CN113525604A - Multifunctional unmanned ship - Google Patents

Multifunctional unmanned ship Download PDF

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Publication number
CN113525604A
CN113525604A CN202110698271.9A CN202110698271A CN113525604A CN 113525604 A CN113525604 A CN 113525604A CN 202110698271 A CN202110698271 A CN 202110698271A CN 113525604 A CN113525604 A CN 113525604A
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CN
China
Prior art keywords
block
ship
propeller
power supply
unmanned ship
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Granted
Application number
CN202110698271.9A
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Chinese (zh)
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CN113525604B (en
Inventor
徐鲁强
王凯
孙国治
柏强
陶冶
王汝翀
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Dalian Gangcheng Engineering Testing Technology Co ltd
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Dalian Gangcheng Engineering Testing Technology Co ltd
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Priority to CN202110698271.9A priority Critical patent/CN113525604B/en
Publication of CN113525604A publication Critical patent/CN113525604A/en
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Publication of CN113525604B publication Critical patent/CN113525604B/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00—Arrangements or adaptations of signalling or lighting devices
    • B63B45/02—Arrangements or adaptations of signalling or lighting devices the devices being intended to illuminate the way ahead or other areas of environments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • 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
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/17—Emergency applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • 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
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
    • B63B2043/145—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members pneumatic, e.g. inflatable on demand

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a multifunctional unmanned ship, which relates to the field of unmanned ships and comprises a ship body platform arranged above two double-airbag buoys; the bottom of a ship platform is provided with a propeller, an unmanned ship control box is arranged above the ship platform, a depth sounding transducer probe is fixed below the middle part of the ship platform, a GPS (global positioning system) positioner is arranged at the front end and the rear end of the ship platform respectively, an equipment frame is also erected above the ship platform, an LED searchlight is arranged in the middle of the side surface of the equipment frame, a laser pointer is arranged at the front end and the rear end of the side surface of the equipment frame, and a high-definition camera is arranged at the top of the center of the equipment frame; and a depth finder equipment box is also arranged above the hull platform and is connected with the GPS positioner and the depth measuring transducer probe. The unmanned ship is also provided with a short-circuit prevention connector for preventing the battery from short circuit, and the propeller is detachably connected; the invention greatly improves the detection efficiency of wharf diseases, and has the functions of preventing short circuit of batteries and facilitating replacement of the propeller.

Description

Multifunctional unmanned ship
Technical Field
The invention relates to the field of unmanned ships, in particular to a multifunctional unmanned ship.
Background
Traditional pier outward appearance detects, need hire the fishing boat, adopts the manual work to carry photographic camera equipment, takes the fishing boat and carries out the video recording or the inspection of shooing with fixed distance along the pier according to the regulation, and after the discovery problem, need be close to the pier, uses measuring equipment such as steel ruler, measures the disease size. However, manual measurement has many problems:
1. along with the strict implementation of the fishing period prohibition law, the appearance detection of a rented fishing boat near a harbor area is more and more difficult, and the cost is higher and higher; 2. the quality of fishing boat drivers is different, the safety awareness is low, and the safety risk of offshore operation is high; 3. as the wharf structure forms of hundreds of meters are basically similar, the shooting position is difficult to be accurately determined by manually recording and shooting videos; 4. the shaking of the fishing boat can be transmitted to the camera equipment, the photographed picture shakes and shakes, the later-stage manual video viewing can cause dizziness, and the difficulty coefficient of the editing report is higher; 5. the inspection operation can not be performed close to a shallow water area under the influence of the draft of the fishing boat, the length of the boat body, power factors and the like.
In addition, when the unmanned ship large-capacity battery is used, after the unmanned ship large-capacity battery is taken out from the interior of a ship body in a power-off mode, once the interface touches seawater or metal objects and a short circuit phenomenon is easily formed, safety problems such as circuit board faults, line fire, battery explosion, battery leakage and the like can be caused after the short circuit.
Finally, in the process of driving the unmanned ship on the water surface, the propeller part of the propeller needs to be fixed below the ship body to work, but in the process of manually transporting the unmanned ship to a working place, the propeller needs to be detached to facilitate transportation. Propeller often adopts the fastener detachable to be fixed in unmanned ship among the conventional art, and is comparatively loaded down with trivial details in true dismantlement and installation, and efficiency is also not high.
Disclosure of Invention
The invention aims to provide a multifunctional unmanned ship to solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multifunctional unmanned ship comprises two parallel double-air-bag buoys, wherein each double-air-bag buoy is formed by splicing and fixing two air-bag buoys;
a ship body platform is detachably fixed above the two double-airbag buoys; the bottom of the ship body platform is provided with a propeller, the propeller comprises a steering propeller arranged at the bottom of the front end of the ship body platform and a power propeller arranged at the bottom of the rear end of the ship body platform, the thrust direction of the steering propeller is vertical to the front-back direction, and the thrust direction of the power propeller is parallel to the front-back direction;
an unmanned ship control box is arranged on the ship body platform and is connected with the power propeller and the steering propeller through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box;
a sounding transducer probe is fixed below the middle part of the ship platform; the front end and the rear end of the ship body platform are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner positioned at the front end and a stern GPS positioner positioned at the rear end;
an equipment frame is also erected above the ship platform, an LED searchlight is arranged in the middle of the side surface of the equipment frame, laser pointers are arranged at the front end and the rear end of the side surface of the equipment frame, and the illumination directions of the LED searchlight and the laser pointers are the same side surface direction vertical to the front-rear direction; the top of the center of the equipment rack is also provided with a high-definition camera through a stabilizing cradle head;
a depth finder equipment box is also arranged above the ship platform and is connected with the GPS positioner and the depth measuring transducer probe;
the unmanned ship control box is positioned between the equipment frame and the bow GPS positioner, and the depth finder equipment box is positioned between the equipment frame and the stern GPS positioner;
the ship body platform is also provided with a gyroscope, and the gyroscope is connected to the depth finder equipment box;
the depth measuring transducer probe, the bow GPS positioner and the stern GPS positioner are all positioned on the same vertical plane, and the depth measuring transducer probe is positioned in the middle of the bow GPS positioner and the stern GPS positioner in the horizontal direction;
the load on the unmanned ship is connected with a battery arranged on the unmanned ship through the short-circuit prevention connector; the short-circuit prevention joint comprises a first insulating shell and a second insulating shell;
the first insulating shell comprises a first side wall, a first power supply port and a first connecting port, wherein the first power supply port and the first connecting port are positioned at two ends of the first side wall; a female block and a sliding block are arranged in the first side wall, the female block is fixed on the first side wall and is positioned at one side close to the first power supply port, and the sliding block is arranged in the first side wall in a sliding mode and is positioned at one side close to the first connecting port; a first waterproof fastening nut with a first power supply through hole is arranged at the first power supply opening;
a mother block electrode is fixedly penetrated in the mother block along the axial direction, one end of the mother block electrode facing the first power supply port is connected to a first power supply wire, and the first power supply wire penetrates through the first power supply through hole and then is connected to the battery;
a slider electrode is arranged in the slider along the axial direction in a penetrating way; a first spring is arranged between the female block and the sliding block; a waterproof gasket is also arranged at the first connecting port;
the second insulating shell comprises a second side wall, a second power supply port and a second connecting port which are positioned at two ends; a second waterproof fastening nut with a second power supply through hole is arranged at the second power supply opening; a male block is fixed at the second connecting port, a male block electrode penetrates through and is fixed on the male block along the axial direction, one end, facing the second power supply port, of the male block electrode is connected to a second power supply line, and the second power supply line penetrates through the second power supply through hole and then is connected to the unmanned ship load;
the inner side surface of the first connecting port is provided with a buckle groove, and the outer side surface of the male block is provided with a buckle protrusion; when the buckle protrusion is embedded into the buckle groove, the male block electrode is electrically contacted with one end of the sliding block electrode and pushes the sliding block to move, so that the other end of the sliding block electrode is electrically contacted with the female block electrode;
when the buckle protrusion is separated from the buckle groove by the pinching force and the male block is separated from the first connecting port, the male block electrode is separated from the slider electrode, and the slider slides by the thrust of the first spring to separate the slider electrode from the female block electrode;
the side wall of the ship body platform is provided with a ship body fixing block, the ship body fixing block comprises a limiting side wall of a short cylindrical surface extending out vertical to the side wall of the ship body, and a limiting sheet fixed on an opening at the end part of the limiting side wall in a covering manner; the limiting piece is provided with an embedded groove, and the horizontal length of the embedded groove is greater than the vertical length;
a locking groove which is sunken towards the hull of the unmanned ship is formed in the highest point of the boundary line of the limiting sheet and the limiting side wall;
the propeller comprises a propeller main body and a convex block arranged on the side surface of the top of the propeller main body, and an embedded block with the same shape as the locking groove is arranged at the end part of the convex block far away from the propeller main body;
a horizontal locking pin is also arranged above the protruding block and is connected to the propeller main body through a horizontal second spring; the locking pin is also connected with a toggle pin which is vertically upward; the poking pin protrudes out of the top of the propeller main body; the bottom of the propeller main body is connected with propeller blades;
when the propeller is fixed on the side wall of the ship body platform, the embedded block is embedded in the fixed block of the ship body and is vertical to the embedded groove, and the locking pin is embedded in the locking groove.
The GPS localizer is a differential GPS localizer;
one end of a limiting screw penetrates through an opening formed in the center of the female block in a sliding mode and then is screwed into and fixed on the sliding block; the first spring surrounds the limiting screw; the position of the limiting screw towards the first power supply opening is provided with a limiting block.
The first side wall is a cylindrical side wall; the first insulating shell also comprises a first conical shell connected to the first side wall, and the first connecting port and the first power supply port are respectively positioned at the end opening of the first side wall and the end opening of the first conical shell; the diameter of the first power port is smaller than the diameter of the first connection port.
The second side wall is a cylindrical side wall; the second insulating shell also comprises a second conical shell connected to the second side wall, and the second connecting port and the second power supply port are respectively positioned at the end opening of the second side wall and the end opening of the second conical shell; the diameter of the second power supply port is smaller than that of the second connection port.
A first spring embedding opening is formed in each of the male block and the sliding block, and two ends of each first spring are embedded into the corresponding first spring embedding opening respectively.
The embedded groove is formed by splicing two concentric circles with different diameters and a square hole.
The locking pin is of cylindrical configuration.
The protruding block is of cylindrical configuration.
Compared with the prior art, the invention has the advantages that:
1. the unmanned ship can greatly improve the detection work efficiency, reduce the production cost, improve the safety and reliability of wharf detection, and is energy-saving and environment-friendly. The ship body is small, the passing or the berthing of the ship in the peripheral area is not influenced, the ship can independently navigate at the front edge of the wharf and quickly draw a detection result, and the ship has the functions of remotely monitoring diseases by experts and the like, and is very convenient and practical.
2. The anti-short-circuit connector of the unmanned ship has a simple structure, does not need to modify the existing battery, can directly replace the existing battery plug through the connector of the invention so as to connect the battery and the unmanned ship load, prolongs the service life of the battery, can prevent water and short circuit, and can support large-current power transmission.
3. The unmanned ship has the function of quickly disassembling the propeller, so that the function of reducing the ship body in the transportation process is realized, and the volume of the unmanned ship is reduced; the propeller is independent of the unmanned ship platform, so that the possibility of water leakage fault of the unmanned ship is reduced; once the propeller of the unmanned ship has problems, the propeller can be quickly replaced; when the propeller impacts the hard seabed in a shallow area, the propeller can be quickly replaced in the use process of the unmanned ship, and the ship body and facilities on the ship cannot be influenced.
Drawings
FIG. 1 is a side view of the unmanned ship of the present invention;
FIG. 2 is a schematic view of the anti-short circuit joint of the unmanned ship of the present invention;
FIG. 3 is a perspective view of the unmanned ship propeller attachment of the present invention;
fig. 4 is a schematic side view of the propeller connection of the unmanned ship of the present invention.
In the figure:
11. the system comprises a double-air-bag buoy, 12, a ship body platform, 13, an equipment frame, 14, a power propeller, 15, a steering propeller, 16, an unmanned ship control box, 17, a depth finder equipment box, 18, a stern GPS positioner, 19, a bow GPS positioner, 110, an LED searchlight, 111, a laser pointer, 112, a high-definition camera, 113, a stabilizing cradle head, 114 and a depth measuring transducer probe;
21. the waterproof structure comprises a slider electrode, 22, a waterproof gasket, 23, a slider, 24, a first spring, 25, a limiting screw, 26, a female block electrode, 27, a first waterproof fastening nut, 28, a first insulating shell, 29, a female block, 210, a male block, 211, a first power line, 212, a male block electrode, 213, a clamping groove, 214, a second insulating shell, 215, a second waterproof fastening nut, 216 and a second power line;
31. the propeller comprises a hull fixing block, 32, a locking groove, 33, an embedded block, 34, a poking pin, 35, a propeller main body, 37, a second spring, 38, a limiting sheet, 39, a limiting side wall, 310, a locking pin, 311 and a protruding block.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 4, the multifunctional unmanned ship of the present invention comprises two parallel double-air-bag buoys 11, wherein each double-air-bag buoy 11 is formed by splicing and fixing two air-bag buoys;
a ship body platform 12 is detachably fixed above the two double-air-bag buoys 11; the bottom of the ship body platform 12 is provided with a propeller, the propeller comprises a steering propeller 15 arranged at the bottom of the front end of the ship body platform 12 and a power propeller 14 arranged at the bottom of the rear end of the ship body platform 12, the thrust direction of the steering propeller 15 is vertical to the front-back direction, and the thrust direction of the power propeller 14 is parallel to the front-back direction;
an unmanned ship control box 16 is arranged on the ship body platform 12, and the unmanned ship control box 16 is connected with the power propeller 14 and the steering propeller 15 through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box 16;
a sounding transducer probe 114 is also fixed below the middle part of the hull platform 12; the front end and the rear end of the ship body platform 12 are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner 19 at the front end and a stern GPS positioner 18 at the rear end;
an equipment frame 13 is also erected above the hull platform 12, an LED searchlight 110 is arranged in the middle of the side surface of the equipment frame 13, laser pointers 111 are arranged at the front end and the rear end of the side surface of the equipment frame 13, and the illumination directions of the LED searchlight 110 and the laser pointers 111 are the same side surface direction vertical to the front-rear direction; the top of the center of the equipment frame 13 is also provided with a high-definition camera 112 through a stabilizing cradle head 113;
a depth finder equipment box 17 is also arranged above the hull platform 12, and the depth finder equipment box 17 is connected with a GPS positioner and a depth measuring transducer probe 114;
the unmanned ship control box 16 is positioned between the equipment frame 13 and the bow GPS locator 19, and the depth finder equipment box 17 is positioned between the equipment frame 13 and the stern GPS locator 18;
the ship body platform 12 is also provided with a gyroscope which is connected with a depth finder equipment box 17;
the depth measuring transducer probe 114, the bow GPS locator 19 and the stern GPS locator 18 are all positioned on the same vertical plane, and the depth measuring transducer probe 114 is positioned in the middle of the bow GPS locator 19 and the stern GPS locator 18 in the horizontal direction;
the load on the unmanned ship is connected with a battery arranged on the unmanned ship through the short-circuit prevention connector; the short-circuit prevention joint includes a first insulating housing 28 and a second insulating housing 214;
the first insulating housing 28 includes a first side wall and a first power port and a first connection port at both ends; a female block 29 and a sliding block 23 are arranged in the first side wall, the female block 29 is fixed on the first side wall and is positioned at one side close to the first power supply port, and the sliding block 23 is arranged in the first side wall in a sliding manner and is positioned at one side close to the first connection port; a first waterproof fastening nut 27 with a first power supply through hole is arranged at the first power supply port;
a female block electrode 26 is axially fixed in the female block 29 in a penetrating manner, one end of the female block electrode 26 facing the first power supply port is connected to a first power supply wire 211, and the first power supply wire 211 penetrates through the first power supply through hole and then is connected to a battery;
a slider electrode 21 is axially arranged in the slider 23 in a penetrating manner; a first spring 24 is arranged between the female block 29 and the sliding block 23; a waterproof gasket 22 is further arranged at the first connecting port;
the second insulating housing 214 includes a second side wall and a second power supply port and a second connection port at both ends; a second waterproof fastening nut 215 with a second power supply through hole is arranged at the second power supply port; a male block 210 is fixed at the second connecting port, a male block electrode 212 is axially fixed on the male block 210 in a penetrating manner, one end, facing the second power supply port, of the male block electrode 212 is connected to a second power supply line 216, and the second power supply line 216 penetrates through the second power supply through hole and then is connected to the unmanned ship load;
the inner side surface of the first connecting port is provided with a buckle groove 213, and the outer side surface of the male block 210 is provided with a buckle protrusion; when the snap projection is inserted into the snap groove 213, the male block electrode 212 is electrically contacted with one end of the slider electrode 21 and the male block electrode 212 pushes the slider 23 to move so that the other end of the slider electrode 21 is electrically contacted with the female block electrode 26;
when the snap protrusion is separated from the snap groove 213 by the pinching force and the male block 210 is separated from the first connection port, the male block electrode 212 is separated from the slider electrode 21, and the slider 23 slides by the pushing force of the first spring 24 so that the slider electrode 21 is separated from the female block electrode 26;
the side wall of the ship body platform 12 is provided with a ship body fixing block 31, the ship body fixing block 31 comprises a limiting side wall 39 which is perpendicular to a short cylindrical surface extending out of the side wall of the ship body, and a limiting sheet 38 which is covered and fixed on an opening at the end part of the limiting side wall 39; the limiting piece 38 is provided with an embedded groove, and the horizontal length of the embedded groove is greater than the vertical length;
the highest point position of the boundary line of the limiting sheet 38 and the limiting side wall 39 is provided with a locking groove 32 which is sunken towards the unmanned ship body 36;
the thruster comprises a thruster body 35 and a convex block 311 arranged on the top side surface of the thruster body 35, wherein the end part of the convex block 311 far away from the thruster body 35 is provided with an embedded block 33 with the same shape as the locking groove 32;
a horizontal locking pin 310 is also arranged above the convex block 311, and the locking pin 310 is connected to the thruster main body 35 through a horizontal second spring 37; the locking pin 310 is also connected to a toggle pin 34 facing vertically upwards; the poke pin 34 protrudes out of the top of the propeller main body 35; propeller blades are connected to the bottom of the propeller main body 35;
when the propeller is fixed to the sidewall of the hull platform 12, the insertion block 33 is inserted into the hull fixing block 31 and perpendicular to the insertion groove, and the locking pin 310 is inserted into the locking groove 32.
The GPS localizer is a differential GPS localizer;
one end of a limit screw 25 is screwed and fixed on the sliding block 23 after sliding through an opening arranged at the center of the female block 29; the first spring 24 surrounds the limit screw 25; the position of the limit screw 25 facing the first power supply port is provided with a limit block.
The first side wall is a cylindrical side wall; the first insulating housing 28 further comprises a first tapered housing connected to the first sidewall, the first connection port and the first power port being located at the end opening of the first sidewall and the end opening of the first tapered housing, respectively; the diameter of the first power port is smaller than the diameter of the first connection port.
The second side wall is a cylindrical side wall; the second insulating housing 214 further comprises a second conical housing connected to the second side wall, and the second connection port and the second power supply port are respectively located at the end opening of the second side wall and the end opening of the second conical housing; the diameter of the second power supply port is smaller than that of the second connection port.
The male block 210 and the sliding block 23 are both provided with a first spring embedding opening, and two ends of the first spring 24 are respectively embedded into the first spring embedding openings.
The embedded groove is formed by splicing two concentric circles with different diameters and a square hole.
The locking pin 310 is of cylindrical configuration.
The protruding block 311 has a cylindrical configuration.
The catamaran, namely the double-air-bag buoy 11, mainly adopts a 4-air-chamber structure, and can not sink even if a single air is deflated. The propeller is fixed on the ship body and can provide the functions of advancing, retreating and left-right moving for the catamaran. The unmanned ship control box 16 contains control, communication, power supply and the like, and realizes the remote control of the unmanned ship. Wherein, the power propeller 14 can control the advancing and retreating of the unmanned ship, and the steering propeller 15 can control the advancing and retreating direction of the unmanned ship.
The GPS positioners at the bow and the stern adopt a differential RTK GPS, can provide accurate plane positioning and elevation better than 1 cm for the ship body, calculate the real-time navigation position of the unmanned ship through plane positioning coordinates, and can master the distance between the unmanned ship and the side wall of the wharf in real time, thereby being capable of back-calculating the course angle in real time and controlling the movement of the propeller to enable the ship body to be always parallel to the direction of the wharf. The laser lines projected by the two laser pointers 111 to the dock side wall are perpendicular to the dock side wall.
The LED searchlight 110 mainly carries out shooting light supplement on a side elevation of the wharf, the laser pointer 111 is composed of front and back parallel lasers, the lasers are perpendicular to the center line of the ship body, the distance between the lasers is a fixed value, and the distance between the positions of the lasers projected on the wharf is consistent with the installation distance of the lasers. The stabilization holder 113 ensures the stability of the photographing process, the high-definition camera 112 collects photos, the positions of the diseases of the photos are provided by the GPS, and the sizes of the diseases are calculated in equal proportion by referring to the distance between laser pointing lines for photographing the photos. Specifically, assuming that the size of the defect is found to be 0.5 times the distance between the two lasers, and the actual distance between the lasers is 1 meter, the size of the defect is 0.5 meter.
The sounding transducer probe 114 can realize the wharf front water depth measurement work of wharf detection, and can calculate the water depth of the diseased region and the position height of the equipment for taking pictures by calculating the water depth measurement and the height of the tide level.
More specifically, the longitude and latitude where the unmanned ship is located can be accurately measured through the GPS locator, so that the geological height of the local water bottom is obtained according to the existing measurement data, and the vertical position of the unmanned ship can be more accurately obtained by combining the water depth measured by the sounding transducer probe 114 compared with the situation that the GPS is used alone, and a more accurate three-dimensional position is obtained. In addition, a posture or gyroscope or gyroscopic roll-off may be provided on the drone to record the deviation in the pointing position of the depth finding transducer probe 114 as the drone rocks, thereby correcting the data. The sounding transducer probe 114, the GPS locator, the gyroscope, etc. are all connected to the sounding instrument equipment box 17 for data processing. The high-definition camera 112, the LED searchlight 110, the laser pointer 111 and the like can be networked, so that the wharf condition can be observed in real time, and the unmanned ship can be controlled in real time.
The unmanned ship adopts a short-circuit prevention joint mode, and can avoid short circuit of the battery. Specifically, the female block electrode 26 is connected with the battery through a power line, the male block electrode 212 is connected with the unmanned ship load through the power line, then the first connection port is connected with the second connection port, namely the buckle protrusion is embedded into the buckle groove 213, the male block electrode 212 pushes the slider 23 to move, finally the male block electrode 212, the slider electrode 21 and the female block electrode 26 are in electrical contact, and the battery can supply power to the unmanned ship; when power is needed to be cut off, the snap protrusion is separated from the snap groove 213 by a proper pinching force, the slider 23 is moved to the farthest point allowed by the limit screw 25 by the elastic force of the first spring 24, at this time, the slider electrode 21 is separated from the mother block electrode 26, and the mother block electrode 26 is not contacted with the outside. The waterproof gasket 22, the first insulating housing 28 and the first waterproof fastening nut 27 are sealed to insulate the inside of the first insulating housing 28, so that water is prevented from entering, and the battery is prevented from being short-circuited. The above electrodes can be arranged in each block in an injection molding mode.
The propeller of the present invention is detachably connected, and specifically, when the propeller needs to be fixed to the sidewall of the hull platform 12, the propeller is rotated 90 ° in the direction shown in fig. 1, so that the insertion block 33 is inserted into the insertion groove, and the locking pin 310 is compressed by the pressing of the limiting piece 38. Continuing to rotate 90 ° in the opposite direction back to the orientation shown in fig. 1, the embedded block 33 is located inside the hull fixing block 31 and perpendicular to the embedded groove to limit the axial movement of the propeller, and the locking pin 310 is elastically embedded in the locking groove 32 to limit the rotation of the propeller, and finally the propeller is fixed on the sidewall of the unmanned ship hull 36. When the propeller needs to be disassembled, the poking pin 34 is poked by hands to drive the locking pin 310 to be separated from the locking groove 32, at the moment, the propeller is rotated for 90 degrees again, the embedded block 33 is separated from the embedded groove, and the propeller can be disassembled.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims (9)

1. A multifunctional unmanned ship is characterized in that a load on the unmanned ship is connected with a battery arranged on the unmanned ship through a short-circuit prevention connector; the short-circuit prevention joint comprises a first insulating shell (28) and a second insulating shell (214);
the first insulating shell (28) comprises a first side wall, a first power supply port and a first connecting port which are positioned at two ends; a female block (29) and a sliding block (23) are arranged in the first side wall, the female block (29) is fixed on the first side wall and is positioned at one side close to the first power supply port, and the sliding block (23) is arranged in the first side wall in a sliding manner and is positioned at one side close to the first connecting port; a first waterproof fastening nut (27) with a first power supply through hole is arranged at the first power supply opening;
a female block electrode (26) is axially fixed in the female block (29) in a penetrating manner, one end of the female block electrode (26) facing the first power supply port is connected to a first power supply line (211), and the first power supply line (211) penetrates through the first power supply through hole and then is connected to the battery;
a slide block electrode (21) is arranged in the slide block (23) along the axial direction in a penetrating way; a first spring (24) is arranged between the female block (29) and the sliding block (23); a waterproof gasket (22) is further arranged at the first connecting port;
the second insulating housing (214) comprises a second side wall, and a second power supply port and a second connecting port which are positioned at two ends; a second waterproof fastening nut (215) with a second power supply through hole is arranged at the second power supply opening; a male block (210) is fixed at the second connecting port, a male block electrode (212) penetrates through and is fixed on the male block (210) along the axial direction, one end, facing the second power supply port, of the male block electrode (212) is connected to a second power supply line (216), and the second power supply line (216) penetrates through the second power supply through hole and then is connected to the unmanned ship load;
a buckle groove (213) is formed in the inner side surface of the first connecting port, and a buckle protrusion is formed in the outer side surface of the male block (210); when the snap projection is embedded in the snap groove (213), the male block electrode (212) is in electrical contact with one end of the slider electrode (21) and the male block electrode (212) pushes the slider (23) to move so that the other end of the slider electrode (21) is in electrical contact with the female block electrode (26);
when the snap protrusion is separated from the snap groove (213) by a pinching force and the male block (210) is separated from the first connection port, the male block electrode (212) is separated from the slider electrode (21), and the slider (23) is pushed by the first spring (24) to slide so that the slider electrode (21) is separated from the female block electrode (26);
the unmanned ship also comprises two parallel double-air-bag buoys (11), and each double-air-bag buoy (11) is formed by splicing and fixing the two air-bag buoys;
a ship body platform (12) is detachably fixed above the two double-air-bag buoys (11); a propeller is arranged at the bottom of the ship body platform (12), the propeller comprises a steering propeller (15) arranged at the bottom of the front end of the ship body platform (12) and a power propeller (14) arranged at the bottom of the rear end of the ship body platform (12), the thrust direction of the steering propeller (15) is vertical to the front-back direction, and the thrust direction of the power propeller (14) is parallel to the front-back direction;
an unmanned ship control box (16) is arranged on the ship body platform (12), and the unmanned ship control box (16) is connected to the power propeller (14) and the steering propeller (15) through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box (16);
a sounding transducer probe (114) is further fixed below the middle part of the ship body platform (12); the front end and the rear end of the ship body platform (12) are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner (19) positioned at the front end and a stern GPS positioner (18) positioned at the rear end;
an equipment frame (13) is further erected above the ship body platform (12), an LED searchlight (110) is arranged in the middle of the side face of the equipment frame (13), laser pointers (111) are arranged at the front end and the rear end of the side face of the equipment frame (13), and the illumination directions of the LED searchlight (110) and the laser pointers (111) are the same side face direction vertical to the front-rear direction; the top of the center of the equipment frame (13) is also provided with a high-definition camera (112) through a stabilizing cradle head (113);
a depth finder equipment box (17) is further arranged above the ship body platform (12), and the depth finder equipment box (17) is connected to the GPS positioner and the depth measuring transducer probe (114);
the unmanned ship control box (16) is positioned between the equipment frame (13) and the bow GPS locator (19), and the depth finder equipment box (17) is positioned between the equipment frame (13) and the stern GPS locator (18);
a gyroscope is further arranged on the ship body platform (12) and connected to the depth finder equipment box (17);
the depth measuring transducer probe (114), the bow GPS (global positioning system) positioner (19) and the stern GPS positioner (18) are all positioned on the same vertical plane, and the depth measuring transducer probe (114) is positioned in the middle of the bow GPS positioner (19) and the stern GPS positioner (18) in the horizontal direction;
the side wall of the ship body platform (12) is provided with a ship body fixing block (31), the ship body fixing block (31) comprises a limiting side wall (39) which is perpendicular to a short cylindrical surface extending out of the side wall of the ship body, and a limiting sheet (38) which is covered and fixed on an opening at the end part of the limiting side wall (39); an embedded groove is formed in the limiting piece (38), and the horizontal length of the embedded groove is larger than the vertical length;
a locking groove (32) which is sunken towards the unmanned ship body (36) is formed in the highest point position of the boundary line of the limiting sheet (38) and the limiting side wall (39);
the thruster comprises a thruster main body (35) and a protruding block (311) arranged on the side surface of the top of the thruster main body (35), wherein an embedded block (33) with the same shape as the locking groove (32) is arranged at the end part, far away from the thruster main body (35), of the protruding block (311);
a horizontal locking pin (310) is further arranged above the protruding block (311), and the locking pin (310) is connected to the thruster main body (35) through a horizontal second spring (37); the locking pin (310) is also connected with a toggle pin (34) which faces vertically upwards; the poking pin (34) protrudes out of the top of the propeller main body (35); the bottom of the propeller main body (35) is connected with propeller blades;
when the propeller is fixed in hull platform (12) lateral wall, embedding piece (33) imbed in inside the hull fixed block (31) and with the embedded groove is perpendicular, locking pin (310) imbed in locking groove (32).
2. The multi-functional unmanned ship of claim 1, wherein the GPS locator is a differential type GPS locator.
3. The multifunctional unmanned ship of claim 1, wherein one end of a limit screw (25) is screwed into and fixed to the sliding block (23) after sliding through an opening formed in the center of the female block (29); the first spring (24) surrounds the limiting screw (25); and a limiting block is arranged at the position of the limiting screw (25) facing the first power supply port.
4. The multi-function unmanned ship of claim 1, wherein the first sidewall is a cylindrical sidewall; the first insulating housing (28) further comprises a first tapered housing connected to the first sidewall, the first connection port and the first power port being located at an end opening of the first sidewall and an end opening of the first tapered housing, respectively; the diameter of the first power supply port is smaller than that of the first connecting port.
5. The multi-function unmanned ship of claim 1, wherein the second sidewall is a cylindrical sidewall; the second insulating housing (214) further comprises a second conical housing connected to the second side wall, the second connection port and the second power port being located at an end opening of the second side wall and an end opening of the second conical housing, respectively; the diameter of the second power supply port is smaller than that of the second connection port.
6. The multifunctional unmanned ship of claim 1, wherein the male block (210) and the sliding block (23) are both provided with a first spring insertion port, and two ends of the first spring (24) are respectively inserted into the first spring insertion ports.
7. The multifunctional unmanned ship of claim 1, wherein the embedded groove is formed by splicing two concentric circles with different diameters and a square hole.
8. The multi-function unmanned boat of claim 1, wherein the locking pin (310) is of cylindrical configuration.
9. The multipurpose unmanned ship of claim 1, wherein said protruding blocks (311) are of cylindrical configuration.
CN202110698271.9A 2021-06-23 2021-06-23 Multifunctional unmanned ship Active CN113525604B (en)

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Citations (3)

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Publication number Priority date Publication date Assignee Title
KR101184590B1 (en) * 2011-12-28 2012-09-21 한국과학기술연구원 Unmanned boat for monitoring of water resources
CN206288203U (en) * 2016-12-19 2017-06-30 江苏中海达海洋信息技术有限公司 A kind of unmanned surveying vessel and system for water-bed measurement
CN212738451U (en) * 2020-07-21 2021-03-19 北京海舶无人船科技有限公司 Unmanned ship with hidden propeller and buoy for unmanned ship

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Publication number Priority date Publication date Assignee Title
KR101184590B1 (en) * 2011-12-28 2012-09-21 한국과학기술연구원 Unmanned boat for monitoring of water resources
CN206288203U (en) * 2016-12-19 2017-06-30 江苏中海达海洋信息技术有限公司 A kind of unmanned surveying vessel and system for water-bed measurement
CN212738451U (en) * 2020-07-21 2021-03-19 北京海舶无人船科技有限公司 Unmanned ship with hidden propeller and buoy for unmanned ship

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