CN110481777A - A kind of empty amphibious unmanned Succor plain stage of water - Google Patents
A kind of empty amphibious unmanned Succor plain stage of water Download PDFInfo
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- CN110481777A CN110481777A CN201910766834.6A CN201910766834A CN110481777A CN 110481777 A CN110481777 A CN 110481777A CN 201910766834 A CN201910766834 A CN 201910766834A CN 110481777 A CN110481777 A CN 110481777A
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- plain stage
- succor plain
- unmanned
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 86
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- 230000005489 elastic deformation Effects 0.000 claims description 7
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
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- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Emergency Lowering Means (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of empty amphibious unmanned Succor plain stage of water, it both can be in surface navigation, it can fly in the sky again, two kinds of sail modes can fast free switching, surface navigation is promoted by two small-waterplane-area highly faired hulls and the marine propeller for being installed on each hull rear, propulsion mode using twin screw differential；Aerial navigation relies on four quadrotor propellers and mating brushless motor, is fixed on right above Succor plain stage in regular quadrangle；The long-range relief goods delivery device that the present invention is equipped with uses simple and reliable door type structure；Autonomous tracking and automatic obstacle avoiding function can be achieved in the present invention.The advantages of present invention incorporates small waterplane area twin hull ship and quadrotor drones, quickly passing through for discontinuous waters may be implemented using its flight function, in the waters for not having conventional salvor launching condition, it can be reached with flying method, the adaptive capacity to environment of unmanned Succor plain stage is enhanced, the working range of unmanned Succor plain stage is expanded.
Description
Technical field
The present invention relates to a kind of empty amphibious unmanned Succor plain stages of water, belong to field of rescue equipment.
Background technique
It investigates and shows according to the World Health Organization, it is drowned that the whole world has 370,000 people to die of every year, wherein mostly being rescued with rescuing not in time
It helps and is simply equipped as main cause, traditional water life-saving mode is cooperated with manpower rescue based on simple deliverance apparatus, this
Under rescue mode rescue efficiency, search and rescue are limited in scope, and rescuer can be made equally to fall into dangerous situation often, cause rescuer and
The rescued's wrecked tragedy in pairs.
In today that science and technology is showing improvement or progress day by day, unmanned intelligentized concept provides for our water life-saving equipment research and development
New approaches, representative includes unmanned salvor, rescue unmanned plane etc..However practical water environment is complicated and changeable, part
Waters is deep mixed or discontinuously arranged in small area, such as marsh, submerged reef waters, and unmanned salvor can not be each discontinuous
It is walked between waters, it is complicated that there are also some waters banks environment, and the water surface and ground drop are larger, such as reservoir, intermountain lake, rescue
It helps equipment and personnel and is lauched difficulty, greatly reduce rescue efficiency, in some instances it may even be possible to which the best opportunity for missing rescue causes not drawing
The loss returned.Rescue unmanned plane is limited by its powered mode, and cruising ability is limited, and load is smaller, is unable to complete for a long time
Search and rescue task.
Summary of the invention
The purpose of the invention is to provide a kind of water empty amphibious unmanned Succor plain stage, be one kind can surface navigation again
The empty amphibious unmanned Succor plain stage (hereinafter referred to as unmanned Succor plain stage) of the water that can be flown in the sky, the empty amphibious unmanned Succor plain stage of water
Free switching it can increase nobody to improve the adaptive capacity to environment of unmanned Succor plain stage under two kinds of operational configurations and rescue
The application range of platform, while this unmanned Succor plain stage is gathered around there are two types of control model, respectively online remote control mode navigates with autonomous
Row mode, under autonomous navigation mode, autonomous tracking and automatic obstacle avoiding function, autonomous navigation mould is may be implemented in unmanned Succor plain stage
The realization of formula alleviates the work load of operator, substantially increases the unmanned utonomous working ability of unmanned Succor plain stage, this
Unmanned Succor plain stage is further equipped with the remote control relief goods delivery device of special construction, this relief goods delivery device knot
Structure is simple, and launching reliable in action can help unmanned Succor plain stage preferably to complete long-range rescue task.
The object of the present invention is achieved like this: launching dress including surface navigation part, aerial navigation part, relief goods
It sets and includes two hulls, the floating body connection frame for connecting two hulls, is arranged every with center control cabinet, the surface navigation part
The propeller of a hull tail portion, the pod being arranged in outside propeller, the aerial navigation part include propeller combination branch
Frame, four propellers being arranged on propeller sectional shelf-unit combination, four propellers are combined into square arrangement and two neighboring
Propeller combination is oppositely oriented, is connected between propeller sectional shelf-unit and floating body connection frame by the intermediate column that connects, described to rescue
Helping goods and materials delivery device includes launching cradle and ejection rope, and launching cradle includes two for being symmetricly set on propeller sectional shelf-unit lower end
Upper holder, four driving steering engines being arranged on four fixed frames, divides two lower fixed frames that two hull upper ends are arranged in
Be not arranged in four driving steering engine output end on movable racks, there are two the ejection ropes, it is each launch rope both ends with it is same
Two movable racks of side connect, and the center of propeller sectional shelf-unit is arranged in the center control cabinet, in center control cabinet
In equipped with lower computer system, drive circuit system and power supply system needed for unmanned Succor plain stage control system, under control cabinet
Side is fixed with two axis high-definition cameras.
The invention also includes structure features some in this way:
1. being additionally provided with longitudinal buffer mechanism between hull and floating body connection frame junction, longitudinal buffer mechanism includes slow
Rush reed and U-shaped aluminum profile.
2. the center control cabinet upper outer surface designs for slope.
3. floating body connection frame, intermediate connection column and propeller sectional shelf-unit are disposed as hollow structure.
4. when movable rack closes up, ejection rope wraps up the relief goods that residence to be launched in a ring and is received in movable rack inboard,
By the shared volume of the relief goods to be launched itself, elastic deformation can occur for ejection rope, need to carry out goods and materials dispensing
When, movable rack is opened using the driving steering engine being fixed on fixed frame, launch Suo Liyong itself elastic restoring force by itself
It is exceptionally straight so that relief goods are ejected.
Compared with prior art, the beneficial effects of the present invention are: the empty amphibious unmanned Succor plain stage of water of the invention combines
The advantages of small waterplane area twin hull ship and quadrotor drone, not only steadily can rapidly navigate by water in the water surface, but also can fly in the sky,
Two kinds of sail modes can be adapted to more complicated rescue environment without changing whole ship structure with free switching；Of the invention
The empty amphibious unmanned Succor plain stage of water has two kinds of control models, respectively online remote control mode and autonomous navigation mode, autonomous
Sail mode, which is lauched empty amphibious unmanned Succor plain stage, may be implemented autonomous tracking and automatic obstacle avoiding function, significantly reduce operator
The burden of member, improves the unmanned utonomous working ability of unmanned Succor plain stage；The empty amphibious unmanned Succor plain stage of water of the invention is adopted
With twin screw differential propulsion mode, have superior maneuverability, realizes the solution of shipping sail speed Yu ship cornering rate
Coupling is provided convenience for the introducing of advanced Heading control algorithm；The empty amphibious unmanned Succor plain stage of water of the invention can realize the water surface
With the VTOL on ground, take off without very big waters；The empty amphibious unmanned Succor plain stage of water of the invention can realize overhead suspension
Stop, and the flight of aerial any direction may be implemented, at-altitude handling is superior；The empty amphibious unmanned Succor plain stage of water of the invention
Airflight mode and surface navigation mode use different power devices, and the two is independent of each other, and are avoiding two kinds of navigation
Mode interferes with each other；Compared to the power device of surface navigation, the power device energy consumption of aerial navigation is higher, in surface navigation mould
Aerial navigation power device does not work under formula, therefore the empty amphibious unmanned Succor plain stage of water of the invention is more energy-saving and environmentally friendly, and is continued a journey
Ability is stronger.The empty amphibious unmanned Succor plain stage of water of the invention can use flight function under discontinuous waters and realize different water
Quickly passing through for domain, enhances the adaptive capacity to environment of unmanned Succor plain stage；The empty amphibious unmanned Succor plain stage of water of the invention exists
Do not have the waters of conventional unmanned salvor launching condition, can take off apart from the farther away place in waters, then drop to mesh
Water environment in complete assigned tasks.The master controller of the empty amphibious unmanned Succor plain stage of water of the invention has been reserved sensor and has been held
Row actuator interface has extremely strong function expansibility.The relief goods that the empty amphibious unmanned Succor plain stage of water of the invention uses are thrown
It is simple to put apparatus structure, failure rate is low, and easy to maintain and maintenance, device weight itself is smaller, will not bring to flight part
Big burden.
Detailed description of the invention
Fig. 1 is the tilt filter figure of the empty amphibious unmanned Succor plain stage of binary of water；
Fig. 2 is the top view of the empty amphibious unmanned Succor plain stage of binary of water；
Fig. 3 is the left view of the empty amphibious unmanned Succor plain stage of binary of water；
Fig. 4 is relief goods delivery device closed configuration figure；
The position Fig. 5 relief goods delivery device opening state figure；
Fig. 6 is the related Control System block diagram of the empty amphibious unmanned Succor plain stage of binary of water；
Figure label explanation: 1. left hulls, 2. right hulls, 3. left-hand airscrews, 4. right-hand screw paddles, 5. left pods, 6. is right
Pod, 7. floating body connection frames, 8. center control cabinets, 9. longitudinal buffer mechanisms, 10. centres connect column, the combination of 11. propellers
One, 12. propellers combination two, 13. propellers combination three, 14. propellers combination four, 15. propeller sectional shelf-units, 16. liang of axis
High definition binocular camera, 17. upper holders, 18. lower fixed frames, 19. (movable racks on relief goods delivery device) drive steering engine,
20. (movable rack under relief goods delivery device) drives steering engine, movable rack on 21., 22. lower movable racks, 23. ejection ropes.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
The empty amphibious unmanned Succor plain stage of water of the present invention is divided into surface navigation part, aerial navigation portion in structure
Point, relief goods delivery device part and related Control System part.Including two hulls, hull connection frame, two spiral shells peculiar to vessel
Revolve paddle and its driving motor, four quadrotor propellers and its driving motor, quadrotor electric machine support, relief goods dispensing
Device and positioned at Succor plain stage intermediate body portion Succor plain stage control box, two hulls using hull connection frame with
Appropriate spacing is connected and fixed in parallel, and two marine propellers and its driving motor are separately fixed at two hulls
Rear, four quadrotor propellers and its driving motor are fixed on electric machine support in regular quadrangle using quadrotor
The surface of Succor plain stage, the installation of the relief goods delivery device should guarantee being normally carried out and not for its dispensing movement
The realization of Succor plain stage other function can be interfered.The present invention can fly in surface navigation but also in the sky, and can be at two kinds
Free switching under sail mode, without changing the overall construction of the empty amphibious unmanned Succor plain stage of water when switching sail mode.Institute
The hull connection frame and quadrotor electric machine support stated use carbon fibre material.The realization of the surface navigation mode utilizes
Twin screw differential propulsion mode.The drive of the driving motor and four quadrotor propellers of two marine propellers
Dynamic motor is brushless motor.In the aerial navigation mode, by controlling four respective revolving speeds of quadrotor propeller
To adjust state of flight when Succor plain stage airflight.Control system mainly includes that electricity needed for brushless motor is adjusted, flight is controlled
Device, IMU sensor, GPS positioning system or Beidou satellite navigation system processed, wireless telecommunications and figure transmission module, two axis high definition binoculars
Camera, relief goods delivery device driving mechanism, ground base station, master controller.Other sensings have been reserved in the controls
The interface of device and execution unit facilitates the extension of function.There are online remote control and autonomous navigation both of which in control model.In
Autonomous tracking and automatic obstacle avoiding function are able to achieve under the autonomous navigation mode.
The surface navigation part uses the mentality of designing of small waterplane area twin hull ship, and two hulls use small-waterplane-area streamline
Type design, the Area of Water Plan of small waterplane area twin hull ship type just correspond to 1/4 or so of the identical ordinary ships of displacement, can be significantly
Reduce wave making resistance, and weaken the interference effect of wave obviously, so that reducing ship sways movement and wave bat in wave
It hits, sea-keeping is better than common ship type and general catamaran, and the above advantage can allow amphibious unmanned Succor plain stage to take off in the water surface
Stage is in more stably state.In addition to this, small waterplane area twin hull ship type also has that speed is fast, stability is good, maneuverability is superior
Etc. advantages.
Using intensity, high, the lesser carbon fiber pipe of quality is attached fixation, In to the hull of the small waterplane area twin hull ship
While guaranteeing the firm of surface navigation part-structure, stabilization, requirement of the Aerial parts to entire hull weight has been taken into account.
The principle of twin screw differential propulsion is utilized in the power device of the surface navigation part, in the tail of each hull
Portion has a propelling screws peculiar to vessel, controls the thrust of two propellers generation by controlling the revolving speed of two propellers, into
And realize the control of unmanned Succor plain stage surface navigation part route speed, two are controlled by controlling the rotating ratio of two propellers
The thrust ratio of propeller to generate flywheel moment to hull, and then realizes the water surface Heading control of unmanned Succor plain stage, in order to
It concentrates the thrust of each propeller more, has installed pod additional outside propeller.Twin screw differential propulsion mode belongs to
A kind of vector propulsion mode cooperates small waterplane area twin hull ship type, it is more superior to impart unmanned Succor plain stage surface navigation part
Maneuverability.Twin screw differential propulsion mode controls the navigation direction of ship without rudder for ship, relieves shipping sail speed
With the hard coupling relationship of ship cornering rate, provide convenience for the introducing of advanced Heading control algorithm.
The driving motor of the propelling screws peculiar to vessel uses brushless motor, and brushless motor has highly reliable, control
The good advantage of performance can satisfy twin screw differential propulsion mode to the harsh performance requirement of driving motor, and brushless motor
There is no brush, the service life is longer compared to common direct current generator, since brushless motor is without as this exposed electro-mechanical part of brush
Part, it is not necessary to worry the waterproof problem of motor, therefore motor directly can be directly anchored to hull rear, reduce unmanned rescue
The installation difficulty of platform power device.
The aerial navigation part include four quadrotor propellers and drive its rotate brushless motor, also with
Carbon fiber pipe is attached as the intermediate body portion of bracket and unmanned Succor plain stage, and the position where four propellers is in just
Quadrangle is fixed on the surface of unmanned Succor plain stage, wherein each adjoining spiral paddle turns on the contrary, by four propellers of control
Respective revolving speed adjusts the flying height and flight attitude of unmanned Succor plain stage Aerial parts.
The relief goods delivery device part includes launching cradle and elasticity ejection rope, and launching cradle includes one group of fixed frame
With one group of movable rack, movable rack can be rotated around fixed frame end, form door type structure, and fixed frame can be compared to doorframe, movable rack
It is compared to door-plate, launches Suo Caiyong elastic material, ejection rope end is separately fixed at the end of movable rack free end, when movable rack closes
When holding together, the ejection rope package relief goods to be launched of residence are received in movable rack inboard, by the relief goods itself to be launched
Shared volume, elastic deformation can occur for ejection rope, and when needing to carry out goods and materials dispensing, movable rack is opened, and ejection Suo Liyong is certainly
The elastic restoring force of body ejects relief goods.This delivery device structure is simple, and failure rate is low, easy to maintain and guarantor
It supports, and device weight itself is smaller, excessive burden will not be brought to flight part.
The related Control System includes: Flight Control Section, flight controller, water surface control section, master controller, rescues
Goods and materials delivery device part, carry Sensor section and human-computer interaction part are helped, Flight Control Section includes driving propeller group
Electricity needed for the brushless motor of conjunction is adjusted, and is connected with brushless motor, flight controller and power supply system, is mainly used for brushless electricity
The revolving speed of machine is controlled；Flight controller, the resultant force for being mainly used for the empty amphibious unmanned Succor plain stage flight part of water decompose fortune
Calculate and regulate and control using electricity the revolving speed of four motors of flight part processed；Water surface control section includes the brushless of driving left-and-right spiral paddle
Electricity needed for motor is adjusted, and is connected with brushless motor, master controller and the power supply system of driving left-and-right spiral paddle, is mainly used for pair
The revolving speed of motor needed for water surface control section is controlled；Master controller, resultant force decomposition operation and benefit for water surface part
Electricity consumption regulates and controls the revolving speed of two motors of water surface part processed, and control relief goods delivery device executes projectile motion, handles simultaneously
Control command from ground base station, is cooperated with flight controller；Relief goods delivery device control section includes goods and materials
It launches movable rack driving steering engine and goods and materials launches movable rack, for driving relief goods catapult-launching gear to execute projectile motion；Carry
Sensor section includes IMU sensor, the posture information of detection and the empty amphibious unmanned Succor plain stage of feedback water, GPS positioning system,
The location information of detection and the empty amphibious unmanned Succor plain stage of feedback water；Two axis high definition binocular cameras, have self-stability and
Stabilization ability investigates with waters for remotely monitoring, and cooperates the realization of unmanned Succor plain stage barrier avoiding function, on master controller
Interface has also been reserved, if for amphibious unmanned Succor plain stage additional other sensors or execution unit need to be installed, can have been unified by master control
Device processed completes data processing and relevant control；Human-computer interaction part includes ground base station, wireless communication module and figure transmission module, master
Be used for the human-computer interaction of above ground portion, can use under online remote control mode ground base station real time remote control water it is empty it is amphibious nobody rescue
Platform is helped, it is can use under autonomous navigation mode and provides desired guiding trajectory, and the content that real time inspection camera takes.
The empty amphibious unmanned Succor plain stage of the water has the ability of autonomous tracking and automatic obstacle avoiding, in autonomous navigation mode
Under, operator provides desired guiding trajectory using ground base station on the electronic map, and the empty amphibious unmanned Succor plain stage of water can benefit
With the related sensor and controller autonomous control hull carried on ship follow operator to default track carry out from
Main navigation, the two axis high definition binocular cameras that the empty amphibious unmanned Succor plain stage of water can use carrying during navigation are autonomous
Cognitive disorders object simultaneously guides the empty amphibious unmanned autonomous avoiding barrier of Succor plain stage of water, these functions can water it is empty it is amphibious nobody
Succor plain stage substantially reduces the workload of operator when executing the tasks such as tramp-liner cruise, underwater topography detection, make operator
Member frees from the ship-handling of uninteresting dullness work.
As shown in Figure 1-Figure 3, respectively tilt filter figure, top view and the left view of the empty amphibious unmanned Succor plain stage of binary of water
Figure, unmanned Succor plain stage be broadly divided into structure surface navigation part, aerial navigation part, center control cabinet (8) partially and
Relief goods delivery device part.
The surface navigation part mainly includes parallelly distribute on and the left hull (1) and right hull for being spaced suitable distance
(2), two hulls are designed using small-waterplane-area, and it is identical general that the Area of Water Plan of small waterplane area twin hull ship type just corresponds to displacement
1/4 or so of logical ship, can greatly reduce wave making resistance, and weaken the interference effect of wave obviously, to reduce ship in wave
Movement and sea slap are swayed in wave, sea-keeping is better than common ship type and general catamaran, and the above advantage can allow amphibious
Unmanned Succor plain stage is in more stably state in water surface takeoff phase.Small waterplane area twin hull ship type can provide bigger deck
Area installs other workbenches additional for unmanned Succor plain stage and provides enough supports spatially, in addition to this, small-waterplane-area
Binary ship type also has the advantages such as speed is fast, stability is good, maneuverability is superior.In order to reduce hull in water in traveling process by
Resistance, floating body front end use airflow design.Simultaneously to guarantee amphibious unmanned Succor plain stage whole stability in the sky, float
The weight of body should be evenly distributed in the plane that two floating bodies are constituted.
The principle of twin screw differential propulsion is utilized in the power device of the surface navigation part, in the left hull
(1) and the rear end of right hull (2) is provided with marine propeller, respectively corresponds as left-hand airscrew (3) and right-hand screw paddle (4), passes through
The revolving speed of two propellers is controlled to control the thrust of two propellers generation, and then realizes unmanned Succor plain stage surface navigation part boat
The control of scanning frequency degree controls the thrust ratio of two propellers by controlling the rotating ratio of two propellers, to generate back to hull
Torque, and then realize the water surface Heading control of unmanned Succor plain stage, two propellers install pod, corresponding left pod additional respectively
(5) and right pod (6), installing pod additional helps to put together the water flow that two propellers push backward, to generate more
Add the thrust of concentration, pod is provided with strip square hole, is conducive to the large-scale sundries near filtering screw paddle in water body, such as water
Grass, fishing net etc., avoid it from being wound on propeller, while the installation of pod can be to avoid propeller is hit and is damaged.
The control motor of the marine propeller uses brushless motor, and brushless motor has highly reliable, control performance
Good advantage, can satisfy twin screw differential propulsion mode to the harsh performance requirement of driving motor, and brushless motor does not have
Brush, compared to common direct current generator, the service life is longer, since brushless motor is without picture this exposed charging member of brush, no
It must worry the waterproof problem of motor, therefore after motor directly being directly anchored to the left hull (1) and right hull (2)
Side, reduces the installation difficulty of unmanned Succor plain stage power device.
The left hull (1) and right hull (2) is high using intensity, the lesser carbon fiber pipe cooperation aluminum profile of quality carries out
It is connected and fixed, while guaranteeing the firm of surface navigation part-structure, stabilization, also to take into account Aerial parts to entire hull weight
Carbon fiber pipe and aluminum profile are built into firm floating body connection frame (7) using aluminum alloy connector by the requirement of amount, in order to avoid
Biggish impact, floating body connection frame (7) and floating body are generated to the center control cabinet (8) when amphibious unmanned Succor plain stage lands
Each coupling part be respectively provided with the longitudinal buffer mechanism (9) being made of four buffering reeds and U-shaped aluminum profile.Floating body connection
Frame (7) is that the intermediate of high-strength carbon fiber pipe connect column by four root timber material with the aerial navigation part of amphibious unmanned Succor plain stage
(10) it connects.
The aerial navigation part mainly includes four spirals being made of quadrotor propeller and mating brushless motor
Paddle combination is corresponding in turn to propeller group unification (11), propeller combines two (12), propeller combines three (13) and propeller combination
Four (14), the position where four propellers is fixed on the surface of unmanned Succor plain stage in regular quadrangle, wherein each adjacent spiral shell
Rotation paddle turns in the operating condition on the contrary, but generation lift direction it is identical, this requires adjacent quadrotor propeller rotation directions
On the contrary, two (12) are combined in such as propeller group unification (11), propeller, propeller combines three (13) and propeller combines four (14)
Successively use positive paddle, anti-paddle, positive paddle and anti-paddle.Unmanned Succor plain stage Aerial parts are adjusted by the revolving speed of four propellers of control
Flying height and flight attitude.Also with carbon fiber pipe as in propeller sectional shelf-unit (15) and unmanned Succor plain stage
Between main part be attached.
The center control cabinet (8) is partially located at the intermediate body portion of unmanned Succor plain stage, control cabinet (8) at center
In equipped with lower computer system, drive circuit system and power supply system needed for unmanned Succor plain stage control system, under control cabinet
Side is fixed with two axis high-definition cameras (16), due to floating body connection frame (7) above-mentioned, intermediate connection column (10) and propeller group
It closes bracket (15) and all has hollow structure, therefore can be used as away spool use.Unmanned Succor plain stage control cabinet upper surface uses
Slope design avoids rainwater or navigates by water the water savings to splash in water environment on control cabinet, under control box cover and control cabinet
Surface coupling part has carried out water-proofing treatment, and internal circuit is avoided to contact and damage with water.
The relief goods delivery device part includes launching cradle and elasticity ejection rope, and launching cradle includes one group of fixed frame
(17) (18) and one group of movable rack (21), (22), movable rack can be rotated around fixed frame end, form door type structure, fixed frame
(17), (18) can be compared to doorframe, and movable rack (21), (22) are compared to door-plate, and ejection rope (23) uses two elastic strip materials,
Ejection rope end is separately fixed at the end of movable rack free end, and when movable rack closes up (such as Fig. 4), ejection rope wraps up in a ring
The relief goods to be launched of residence are received in movable rack (21), (22) inboard, by shared by the relief goods to be launched itself
Volume, elastic deformation can occur for ejection rope (23), when needing to carry out goods and materials dispensing, using being fixed on fixed frame (17), (18)
On driving steering engine (19), (20) by movable rack open (such as Fig. 5), ejection rope (23) using itself elastic restoring force by itself
It is exceptionally straight so that relief goods are ejected.This delivery device structure is simple, and failure rate is low, easy to maintain and maintenance, and fills
It sets that weight itself is smaller, excessive burden will not be brought to flight part.
Such as the related Control System block diagram that Fig. 6 is the empty amphibious unmanned Succor plain stage of binary of water, the related Control System packet
Include: Flight Control Section, flight controller, water surface control section, master controller, relief goods delivery device part, carry pass
Sensor part and human-computer interaction part, Flight Control Section include the nothing of driving propeller combination (11), (12), (13), (14)
Electricity needed for brush motor is adjusted, and is connected with brushless motor, flight controller and power supply system, is mainly used for turning brushless motor
Speed is controlled；Flight controller is mainly used for the resultant force decomposition operation and benefit of the empty amphibious unmanned Succor plain stage flight part of water
Electricity consumption regulates and controls the revolving speed of four motors of flight part processed；Water surface control section includes the nothing of driving left-and-right spiral paddle (3), (4)
Electricity needed for brush motor is adjusted, and is connected with brushless motor, master controller and the power supply system of driving left-and-right spiral paddle, is mainly used for
The revolving speed of motor needed for water surface control section is controlled；Master controller, the resultant force decomposition operation for water surface part is simultaneously
Regulate and control the revolving speed of two motors of water surface part processed using electricity, control relief goods delivery device executes projectile motion, locates simultaneously
The control command from ground base station is managed, is cooperated with flight controller；Relief goods delivery device control section includes object
Money ejection movable rack driving steering engine (19) (20) and goods and materials ejection movable rack (21) (22), for driving relief goods catapult-launching gear
Execute projectile motion；Carry Sensor section includes IMU sensor, the posture of detection and the empty amphibious unmanned Succor plain stage of feedback water
Information, GPS positioning system, the location information of detection and the empty amphibious unmanned Succor plain stage of feedback water；Two axis high definition binocular cameras
(16), have self-stability and stabilization ability, investigated for remotely monitoring with waters, and cooperate unmanned Succor plain stage avoidance function
The realization of energy, has also reserved interface on master controller, if need to install other sensors additional for amphibious unmanned Succor plain stage or hold
Row unit can be unified to complete data processing and relevant control by master controller；Human-computer interaction part includes ground base station, wireless
Communication module and figure transmission module are mainly used for the human-computer interaction of above ground portion, can use ground base station under online remote control mode
The empty amphibious unmanned Succor plain stage of real time remote control water, can use it under autonomous navigation mode and provides desired guiding trajectory, and look into real time
See the content that camera takes.
The empty amphibious unmanned Succor plain stage of the water has the ability of autonomous tracking and automatic obstacle avoiding, in autonomous navigation mode
Under, operator provides desired guiding trajectory using ground base station on the electronic map, and the empty amphibious unmanned Succor plain stage of water is using on ship
IMU sensor, GPS positioning system and the controller autonomous control hull of carrying follow operator to default track into
Row autonomous navigation.The empty amphibious unmanned Succor plain stage of water can use two axis high definition binocular cameras of carrying during navigation
Autonomous classification barrier simultaneously calculates position of the barrier relative to unmanned Succor plain stage itself in the controller, fixed using GPS
Position system, marks out the position of itself and barrier on the electronic map, recycles the empty amphibious unmanned rescue of controller control water
The autonomous avoiding barrier of platform, these functions can be big when the empty amphibious unmanned Succor plain stage of water executes the tasks such as tramp-liner cruise
The big workload for reducing operator, makes operator free from the platform driving task of uninteresting dullness.
To sum up, the present invention discloses a kind of empty amphibious unmanned Succor plain stage of water, and the present invention not only can be in surface navigation, but also can be
Airflight, two kinds of sail modes can fast free switching, surface navigation relies on two small-waterplane-area highly faired hulls and installation
Marine propeller in each hull rear, propulsion mode are promoted using twin screw differential；Aerial navigation is by four four rotations
Wing propeller and mating brushless motor are fixed on right above Succor plain stage in regular quadrangle；The long-range rescue that the present invention is equipped with
Goods and materials delivery device uses simple and reliable door type structure；Autonomous tracking and automatic obstacle avoiding function can be achieved in the present invention.The present invention
The fast of discontinuous waters may be implemented using its flight function in the advantages of combining small waterplane area twin hull ship and quadrotor drone
Speed is passed through, and in the waters for not having conventional salvor launching condition, can be reached with flying method, be enhanced unmanned Succor plain stage
Adaptive capacity to environment, expand the working range of unmanned Succor plain stage.
Claims (9)
1. a kind of empty amphibious unmanned Succor plain stage of water, it is characterised in that: including surface navigation part, aerial navigation part, rescue
Goods and materials delivery device and center control cabinet, the surface navigation part include the floating body connection of two two hulls, connection hulls
Frame, the propeller that each hull tail portion is arranged in, the pod being arranged in outside propeller, the aerial navigation part includes spiral shell
Rotation paddle sectional shelf-unit, the four propellers combination being arranged on propeller sectional shelf-unit, four propellers are combined into square arrangement
And the combination of two neighboring propeller is oppositely oriented, is connected between propeller sectional shelf-unit and floating body connection frame by the intermediate column that connects
It connects, the relief goods delivery device includes launching cradle and ejection rope, and launching cradle includes being symmetricly set on propeller sectional shelf-unit
Two upper holders of lower end, two lower fixed frames that two hull upper ends are set, be arranged on four fixed frames four
Driving steering engine, the movable rack being separately positioned on four driving steering engine output ends, there are two the ejection ropes, each ejection rope
The center of propeller sectional shelf-unit, In is arranged in the connection of two movable racks of both ends and the same side, the center control cabinet
Lower computer system, drive circuit system and power supply system needed for unmanned Succor plain stage control system is housed in the control cabinet of center,
Two axis high-definition cameras are fixed with below control cabinet.
2. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 1, it is characterised in that: connect in hull with floating body
Longitudinal buffer mechanism is additionally provided between frame junction, longitudinal buffer mechanism includes buffering reed and U-shaped aluminum profile.
3. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 1 or 2, it is characterised in that: the center control
Case upper outer surface designs for slope.
4. a kind of empty amphibious unmanned Succor plain stage of water according to claim 1 or 2, it is characterised in that: floating body connection frame, in
Between connect column and propeller sectional shelf-unit and be disposed as hollow structure.
5. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 3, it is characterised in that: floating body connection frame, centre
Connection column and propeller sectional shelf-unit are disposed as hollow structure.
6. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 1 or 2, it is characterised in that: when movable rack closes up
When, ejection rope wraps up the relief goods that residence to be launched in a ring and is received in movable rack inboard, by the relief goods to be launched
Shared volume itself, elastic deformation can occur for ejection rope, when needing to carry out goods and materials dispensing, using being fixed on fixed frame
Driving steering engine opens movable rack, and the elastic restoring force for launching Suo Liyong itself is exceptionally straight to which relief goods are ejected by itself
Come.
7. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 3, it is characterised in that: when movable rack closes up,
Ejection rope wraps up the relief goods that residence to be launched in a ring and is received in movable rack inboard, by the relief goods itself to be launched
Shared volume, ejection rope can occur elastic deformation, when needing to carry out goods and materials dispensing, utilize the driving being fixed on fixed frame
Steering engine opens movable rack, and the elastic restoring force for launching Suo Liyong itself is exceptionally straight to which relief goods are ejected by itself.
8. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 4, it is characterised in that: when movable rack closes up,
Ejection rope wraps up the relief goods that residence to be launched in a ring and is received in movable rack inboard, by the relief goods itself to be launched
Shared volume, ejection rope can occur elastic deformation, when needing to carry out goods and materials dispensing, utilize the driving being fixed on fixed frame
Steering engine opens movable rack, and the elastic restoring force for launching Suo Liyong itself is exceptionally straight to which relief goods are ejected by itself.
9. the empty amphibious unmanned Succor plain stage of a kind of water according to claim 5, it is characterised in that: when movable rack closes up,
Ejection rope wraps up the relief goods that residence to be launched in a ring and is received in movable rack inboard, by the relief goods itself to be launched
Shared volume, ejection rope can occur elastic deformation, when needing to carry out goods and materials dispensing, utilize the driving being fixed on fixed frame
Steering engine opens movable rack, and the elastic restoring force for launching Suo Liyong itself is exceptionally straight to which relief goods are ejected by itself.
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| CN117103919B (en) * | 2023-10-16 | 2024-05-17 | 广东工业大学 | Water-air amphibious catamaran and control method thereof |
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