electricity of control vane 8, brushless motor propeller 10, suction pump 15 and winch 14 It can dispensing and operation.
As shown in Fig. 2, Fig. 4 and Fig. 8, towed body 11 includes torpedo main body 22 and powered by wave energy hydrofoil 23;Multiple waves Wave can drive hydrofoil 23 to be arranged at intervals on the two sides of torpedo main body 22, and preferably powered by wave energy hydrofoil 23 is symmetricly set on torpedo The two sides of type main body 22, powered by wave energy hydrofoil 23 are flexibly connected by shaft with the aperture in torpedo main body 22, wave energy Driving hydrofoil 23 can move in the range of positive and negative 20 degree around the shaft;22 front end of torpedo main body is equipped with pressure sensor 24,22 periphery of torpedo main body is equipped at intervals with monitoring pipeline 25;Monitoring 25 inner wall of pipeline on be equipped with chemical element sensor and Physical sensors.Institute's aperture and not through its outer wall in torpedo main body 22.
As shown in Figure 1, it is preferred that stringer 3 is 12, crossbeam 4 is 8, pillar 9 is 16, stringer 3, crossbeam 4,6 and of girder Pillar 9 is welded together to form complete frame structure, and utilizes bolt and the left and right sides by the fixed plate 8 of 9 lower end of pillar Sheet body 1 is connected.The neutral gear formed among frame structure can be used for the installation of solar panel 5.
It is preferred that 7 underface of Main Control Tank and 6 corresponding position of girder are provided with through-hole and pass through for towing cable 12, opened hole opposite should be dragged There are the nargin of 5-10cm for 12 diameter of cable, and need to do special reinforcement processing around through-hole.
As shown in fig. 6, tail region is brushless for being equipped with it is preferred that left and right sides sheet body 1 is internally divided into four regions Electric motor thruster 10;Cabin is equipped between two deposit cabins 17, cabin is equipped with one layer of bilge deck 18, places and store on bilge deck 18 Battery 19;Battery 19 is preferably 12 pieces, selects rake 12V/200Ah lead-acid accumulator.Two deposit cabins 17 provide for unmanned boat Reserve buoyancy is temporarily used as storing bin.
It is preferred that control equipment 13 selects ARM embedded development control panel TMS320C6657, it is integrated with Huawei thereon ME909S-120Mini PCIe 4G wireless communication module, 30MHZ short wave communication module and GPS positioning chip.
It is preferred that torpedo main body 22 is made with powered by wave energy hydrofoil 23 of aluminum alloy materials, wherein torpedo main body ruler Very little is 0.3 × 2.15m of Φ, wall thickness 10mm;23 aerofoil profile of powered by wave energy hydrofoil be NACA0018, chord length 0.4m, span 1.4m, Wall thickness is 5mm.
It is preferred that left and right sides sheet body 1 manufactures a length of 6m, width 0.4m, moldeed depth 0.55m, piece body wall using glass-reinforced plastic material Thickness is 5mm.Bilge deck 18 is identical as the material of sheet body 1.
It is preferred that girder 6 is made of Q235 Steel material, specification is 5.01 × 0.3 × 0.3m, wall thickness 5mm;
It is preferred that stringer 3 is made of Q235 Steel material, specification is 1.58 × 0.05 × 0.05m, wall thickness 2mm;
It is preferred that crossbeam 4 is made of Q235 Steel material, specification is 1.766 × 0.05 × 0.03m, wall thickness 2mm;
It is preferred that pillar 9 is made of Q235 Steel material, specification is 0.2 × 0.05 × 0.04m, wall thickness 2mm.
It is preferred that totally 12 pieces of solar panel 5, selecting rated power is the hard photovoltaic panel of 200W;
It is preferred that 12 diameter of towing cable is 3cm, 20 diameter of drinking-water pipe is 1cm, and 21 diameter of power transmission line is 0.5cm, and three's length can Adjusted within the scope of 0m-2m according to actually adopting water demand.
It is preferred that brushless motor propeller 10 selects 48 pounds of ship's propellers;Winch 14 selects 24V small-sized electric winch;
It is preferred that the rudder blade span of control vane 8 is 0.4m, chord length 0.4m, rudder stock a length of 0.23m, diameter 5cm, steering engine is 48V shark is brushless steering engine.Control vane 8 is connected with control equipment 13.
It is preferred that suction pump 15 is huge Thailand 12V micro pump.
A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat of the invention is promoted by two brushless motors Device 10 promotes navigation, during navigation, the signal sent by the GPS chip being integrated in control equipment 13, according to nobody The remote signal format of ship offshore distance replacement unmanned boat.When unmanned boat is within the scope of 25km, using 4G signal of communication, when When unmanned boat offshore distance is more than 25km, it is switched to short wave communication signal.The manipulation that staff applies unmanned boat on the bank refers to It enables after control equipment 13 receives and processes, control command is passed to brushless motor propeller 10 and behaviour as electronic signals Vertical rudder 8.2 brushless motor propellers 10 generate rotational speed difference according to instruction, and control vane 8 deflects at the same time, make in the two resultant force With the lower manipulation for realizing hull.
On the other hand, by the GPS chip integrated in control equipment 13, which also may be implemented to navigate by water automatically, have Body mode are as follows: when executing task, staff can then start nobody first by prefabricated RTE DATA input control apparatus 13 Ship.During navigation, the GPS chip being integrated in control equipment 13 gives unmanned boat position data Real-time Feedback to control equipment 13, and compared with prefabricated air route, when yawing, control equipment 13 can control brushless motor propeller 10 and control vane 8, manipulation unmanned boat returns correct track, so that the autonomous navigation of unmanned boat is realized, until completing all planning air routes.
Similar with sail mode, the sampling mode of unmanned boat of the present invention is divided into three kinds, and working method is as follows:
Equipment 13 is controlled when static sample point is preset in unmanned boat arrival according to the location information judgement of GPS chip feedback Automatically the circuit of brushless motor propeller 10 can be disconnected or according to remote control command, unmanned boat stops, and winch 14 discharges towing cable 12, Towed body 11 enters underwater heavy.According to the water pressure data that pressure sensor 24 returns in real time, towed body 11 is judged by control equipment 13 The locating depth of water.When towed body 11 is deposited to the predetermined depth of water, winch 14 stops working, and suction pump 15 is started to work, and water sample is led to It crosses the extraction of drinking-water pipe 20 to come up, and is discharged into water sample cabin 16.After reaching water withdrawal, suction pump 15 stops working, and winch 14 is tightened Towing cable 12, towed body 11 rise reset from water, and unmanned boat starting starts to navigate by water again.
The location information judgement fed back according to GPS chip, when reaching default continuous sampling point, control equipment 13 can be certainly Power dynamic or that brushless motor propeller 10 is reduced according to remote control command, reduces the unmanned boat speed of a ship or plane and saves to 1-2, then winch 14 is released Towing cable 12 is put, towed body 11 enters underwater heavy.According to the water pressure data that pressure sensor 24 returns in real time, judged by control equipment 13 The depth of water locating for towed body 11.When towed body 11 is deposited to the predetermined depth of water, winch 14 stops working.Towed body 11 follows nothing at this time People's ship travels forward, have part water then can flow through monitoring pipeline 25, and by pipeline sensor test and analyze.Analysis gained Terrestrial base station is transmitted to by communication module after data back to the control backup of equipment 13.When the detection and analysis for completing the default depth of water After work, winch 14 tightens towing cable 12, and towed body 11 rises reset from water, and unmanned boat, which improves the speed of a ship or plane, to be continued to navigate by water.
In order to realize that operation is analyzed in the continuous sampling on room and time, needs before unmanned boat sets out or executing During task, sampling analysis operation process is planned, and respective nodes data are transmitted at control equipment 13, the section Point data is mainly made of preset time nodal value and predetermined depth nodal value two parts.According to the position letter of GPS chip feedback Breath judgement, when unmanned boat is navigated by water to predetermined continuous sampling analysis site, control equipment 14 can automatically or according to remote control command into Row sampling analysis operation.The power of brushless motor propeller 10 can be reduced first by controlling equipment 13, make the near 1-2 of the unmanned boat speed of a ship or plane Section.Then control equipment 13 is issued to winch 14 and is instructed, and winch 14 starts to discharge towing cable 12, towed body downwards with constant speed 11 enter water.Towed body 11 can also travel forward while decline under the dragging of unmanned boat, and be located at 11 surrounding of towed body The chemistry and related physical biosensor analysis that water understands some therefore flows through monitoring pipeline 25 and wherein installed analyze data It will be transmitted to after control equipment 13 backs up and terrestrial base station is transmitted to by communication module.When winch 14 discharges towing cable, control Equipment 13 starts timing, and is compared in real time with the preset time nodal value of storage.The pressure being mounted on towed body 11 passes Sensor 24 can judge the depth of water locating for towed body 11 whereby, when towed body 11 in real time to control equipment 13 feedback pressure data When locating depth reaches predetermined depth nodal value, the beginning of winch 14 is rotated backward with identical constant speed, tightens towing cable 12, band Dynamic towed body 11 rises up to next predetermined depth nodal value, so in cycles.Reach pre- between controlling 13 timing of equipment If when timing node value, control equipment 13 can issue instruction tightening towing cable 12 to winch 14.After resetting to towed body 11, control is set The power of standby 13 adjustment brushless motor propeller 10, the raising of the unmanned boat speed of a ship or plane continue to navigate by water.
As described above, unmanned boat needs into the water to carry out towed body 11 continuous sampling in practical work process, and This will inevitably generate biggish towrope resistance, and then adversely affect to the rapidity and endurance of unmanned boat. To solve this problem, inventor has found following two solution: looking for solution from the mechanism for generating towrope resistance first Certainly scheme.In view of the speed of a ship or plane positive correlation of towrope resistance and unmanned boat, so when unmanned boat discharges and recycles towed body When 11, need to reduce the speed of a ship or plane of unmanned boat, this speed of a ship or plane is preferred with -2 section of 1 section.
On the other hand, inventor's discovery can use wave energy to reduce towrope resistance, this is also towed body 11 of the present invention The important embodiment of middle torpedo main body 22 and the design of 23 structure of powered by wave energy hydrofoil.Due to the operation waters of unmanned boat be related to from The farther away region of bank, therefore unmanned boat will certainly encounter relatively large wave.In wave, unmanned boat can generate vertical fortune It is dynamic, and the movement is passed into towed body 11 by towing cable 12 and is allowed to also make catenary motion.During making catenary motion, Upper the installed powered by wave energy hydrofoil 23 that can be rotated within the scope of positive and negative 20 degree of towed body 11 will receive the effect of water and It generates and swings, and effect of the meeting of powered by wave energy hydrofoil 23 with certain angle of attack by front incoming flow after swinging, and then generate Lift and resistance.At this point, powered by wave energy hydrofoil 23 will receive self gravity, the lift and drag effect of water, and the conjunction of three Power shows as forward thrust, can further offset towrope resistance suffered by towed body 11 by this part thrust.Wave Hydrofoil 23 can be driven to have acted in effect as the underwater propeller of towed body 11, and be located at the unmanned boat of the water surface then by brushless motor Propeller 10 is responsible for propulsion, thus forms propulsion mode multi-level up and down, reduces unmanned boat and towed body to the greatest extent System internal force between 11 reduces interfering with each other between the two, and be utilized on the whole reproducible wave energy with too Sun can energize together for unmanned boat system, realize significantly promotion of the unmanned boat in endurance.
To further illustrate that powered by wave energy hydrofoil 23 has acted in effect as the work of the underwater propeller of towed body 11 Principle is made described further below in conjunction with Fig. 9 and Figure 10: setting wave driving hydrofoil as section is NACA0018, and the span is The standard wing of 1.4m.It will receive the influence of wave when unmanned boat navigates by water on the water and generate heaving, when unmanned boat is met with When wave wave crest, unmanned boat is moved upwards, and drives towed body to move upwards by towing cable.During moving upwards, wave Wave driving hydrofoil will receive the downward resistance of water effect, and rotates around the axis to be formed as example is shown in Fig. 9 under the action of resistance Form.
When unmanned boat meets with trough, unmanned boat is moved downward, at this time towing cable diastole, and towed body is then in self gravity Under the action of move downward.During moving downward, wave driving hydrofoil will receive water effect upward resistance, and It rotates around the axis to form legend form shown in Fig. 10 under drag effect.
No matter in Fig. 9 or in Figure 10, using force resolution principle, wave driving hydrofoil can all generate one in level The size of power on direction, power is:
Propulsive force F=| lift L × sin α-resistance D × cos α |
In formula, α is the angle for closing speed and horizontal direction.In actual moving process, because NACA0018 is the resistance that rises higher Than aerofoil profile, so lift L is greater than resistance D's always, and according to measured data, the heaving speed V2 of unmanned boat, which is less than, to be come Flow velocity degree V1's, therefore lift L × sin α is greater than resistance D × cos α always, so wave driving hydrofoil can mention always For forward propulsive force.
During towing, if towed body does not install wave driving hydrofoil, in order to make towed body follow unmanned boat Horizontal motion is done, unmanned boat needs through towing cable to be to provide drag, for overcoming towed body and towing cable suffered in water The resistance arrived.And if being mounted with that wave drives hydrofoil, under above-mentioned principle, wave driving hydrofoil can provide for towed body Propulsive force horizontally forward, this propulsive force is with drag direction on the contrary, therefore towed body can be offset to a certain extent and dragged The resistance in cable course in water.According to experiment and numerical simulation as a result, per a piece of wave driving hydrofoil under design conditions, i.e., When speed of incoming flow is 2 sections or so, maximum can provide the propulsive force more than 60N, then six hydrofoil maximums can provide and be more than The propulsive force of 360N, this propulsive force even maximum thrust (about 217N) of separate unit brushless motor propeller, therefore it is mounted with wave Wave driving hydrofoil can reduce resistance suffered in unmanned boat motion sample analytic process well, be conducive to extend unmanned boat Voyage and preferably complete sample water intaking task.

Claims (10)

1. a kind of multi-level promote space and time continuous seawater parameter sampling to monitor unmanned boat, which is characterized in that mainly by main hull and Towed body is constituted;The towed body includes torpedo main body and powered by wave energy hydrofoil;Multiple powered by wave energy hydrofoils interval is set It sets in the two sides of torpedo main body, powered by wave energy hydrofoil is flexibly connected by shaft with the aperture in torpedo main body, wave Hydrofoil can be driven to move in the range of positive and negative 20 degree around the shaft;Torpedo body front end is equipped with pressure sensor;
The main hull includes sheet body, stringer, crossbeam, girder, pillar and the Main Control Tank of the left and right sides;Left and right sides piece is internal Equipped with battery, the tail portion bottom end of left and right sides sheet body is mounted on a brushless motor propeller;Between the sheet body of the left and right sides Every being equipped at intervals with more crossbeams in setting, sheet body between two stringer transverse directions, it is equipped at intervals between two stringer longitudinal directions on sheet body The middle part of more stringers, the sheet body of the left and right sides is equipped with girder;The longitudinal and cross beam of the sheet body of the left and right sides is equipped with solar energy Solar panel;Girder is connect with crossbeam;The top of girder is equipped with Main Control Tank, and rear is connected with control vane;It places and twists in the middle part of Main Control Tank Vehicle and suction pump, middle part both ends are respectively equipped with control canyon and water sample storehouse;Water sample storehouse is connect with suction pump;Control canyon is set There is control equipment;Towing cable one ends wound is on winch, and the other end passes through Main Control Tank and girder is connected with towed body;Towing cable is hollow The steel hawser of structure, it is hollow in be equipped with power transmission line and drinking-water pipe;Drinking-water pipe one end connects suction pump, and the other end is stretched from towed body Out;Power transmission line one end is separately connected with the sensor on pressure sensor and monitoring inner wall of the pipe, the other end and control equipment string Connection;Solar panel is connect with battery;Battery is connect with control equipment;Control equipment respectively with control vane, brushless electricity Machine propeller, suction pump are connected with winch.
2. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that It is equipped with fixed plate in each sheet body upper surface, stringer is connect by pillar with fixed plate.
3. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The powered by wave energy hydrofoil is symmetricly set on the two sides of torpedo main body.
4. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The torpedo main body periphery is equipped at intervals with monitoring pipeline;Chemical element sensor and physics are installed in monitoring inner wall of the pipe Sensor.
5. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The stringer is 12, crossbeam is 8, pillar is 16, and stringer, crossbeam, girder and pillar are welded together to form frame Structure, and be connected using bolt with left and right sides sheet body by the fixed plate of lower rod end;The sky formed among frame structure Grade, solar panel is installed on neutral gear.
6. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The left and right sides sheet body is internally divided into four regions, and tail region is for being equipped with brushless motor propeller;Two deposits Cabin is equipped between cabin, cabin is equipped with one layer of bilge deck, and battery is placed on bilge deck;Battery is 12 pieces, selects rake 12V/200Ah lead-acid accumulator;Two deposit cabins provide reserve buoyancy for unmanned boat or are temporarily used as storing bin.
7. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that Immediately below the Main Control Tank and girder corresponding position is provided with through-hole and passes through for towing cable, opened hole should with respect to towing cable diameter there are The nargin of 5-10cm, and reinforcement processing is done around through-hole.
8. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The control equipment choosing ARM embedded development control panel TMS320C6657, is integrated with Huawei ME909S-120 thereon Mini PCIe 4G wireless communication module, 30MHZ short wave communication module and GPS positioning chip.
9. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, which is characterized in that The thunder type main body is made with powered by wave energy hydrofoil of aluminum alloy materials, wherein torpedo size of main body be Φ 0.3 × 2.15m, wall thickness 10mm;The powered by wave energy hydrofoil profile is NACA0018, chord length 0.4m, span 1.4m, wall Thickness is 5mm.
10. multi-level propulsion space and time continuous seawater parameter sampling according to claim 1 monitors unmanned boat, feature exists In the left and right sides sheet body manufactures a length of 6m, width 0.4m, moldeed depth 0.55m using glass-reinforced plastic material, and sheet body wall thickness is 5mm;Bilge deck is identical as the material of sheet body 1;The girder is made of Q235 Steel material, specification be 5.01 × 0.3 × 0.3m, wall thickness 5mm;The stringer is made of Q235 Steel material, and specification is 1.58 × 0.05 × 0.05m, wall thickness 2mm; The crossbeam is made of Q235 Steel material, and specification is 1.766 × 0.05 × 0.03m, wall thickness 2mm;The pillar by Q235 Steel material is made, and specification is 0.2 × 0.05 × 0.04m, wall thickness 2mm;Totally 12 pieces of the solar panel 5, choosing The hard photovoltaic panel for being 200W with rated power;The diameter of the towing cable is 3cm, and the diameter of drinking-water pipe is 1cm, power transmission line Diameter is 0.5cm;The brushless motor propeller selects 48 pounds of ship's propellers;The winch selects 24V small-sized electric Winch;The rudder blade span of the control vane is 0.4m, chord length 0.4m, rudder stock a length of 0.23m, diameter 5cm, and steering engine is 48V shark is brushless steering engine.
CN201811246630.1A 2018-10-25 2018-10-25 A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat Pending CN109323887A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811246630.1A CN109323887A (en) 2018-10-25 2018-10-25 A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811246630.1A CN109323887A (en) 2018-10-25 2018-10-25 A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat

Publications (1)

Publication Number Publication Date
CN109323887A true CN109323887A (en) 2019-02-12

Family

ID=65262951

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811246630.1A Pending CN109323887A (en) 2018-10-25 2018-10-25 A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat

Country Status (1)

Country Link
CN (1) CN109323887A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040230A (en) * 2019-04-26 2019-07-23 哈尔滨工程大学 It is a kind of that wave energy is converted into the ocean vehicle that low frequency pitching realizes propulsion

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040230A (en) * 2019-04-26 2019-07-23 哈尔滨工程大学 It is a kind of that wave energy is converted into the ocean vehicle that low frequency pitching realizes propulsion
CN110040230B (en) * 2019-04-26 2020-05-19 哈尔滨工程大学 Ocean carrier for converting wave energy into low-frequency pitching motion to realize propulsion

Similar Documents

Publication Publication Date Title
Furlong et al. Autosub long range: A long range deep diving AUV for ocean monitoring
US8944866B2 (en) Wave-powered endurance extension module for unmanned underwater vehicles
CN100501152C (en) Curved rope wheel wave energy conversion and power generating system
CN209280363U (en) A kind of solar energy combines driving seawater sampling unmanned boat with wave energy
CN109018271B (en) Novel large-span hybrid drive unmanned underwater vehicle
CN106695834A (en) Double-body detection underwater robot device and control method
CN109606577A (en) A kind of marine environmental monitoring green energy resource small-waterplane-area binary unmanned boat
CN106143801B (en) A kind of unmanned boat using light wave complementary duty
CN107878670A (en) The remote seawater sampling solar energy binary unmanned boat of the box connecting bridge of small swing radius
AU2018413663B2 (en) Remote control unmanned surface vehicle with wind-driven cycloidal propeller
Rynne et al. A wind and solar-powered autonomous surface vehicle for sea surface measurements
US20180297669A1 (en) Articulating moored profiler system
CN109323887A (en) A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat
CN108016573A (en) Band can manipulate the long-distance remote control seawater sampling solar energy unmanned boat that aerofoil profile stablizes lateral body
CN109733544B (en) Wing rudder linkage long-endurance double-body unmanned boat driven by natural energy
CN201254266Y (en) Multifunctional water surface robot
CN104816782B (en) A kind of high-speed craft energy-conservation drag reduction and boat state Automatic Optimal control device
CN107215429B (en) A kind of nobody half submarine of novel small-waterplane-area monomer
CN204124315U (en) A kind of not heavy environment protection ship operated steadily
CN202175175U (en) Multipurpose anchor-handling tug supply vessel
CN105383645A (en) Dragging floating type solar power station used for boat
CN202186494U (en) Diving support ship with detachable type positioning anchor rack
CN111791993A (en) Mother ship supported by manned submersible
CN206475196U (en) A kind of binary detects underwater robot device
CN106150844A (en) A kind of water power calculation system and water energy conversion equipment thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination