CN111735656A - Unmanned survey vessel system - Google Patents
Unmanned survey vessel system Download PDFInfo
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- CN111735656A CN111735656A CN201910231678.3A CN201910231678A CN111735656A CN 111735656 A CN111735656 A CN 111735656A CN 201910231678 A CN201910231678 A CN 201910231678A CN 111735656 A CN111735656 A CN 111735656A
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- automatic cruise
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims 2
- 238000009434 installation Methods 0.000 claims 2
- 238000005070 sampling Methods 0.000 abstract description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 abstract description 5
- 229910052760 oxygen Inorganic materials 0.000 abstract description 5
- 239000001301 oxygen Substances 0.000 abstract description 5
- 230000002452 interceptive effect Effects 0.000 abstract description 3
- 239000013535 sea water Substances 0.000 abstract description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 239000000834 fixative Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biochemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the technical field of unmanned survey vessel systems, in particular to an unmanned survey vessel system. The invention aims to solve the technical problems that the existing unmanned ship distribution module is not strong enough, carrying capacity is weak and seawater dissolved oxygen sampling design is not outstanding. In order to solve the technical problem, the invention provides an unmanned survey vessel system which comprises software, wherein the software is in bidirectional connection with a first DTU-A, the output end of the first DTU-A is in signal connection with the input end of a second DTU-A, the output end of the second DTU-A is in signal connection with the input end of a multi-channel distributor, and the multi-channel distributor is in bidirectional connection with a first automatic cruise module. The multi-channel distributor is a prominent characteristic, introduces the digital network concept of a large-scale marine survey ship, has the function of creating a digital interactive network environment, and can greatly simplify cable connection and improve the stability of the system by using the multi-channel distributor.
Description
Technical Field
The invention relates to the technical field of unmanned survey vessel systems, in particular to an unmanned survey vessel system.
Background
The unmanned ship is a water surface platform which can independently navigate by means of self-carried energy, has small volume, shallow draft and flexibility, can replace workers to carry out overwater operation, and is increasingly widely applied to aspects of water environment detection, hydrological measurement, security protection, nuclear safety, flood fighting and emergency rescue and the like.
The current unmanned ship does not adopt a powerful signal distribution module, so that the internal communication configuration is not very flexible, the carrying capacity is weak, and the design of sampling seawater dissolved oxygen is not outstanding.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an unmanned survey vessel system, which solves the problems that the existing unmanned vessel distribution module is not strong enough, carrying capacity is weak and seawater dissolved oxygen sampling design is not outstanding.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an unmanned survey vessel system comprises software, the software is in bidirectional connection with a first DTU-A, the output end of the first DTU-A is in signal connection with the input end of a second DTU-A, the output end of the second DTU-A is in signal connection with the input end of a multi-channel distributor, the model of the multi-channel distributor is RS232, the multi-channel distributor is in bidirectional connection with a first automatic cruise module, the first automatic cruise module is in signal connection with a second automatic cruise module, the input end of the second automatic cruise module is in electrical connection with the output end of the software, the output end of the multi-channel distributor is in electrical connection with the input end of a depth finder, the output end of the multi-channel distributor is in electrical connection with the input end of a measuring instrument, the output end of the multi-channel distributor is in electrical connection with the input end of a water collection detection module, and the multi, the model of the automatic cruise instrument is X-PIL1000Pro, the output end of the automatic cruise instrument is electrically connected with the input ends of the left propeller and the right propeller, the input end of the automatic cruise instrument is in signal connection with the output end of the universal manual remote controller, the input end of the multi-channel distributor is in signal connection with the output end of the GPS, and the model of the GPS is V103.
Preferably, the measuring instrument comprises a depth measurement control and recording module, a transducer, an SD card, and a depth measurement data module, wherein the output end of the demultiplexer is electrically connected to the input end of the depth measurement control and recording module, the output end of the depth measurement control and recording module is electrically connected to the input end of the SD card, the output end of the transducer is electrically connected to the input end of the depth measurement control and recording module, and the output end of the SD card is electrically connected to the input end of the depth measurement data module.
Preferably, the water sampling detection module comprises a single chip microcomputer, a relay and a water sampling device, the output end of the demultiplexer is electrically connected with the input end of the single chip microcomputer, the output end of the single chip microcomputer is electrically connected with the input end of the relay, and the output end of the relay is in signal connection with the input end of the water sampling device.
Further preferably, the software is a control room set on land, and the control distance between the software and the first automatic cruise module is 2.0 KM.
Further preferably, the control distance of the universal manual remote controller to the automatic cruise instrument is 300M.
Further preferably, the single chip microcomputer detects the voltage of the main battery.
Further preferably, the relay implements the trigger signal by main battery switching.
Further preferably, the automatic cruise instrument sends a navigation control signal to control the left propeller and the right propeller.
(III) advantageous effects
The invention provides an unmanned survey vessel system, which has the following beneficial effects:
(1) the demultiplexer is a prominent characteristic, introduces the digital network concept of a large-scale marine survey ship, has the function of creating a digital interactive network environment, and can greatly simplify cable connection and improve the stability of the system by using the demultiplexer.
(2) This unmanned ship need not to add the fixative when adopting water, has realized dissolving oxygen water appearance collection for the first time through adopting water detection module.
(3) And the control links are reduced by adopting double propeller driving and rudder-free design, so that the operation is reliable. The propulsion of each propeller is 18kg, the power is about 1kW, and the combination of a 100AH lithium battery ensures that the navigational speed reaches the design expectation.
Drawings
FIG. 1 is a system diagram of the present invention.
Automatic cruise module, 6 second automatic cruise module, 7 depth sounders, 8 measuring apparatu, 81 are surveyed in the map: the system comprises 1 software, 2 first DTU-A, 3 second DTU-A, 4 multi-channel distributors, 5 first depth control and recording modules, 82 transducers, 83 SD cards, 84 depth measurement data modules, 9 water collection detection modules, 91 single-chip microcomputers, 92 relays, 93 water collection devices, 10 automatic cruise instruments, 11 left and right propellers, 12 universal manual remote controllers and 13 GPS.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: an unmanned survey ship system comprises software 1, and the unmanned ship control software 1 comprises the following components: a user selects an android industrial personal computer for being suitable for the situation of field power supply reagents by using single-machine control software 1 during communication of a digital radio station; the user uses WEB control software 1 which is a mobile phone network, at the moment, only a mobile phone is required to access a webpage to realize control, the software 1 is in bidirectional connection with a first DTU-A2, the output end of the first DTU-A2 is in signal connection with the input end of a second DTU-A3, the output end of the second DTU-A3 is in signal connection with the input end of an RS232 demultiplexer 4, the RS232 demultiplexer 4 is in bidirectional connection with a first automatic cruise module 5, the software 1 is a control room set on land, the control distance between the software 1 and the first automatic cruise module 5 is 2.0KM, the first automatic cruise module 5 is in signal connection with a second automatic cruise module 6, the input end of the second automatic cruise module 6 is electrically connected with the output end of the software 1, the output end of the RS232 demultiplexer 4 is electrically connected with the input end of a depth finder 7, the output end of the RS232 demultiplexer 4 is electrically connected with the input end, the measuring instrument 8 comprises a depth measurement control and recording module 81, a transducer 82, an SD card 83 and a depth measurement data module 84, wherein the output end of the RS232 demultiplexer 4 is electrically connected with the input end of the depth measurement control and recording module 81, the output end of the depth measurement control and recording module 81 is electrically connected with the input end of the SD card 83, the output end of the transducer 82 is electrically connected with the input end of the depth measurement control and recording module 81, the output end of the SD card 83 is electrically connected with the input end of the depth measurement data module 84, the multi-beam is a 3DSS-DX-450 three-dimensional side scanning and strip depth sounder of PING DSP, Canada, and the transducer 82 is light in weight and high in integration level; secondly, the multi-beam depth measurement and side-sweeping functions are simultaneously realized, the output end of the RS232 multi-path distributor 4 is electrically connected with the input end of the water collection detection module 9, the water collection detection module 9 comprises a single chip microcomputer 91, a relay 92 and a water collection device 93, the output end of the RS232 multi-path distributor 4 is electrically connected with the input end of the single chip microcomputer 91, the output end of the single chip microcomputer 91 is electrically connected with the input end of the relay 92, the relay 92 realizes a trigger signal through the switching of a main battery, the single chip microcomputer 91 detects the voltage of the main battery, the output end of the relay 92 is in signal connection with the input end of the water collection device 93, the unmanned ship does not need to be added with a fixing agent during water collection, the dissolved oxygen water sample collection is firstly realized through the water collection detection module 9, the RS232 multi-path distributor 4 is bidirectionally connected with the X-PIL1000Pro automatic cruise instrument, the X-PIL1000Pro automatic cruise instrument 10 sends a navigation control signal to control the left propeller 11 and the right propeller 11, and adopts double propeller driving and rudder-free design to reduce control links, thereby ensuring reliable operation. The propulsion of each propeller is 18kg, the power is about 1kW, the speed of flight is ensured to reach the design expectation by combining a 100AH lithium battery, the input end of an X-PIL1000Pro automatic cruise instrument 10 is in signal connection with the output end of a universal manual remote controller 12, the control distance of the universal manual remote controller 12 to the X-PIL1000Pro automatic cruise instrument 10 is 300M, the manual remote control is the standard configuration of an unmanned ship, the universal manual remote controller 12 has an automatic flight starting function, or when a user uses a mobile phone network for communication, the user can realize unmanned ship control by only using the universal manual remote controller 12 and a mobile phone to access a webpage, the input end of an RS232 multi-path distributor 4 is in signal connection with the output end of a GPSV 10313, the GPSV 10313 is different from a common small unmanned ship, and the GPSV 10313 is characterized in that: beacon difference not only ensures positioning accuracy, but also avoids the inconvenience of setting up a difference radio station for users; the positioning and orientation function is combined with the RS232 multi-channel distributor 4, no additional module is needed when carrying multi-beams, the RS232 multi-channel distributor 4 is a prominent characteristic, a digital network concept of a large-scale marine survey ship is introduced, the distributor has the function of creating a digital interactive network environment, the RS232 multi-channel distributor 4 can greatly simplify cable connection and improve the stability of the system, a double-body structure is adopted on the aspect of a ship body of the unmanned ship, the glass fiber reinforced plastic material is adopted, floating bodies on two sides, an equipment cabin and a lithium battery can be detached, the maximum monomer weight is less than 50kg so as to be convenient to carry, 7 rear door opening vehicles can be installed after the detachment, and due to the fact that the detachment is simple and convenient, a wharf is not needed when the unmanned ship is launched, launching can be carried out in shallow water, and the invalid sailing.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
Claims (8)
1. An unmanned survey vessel system comprising software (1), characterized in that: the system is characterized in that the software (1) is in bidirectional connection with a first DTU-A (2), the output end of the first DTU-A (2) is in signal connection with the input end of a second DTU-A (3), the output end of the second DTU-A (3) is in signal connection with the input end of a multi-channel distributor (4), the multi-channel distributor (4) is in bidirectional connection with a first automatic cruise module (5), the first automatic cruise module (5) is in signal connection with a second automatic cruise module (6), the input end of the second automatic cruise module (6) is electrically connected with the output end of the software (1), the output end of the multi-channel distributor (4) is electrically connected with the input end of a depth gauge (7), the output end of the multi-channel distributor (4) is electrically connected with the input end of a measuring instrument (8), and the output end of the multi-channel distributor (4) is electrically connected with the input end of a water collection detection module (9), the automatic cruise control system is characterized in that the multi-way distributor (4) is connected with an automatic cruise instrument (10) in a two-way mode, the output end of the automatic cruise instrument (10) is electrically connected with the input ends of a left propeller and a right propeller (11), the input end of the automatic cruise instrument (10) is in signal connection with the output end of a universal manual remote controller (12), and the input end of the multi-way distributor (4) is in signal connection with the output end of a GPS (13).
2. The unmanned survey vessel system of claim 1, wherein: the measuring instrument (8) comprises a depth measurement control and recording module (81), a transducer (82), an SD card (83) and a depth measurement data module (84), the output end of the multi-channel distributor (4) is electrically connected with the input end of the depth measurement control and recording module (81), the output end of the depth measurement control and recording module (81) is electrically connected with the input end of the SD card (83), the output end of the transducer (82) is electrically connected with the input end of the depth measurement control and recording module (81), and the output end of the SD card (83) is electrically connected with the input end of the depth measurement data module (84).
3. The unmanned survey vessel system of claim 2, wherein: adopt water detection module (9) including singlechip (91), relay (92) and adopt water installation (93), the output of demultiplexer (4) is connected with the input electricity of singlechip (91), the output of singlechip (91) is connected with the input electricity of relay (92), the output of relay (92) and the input signal connection who adopts water installation (93).
4. The unmanned survey vessel system of claim 3, wherein: the software (1) is a control room set on land, and the control distance between the software (1) and the first automatic cruise module (5) is 2.0 KM.
5. The unmanned survey vessel system of claim 4, wherein: the control distance of the universal manual remote controller (12) to the automatic cruise instrument (10) is 300M.
6. The unmanned survey vessel system of claim 3, wherein: the single chip microcomputer (91) detects the voltage of the main battery.
7. The unmanned survey vessel system of claim 3, wherein: the relay (92) realizes the trigger signal through main battery switching.
8. The unmanned survey vessel system of claim 7, wherein: the automatic cruise instrument (10) sends navigation control signals to control the left propeller and the right propeller (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231678.3A CN111735656A (en) | 2019-03-25 | 2019-03-25 | Unmanned survey vessel system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231678.3A CN111735656A (en) | 2019-03-25 | 2019-03-25 | Unmanned survey vessel system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111735656A true CN111735656A (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910231678.3A Withdrawn CN111735656A (en) | 2019-03-25 | 2019-03-25 | Unmanned survey vessel system |
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| Country | Link |
|---|---|
| CN (1) | CN111735656A (en) |
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2019
- 2019-03-25 CN CN201910231678.3A patent/CN111735656A/en not_active Withdrawn
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Application publication date: 20201002 |