CN110182344A - A kind of miniature self-service ship from main propelling machinery and control method - Google Patents
A kind of miniature self-service ship from main propelling machinery and control method Download PDFInfo
- Publication number
- CN110182344A CN110182344A CN201910451314.6A CN201910451314A CN110182344A CN 110182344 A CN110182344 A CN 110182344A CN 201910451314 A CN201910451314 A CN 201910451314A CN 110182344 A CN110182344 A CN 110182344A
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- CN
- China
- Prior art keywords
- shipboard
- controller
- transmission shaft
- miniature self
- hull
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000012546 transfer Methods 0.000 abstract description 3
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/14—Transmission between propulsion power unit and propulsion element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of miniature self-service ships from main propelling machinery and control method, including hull and shipboard, the shipboard is located on the hull, it is characterized by: the shipboard is connected separately with battery pack and controller, the battery pack and controller are connected with each other, the shipboard includes stepper motor, transmission shaft, worm gear, worm screw, propeller and outboard engine, the hull is equipped with stepper motor, the stepper motor is connected with worm screw, the worm and wheel intermeshing, the worm gear is connected with transmission shaft, one end of the transmission shaft is connected with propeller, the other end is connected with outboard engine.The torque transfer that the present invention exports stepping motor using Worm Wheel System is to shipboard, it is set to rotate certain angle, the angular dimension specifically rotated and direction are adjusted by controller output electric pulse signal to stepping motor, reduce the turning radius and time loss of ship, energy consumption is reduced, mobility is more preferable.
Description
Technical field
The present invention relates to the Powered Propulsion technical fields of unmanned boat, and in particular to a kind of autonomous propulsion dress of miniature self-service ship
It sets and control method.
Background technique
Unmanned boat is a kind of intelligent marine vehicle for having path planning, independent navigation, hiding the functions such as obstacle.
It combines the professional techniques such as vessel designs, internet communication, automation control, can be according to different applications, using difference
Functional module.Unmanned boat can navigation channel mapping, water life-saving, in terms of play a great role.
Current ship substantially adjusts direction using rudder, and rudder is that torque caused by the impact by water comes more
Change direction.This rotating direction control method is more demanding to the route speed of ship, and turning radius is larger, the required time
It is longer, greatly reduce the flexibility of ship's navigation.
Summary of the invention
To solve the above-mentioned problems in the prior art, the present invention provides a kind of autonomous propulsion of miniature self-service ship dresses
It sets and control method.
Technical scheme is as follows: a kind of miniature self-service ship from main propelling machinery, including hull and shipboard, institute
It states shipboard to be located on the hull, the shipboard is connected separately with battery pack and controller, the battery pack and controller
It is connected with each other, the shipboard includes stepper motor, transmission shaft, worm gear, worm screw, propeller and outboard engine, the ship
Body is equipped with stepper motor, and the stepper motor is connected with worm screw, the worm and wheel intermeshing, and the worm gear is connected with
Transmission shaft, one end of the transmission shaft are connected with propeller, and the other end is connected with outboard engine, the controller respectively with
Stepper motor is connected with outboard engine, and the battery pack is connected with stepper motor.
It is connected between the transmission shaft and outboard engine by first bevel gear.
It is connected between the transmission shaft and propeller by second bevel gear.
The shipboard is equipped with shell, and the shell is connected with worm gear.
The device further includes locating module and environment measurement module, the controller respectively with locating module and environment measurement
Module is connected.
Fixed mechanism is equipped between the transmission shaft and hull, the fixed mechanism is fixedly connected with hull, the fixation
Mechanism is connect with transmission shaft by bearing.
Fixed bracket is equipped between the hull and stepper motor.
A kind of control method of miniature self-service ship, comprising the following steps: 1 starts navigational duty, and controller is wanted according to task
One navigation path of planning in advance is sought, shipboard is restarted, shipboard is then turned to one properly according to the path of planning
Angle, then unmanned boat starts to navigate by water；For 2 unmanned boats during navigation, controller analyzes deviation by locating module in real time
Degree, if being more than that will readjust the angle of shipboard after specified value；Controller is real-time by environment measurement module simultaneously
Whether monitoring forward path has emergency situations, if there is emergency situations, controller can planning path again；3 unmanned boats reach mesh
Ground after, controller can close shipboard, end task.The shipboard includes stepper motor and worm and gear, passes through stepping
Motor rotation, and worm and worm wheel rotation is driven to realize that shipboard rotates.
The torque transfer that the present invention exports stepping motor using Worm Wheel System keeps its rotation certain to shipboard
Angle, the angular dimension specifically rotated and direction are adjusted by controller output electric pulse signal to stepping motor.Relatively
In changing direction using steering gear system, the direction of ship's navigation is directly changed using rotation shipboard, can reduce turning for ship
Curved radius and time loss reduce energy consumption, it are made to possess better mobility.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is autonomous control flow chart of the invention.
In Fig. 1: 1, hull, 2, battery pack, 3, controller, 4, stepping motor, 5, fixed bracket, 6, shipboard starts
Machine, 7, first bevel gear transmission, 8, worm gear, 9, worm screw, 10, fixed mechanism, 11, transmission shaft, 12, propeller, the 13, second cone tooth
Wheel transmission.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described:
As shown in Figure 1, the rotor that 3 output electric pulse signal of controller to stepping motor 4, makes it internal rotates certain angle
Degree.Worm screw 9 is connected with stepper motor 4, and worm gear 8 is connected with shipboard shell, and a worm gear mechanism makes whole in this way
A outboard function is rotated with the rotation of stepping motor 4, and angle that shipboard specifically rotates, direction are by above-mentioned control
Device 3 processed indirectly controls.Controller 3 also controls the switch of outboard engine 6 and the size of output power, what engine 6 exported
Power passes to transmission shaft through first bevel gear 7, then is transmitted to propeller 12 through second bevel gear 13 and transmission shaft 11.Controller 3
It is all powered by battery pack 2 with stepper motor 4.Stepper motor 4 is the fixation bracket 5 being welded on hull.9 one side of fixed mechanism and
Hull is connected, and is fixed；Another side is connected with shipboard shell, but is to be connected between them using bearing, in this way may be used
To facilitate the autonomous rotation of shipboard.
As shown in Fig. 2, controller 3 plans a navigation path according to mission requirements in advance, then opens after starting navigational duty
Shipboard, is then turned to a suitable angle according to the path of planning, then begins to navigate by water by dynamic shipboard.It is navigating by water
In the process, since extraneous factor can deviate the path originally planned, such as wave, wind, controller 3 is real-time by locating module
The degree deviateed is analyzed, the angle of shipboard will be readjusted after being more than specified value.Controller can also pass through environment measurement
Whether module real-time monitoring forward path has emergency situations, if any, controller 3 will planning path again.Reach mesh
Ground after, controller 3 may turn off shipboard, end task.
To sum up, the torque transfer that the present invention exports stepping motor using Worm Wheel System makes its turn to shipboard
Certain angle is moved, the angular dimension specifically rotated and direction are adjusted by controller output electric pulse signal to stepping motor
Section.Direction is changed relative to using steering gear system, the direction of ship's navigation is directly changed using rotation shipboard, ship can be reduced
Turning radius and time loss only reduces energy consumption, it is made to possess better mobility.
Claims (9)
1. a kind of miniature self-service ship is located at the hull from main propelling machinery, including hull (1) and shipboard, the shipboard
(1) on, it is characterised in that: the shipboard is connected separately with battery pack (2) and controller (3), the battery pack (2) and control
Device (3) is connected with each other, and the shipboard includes stepper motor (4), worm gear (8), worm screw (9), transmission shaft (11), propeller (12)
With outboard engine (6), the hull (1) is equipped with stepper motor (4), and the stepper motor (4) is connected with worm screw (9),
The worm screw (9) and worm gear (8) are intermeshed, and the worm gear (8) is connected with transmission shaft (11), one end of the transmission shaft (11)
Be connected with propeller (12), the other end is connected with outboard engine (6), the controller (3) respectively with stepper motor (4) and
Outboard engine (6) is connected, and the battery pack (2) is connected with stepper motor (4).
2. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the transmission shaft (11) with
It is connected between outboard engine (6) by first bevel gear (7).
3. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the transmission shaft (11) with
It is connected between propeller (12) by second bevel gear (13).
4. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the shipboard is equipped with outer
Shell, the shell are connected with worm gear (8).
5. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the device further includes positioning
Module and environment measurement module, the controller (3) are connected with locating module and environment measurement module respectively.
6. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the transmission shaft (11) with
Fixed mechanism (10) are equipped between hull (1), the fixed mechanism (10) is fixedly connected with hull (1), the fixed mechanism
(10) it is connect with transmission shaft (11) by bearing.
7. a kind of miniature self-service ship as described in claim 1 from main propelling machinery, sign is: the hull (1) and step
Bracket (5) are fixed into being equipped between motor (4).
8. a kind of based on a kind of control of the miniature self-service ship from main propelling machinery of miniature self-service ship as described in claim 1
Method, it is characterised in that: the following steps are included: 1 starts navigational duty, controller (3) plans one according to mission requirements in advance
Navigation path restarts shipboard, and shipboard is then turned to a suitable angle according to the path of planning, then nobody
Ship starts to navigate by water；For 2 unmanned boats during navigation, controller (3) analyzes the degree of deviation by locating module in real time, if being more than
The angle of shipboard will be readjusted after specified value；Controller (3) passes through road in front of environment measurement module real-time monitoring simultaneously
Whether diameter has emergency situations, if there is emergency situations, controller (3) understands planning path again；After 3 unmanned boats arrive at the destination,
Controller can close shipboard, end task.
9. a kind of control method of miniature self-service ship as claimed in claim 8, it is characterised in that: the shipboard includes stepping
Motor (4), worm gear (8) and worm screw (9) rotate (4) by stepper motor, and worm screw (9) and worm gear (8) is driven to rotate to realize
Shipboard rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910451314.6A CN110182344A (en) | 2019-05-28 | 2019-05-28 | A kind of miniature self-service ship from main propelling machinery and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910451314.6A CN110182344A (en) | 2019-05-28 | 2019-05-28 | A kind of miniature self-service ship from main propelling machinery and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182344A true CN110182344A (en) | 2019-08-30 |
Family
ID=67718307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910451314.6A Pending CN110182344A (en) | 2019-05-28 | 2019-05-28 | A kind of miniature self-service ship from main propelling machinery and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110182344A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301650A (en) * | 2020-03-12 | 2020-06-19 | 大连海洋大学 | Unmanned ship with full-rotation rudder propeller |
| CN114030579A (en) * | 2021-12-07 | 2022-02-11 | 杭州电子科技大学 | Unmanned ship stability control method and propulsion device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2138094Y (en) * | 1992-10-16 | 1993-07-14 | 江都县机电修造厂 | Paddle for rudderless ship |
| CN2159360Y (en) * | 1993-04-24 | 1994-03-23 | 江苏省农业机械研究所 | Assembled external impeller of boat |
| CN101195410A (en) * | 2007-12-27 | 2008-06-11 | 许惠民 | Integral full turning lift type steering oar device |
| CN101833335A (en) * | 2010-05-10 | 2010-09-15 | 珠海云洲智能科技有限公司 | Small-size water surface robot device and self-adaptive flow optimizing navigation method |
| CN102707721A (en) * | 2012-06-03 | 2012-10-03 | 西北工业大学 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
-
2019
- 2019-05-28 CN CN201910451314.6A patent/CN110182344A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2138094Y (en) * | 1992-10-16 | 1993-07-14 | 江都县机电修造厂 | Paddle for rudderless ship |
| CN2159360Y (en) * | 1993-04-24 | 1994-03-23 | 江苏省农业机械研究所 | Assembled external impeller of boat |
| CN101195410A (en) * | 2007-12-27 | 2008-06-11 | 许惠民 | Integral full turning lift type steering oar device |
| CN101833335A (en) * | 2010-05-10 | 2010-09-15 | 珠海云洲智能科技有限公司 | Small-size water surface robot device and self-adaptive flow optimizing navigation method |
| CN102707721A (en) * | 2012-06-03 | 2012-10-03 | 西北工业大学 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301650A (en) * | 2020-03-12 | 2020-06-19 | 大连海洋大学 | Unmanned ship with full-rotation rudder propeller |
| CN114030579A (en) * | 2021-12-07 | 2022-02-11 | 杭州电子科技大学 | Unmanned ship stability control method and propulsion device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190830 |