CN114537581A - Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof - Google Patents
Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof Download PDFInfo
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- CN114537581A CN114537581A CN202210227271.5A CN202210227271A CN114537581A CN 114537581 A CN114537581 A CN 114537581A CN 202210227271 A CN202210227271 A CN 202210227271A CN 114537581 A CN114537581 A CN 114537581A
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/107—Semi-submersibles; Small waterline area multiple hull vessels and the like, e.g. SWATH
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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
- B63B29/00—Accommodation for crew or passengers not otherwise provided for
- B63B29/02—Cabins or other living spaces; Construction or arrangement thereof
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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
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J2/00—Arrangements of ventilation, heating, cooling, or air-conditioning
- B63J2/02—Ventilation; Air-conditioning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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Abstract
The invention discloses an electrically-driven three-body semi-submersible sightseeing boat, wherein two sides of the lower end of a sightseeing platform are symmetrically provided with propulsion cabins for driving the sightseeing platform on the water surface, the middle part of the sightseeing platform is provided with a slotted hole, and the slotted hole is internally and fixedly connected with a semi-submersible cabin with the lower end extending downwards and immersed under water. The three-body hull has the advantages of good longitudinal and transverse stability and easy control; the heave acceleration is small, and the seasickness is not easy to happen; the deck area is wide big, the personnel's activity and operation of being convenient for, and the tourism experience feels better. A water suction pump and an exhaust fan are arranged in the semi-submersible cabin, so that the semi-submersible cabin is kept dry and the air in the cabin is fresh; an underwater searchlight is arranged on the side wall of the propulsion cabin, and after the light is turned on, the underwater illumination condition can be enhanced, the viewing effect is improved, and the claustrophobic feeling of personnel in the semi-submersible cabin is reduced; through the arrangement of the navigation control system, the completeness and the control of the navigation process can be ensured, and the navigation freedom of autonomous control of tourists can be met to a certain extent.
Description
Technical Field
The application relates to the technical field of tourism sightseeing ships, in particular to an electrically-driven three-body semi-submersible sightseeing boat, a navigation control system and a control method thereof.
Background
In the field of ocean tourism, consumers have increasingly vigorous demands for quality and personalized tourism, and the performance and functions of the traditional tourism boat in the aspects of safety, comfort, sightseeing visual angle, personalized content customization and the like need to be improved. At present, sightseeing yachts can only be used for sightseeing on water and cannot provide underwater sightseeing service; although the sightseeing submarine can be used for underwater sightseeing, once a fault occurs underwater, rescue is often difficult to implement and potential safety hazards exist due to the fact that the sightseeing submarine is of a complete sealing structure and is submerged into a water area tens of meters deep. In addition, the driving system of traditional yacht adopts fuel engine drive more, has serious vibration and noise during the operation, and easily produces greasy dirt and tail gas, when influencing tourism sightseeing and experiencing, more can cause the destruction to the scenic spot environment. Therefore, there is a need for a safe and environmentally friendly sightseeing boat that meets the requirements of both above-water and underwater sightseeing.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present patent application to provide an electrically driven three-body semi-submersible sightseeing boat, a cruise control system and a control method thereof, which solve the above-mentioned problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
an electrically driven three-body semi-submersible sightseeing boat comprises a sightseeing platform, wherein two sides of the lower end of the sightseeing platform are symmetrically provided with propulsion cabins which enable the sightseeing platform to run on the water surface, the middle of the sightseeing platform is provided with a slotted hole, and the lower end of the slotted hole is fixedly connected with a semi-submersible cabin which extends downwards and is immersed into the water.
Furthermore, the semi-submersible is made of transparent materials, the lateral section of the semi-submersible is of an ellipsoid surface structure with the top and the bottom being planes, and the slotted hole is an elliptical hole matched with the semi-submersible.
Furthermore, the inner cavity bottom fixedly connected with upper end of the semi-submerged cabin upwards extends to the stair at the top of the inner cavity of the semi-submerged cabin, a water pump is embedded in one side of the top of the stair, the inlet of the water pump is connected with a water pumping hose, the lower end of the water pumping hose extends into the bottom of the semi-submerged cabin along the stair, the outlet of the water pumping pump is connected with a drain pipe, the other end of the drain pipe extends out of the semi-submerged cabin, and an exhaust fan is embedded in the other side of the top of the stair.
Furthermore, a power propulsion system for driving the viewing platform to run is arranged in the propulsion cabin.
Furthermore, the power propulsion system comprises a propeller arranged at the tail part of the propulsion cabin, a motor controller and a power motor are arranged in the propulsion cabin, an output shaft of the power motor is connected with the propeller, the power motor receives a control signal of the motor controller so as to enable the propeller to rotate or stop, and a power battery pack for providing power is also arranged in the propulsion cabin.
Furthermore, one side of the propulsion cabin, which is close to the semi-submersible cabin, is provided with a plurality of underwater searchlights.
Furthermore, the viewing platform comprises a viewing platform base, two propelling cabins are installed at the lower end of the viewing platform base, a slotted hole is formed in the middle of the viewing platform base, a through hole matched with the propelling cabins is formed in the viewing platform base, a propelling cabin base cover plate capable of entering the propelling cabins is arranged at the through hole and covered at the upper end of the viewing platform base, the upper end of the viewing platform base is connected with a viewing platform ceiling through a plurality of H-shaped stand columns, and safety fences are arranged around the viewing platform base;
the upper end of the H-shaped stand column positioned in the front penetrates through the ceiling of the viewing platform to be connected with a satellite positioning and orientation module, the middle part of the front end of the H-shaped stand column positioned in the front is connected with a front-view camera, and the middle part of the rear end of the H-shaped stand column positioned in the rear is connected with a rear-view camera.
A navigation control system of the electrically-driven three-body semi-submersible sightseeing boat comprises navigation control processing equipment, a wireless control terminal, a satellite positioning and orienting module, a forward looking camera and a backward looking camera, wherein the navigation control processing equipment is arranged in any one of the propelling cabins;
the navigation control processing equipment comprises a control processor module, a first wireless communication module and a power module, wherein the first wireless communication module and the power module are connected with the control processor module, the control processor module is connected with a satellite positioning orientation module through an RS232 serial port to acquire current position, course and time information, the control processor module is connected with motor controllers of two propulsion cabins through a CAN interface, the control processor module controls an underwater searchlight, a suction pump and an exhaust fan through a power driving circuit, the first wireless communication module is connected with a front-view camera and a rear-view camera through a video port, the first wireless communication module is connected with a wireless control terminal, data and image information are transmitted, and the power module is connected with a power battery pack.
Furthermore, the wireless control terminal comprises a control terminal processing module, a second wireless communication module, a touch display screen, a course control rod, a thrust control rod, a control switch and a portable battery module, wherein the control terminal processing module receives input control instructions collected by the course control rod, the thrust control rod and the control switch, establishes data transmission with the navigation control processing equipment through the second wireless communication module, displays the received data and image information on the touch display screen, and is powered by the portable battery module.
A navigation control method of the electrically-driven three-body semi-submersible sightseeing boat comprises the following steps of initializing after a navigation control system is powered on, importing preset navigation routes, scenic spot areas and position parameters of a forbidden area, and entering a control cycle after initialization is completed, wherein the navigation control system comprises the following steps:
s1, if new data of the satellite positioning and orientation module is received, decoding the data, and updating the current running time and the course and position information of the current position point;
s2, if the current position is a forbidden area, entering an avoidance mode, planning a shortest path leaving the forbidden area, and controlling the sightseeing boat to drive away from the forbidden area; otherwise, calculating the course and position information of the automatic track target point according to the current running time and a preset navigation route;
s3, if a control command of the wireless control terminal is received, performing corresponding processing according to the control command, such as setting a current control mode, modifying preset route and area parameters, switching on and off a water pump, an exhaust fan and an underwater searchlight; if the control command is a course thrust control command, setting a control weight value according to a current control mode, setting the control weight value to be 0 in a fully autonomous mode, setting the control weight value to be 1 in a purely manual mode, and setting the control weight value according to the position deviation between a current position point and an automatic track target point in a semi-autonomous mode;
s4, calculating the magnitude and direction of output thrust according to the control weight value, the course thrust control quantity, the position of the automatic track target point and the current position, and redistributing the output thrust to the left and right propelling cabins to realize thrust output so as to finish the cyclic processing of the cost cycle; the full-autonomous mode control weight value is 0, which indicates that the output is set according to the automatic track target point and the current position point, and the pure-manual mode control weight value is 1, which indicates that the output is set by course reasoning control quantity.
Compared with the prior art, the invention has the beneficial effects that:
1. the three-body hull has the advantages of good longitudinal and transverse stability and easy control; the heave acceleration is small, and the seasickness is not easy to happen; the deck area is wide, so that the personnel can move and operate conveniently, and the travel experience is good;
2. the semi-submersible cabin is made of transparent materials, underwater landscapes can be viewed in an all-around and non-shielding mode, and a water pump and an exhaust fan are arranged in the semi-submersible cabin, so that the semi-submersible cabin is kept dry and the air in the semi-submersible cabin is fresh; an underwater searchlight is arranged on the side wall of the propulsion cabin, the underwater illumination condition can be enhanced after the light is turned on, the viewing effect is improved, the claustrophobia of personnel in the semi-submersible is reduced, the personnel can feed fish on the viewing platform and view the fish underwater in the semi-submersible, and the viewing interest is increased;
3. through the arrangement of the navigation control system, the completeness and the control of the navigation process can be ensured, and the navigation freedom of autonomous control of tourists can be met to a certain extent.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a semi-submersible of the present invention;
FIG. 3 is a schematic view of the internal cross-sectional structure of the semi-submersible of the present invention;
FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 3 according to the present invention;
FIG. 5 is a perspective view of a propulsion pod of the present invention;
FIG. 6 is a schematic perspective view of another perspective view of the propulsion pod of the present invention;
FIG. 7 is a schematic perspective view of a viewing platform according to the present invention;
FIG. 8 is a schematic perspective view of the present invention with the ceiling of the viewing platform removed from FIG. 7;
FIG. 9 is a schematic block diagram of a navigation control system of the present invention;
FIG. 10 is a schematic flow chart of a navigation control method according to the present invention;
FIG. 11 is a schematic diagram of the track setting and semi-autonomous operating mode of the present invention.
The reference numbers illustrate: the semi-submersible vehicle comprises a semi-submersible cabin 1, a stair 101, a water suction pump 102, a water suction hose 103, an exhaust fan 104, a propulsion cabin 2, a power battery pack 201, a motor controller 202, a power motor 203, a propeller 204, an underwater searchlight 205, a viewing platform 3, a viewing platform base 301, a propulsion cabin base cover plate 302, a viewing platform ceiling 303, a security fence 304, a satellite positioning and orienting module 305, a forward looking camera 306, a backward looking camera 307, a navigation control processing device 4, a control processor module 401, a first wireless communication module 402, a power supply module 403, a wireless control terminal 5, a control terminal processing module 501, a second wireless communication module 502, a touch display screen 503, a course control rod 504, a thrust control rod 505, a control switch 506 and a portable battery module 507.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and variations in various respects, all without departing from the spirit of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1-11, the present invention provides a technical solution:
referring to fig. 1, an electrically-driven three-body semi-submersible sightseeing boat provided by an embodiment of the invention comprises a semi-submersible cabin 1, two propelling cabins 2 and a sightseeing platform 3, wherein the middle part of the sightseeing platform 3 is provided with an elliptical slotted hole, the semi-submersible cabin 1 is embedded from the bottom of the sightseeing platform 3, the outer wall of the semi-submersible cabin is connected with the elliptical slotted hole of the sightseeing platform 3 through a fastener, the number of the propelling cabins 2 is two, the two propelling cabins 2 are respectively arranged on the left side and the right side of the lower end of the sightseeing platform 3, and the installation and connection positions of the semi-submersible cabin 1, the propelling cabins 2 and the sightseeing platform 3 are subjected to waterproof sealing treatment.
After launching, the viewing platform 3 floats on the water surface, and the semi-submersible cabin 1 and the two propulsion cabins 2 are immersed in the water. The three-body hull has the advantages of good longitudinal and transverse stability and easy control; the heave acceleration is small, and the seasickness is not easy to happen; the deck area is wide big, the personnel's activity and operation of being convenient for, and the tourism experience feels better.
Wherein, the semi-submersible 1 is made of transparent material, can view underwater landscape in all directions without sheltering, as shown in figure 2, the lateral section of the semi-submersible 1 is an ellipsoid surface structure with the top and the bottom being planes, and is matched with the elliptic slotted hole. As shown in fig. 3 and 4, the bottom of the inner cavity of the semi-submersible cabin 1 is fixedly connected with a stair 101, the upper end of the stair 101 extends upwards to the top of the inner cavity of the semi-submersible cabin 1, personnel enter and exit the semi-submersible cabin 1 through the stair 101, specifically, the stair 101 is a T-shaped thick-wall hollow pipe, an upper cross bar penetrates out from the side surface of the top of the semi-submersible cabin 1, a lower vertical bar extends to the bottom surface of the semi-submersible cabin 1 and is fixedly connected with the inner wall, a water pumping hole is formed at the joint of the bottom of the vertical bar, a plurality of small cross bars are designed on the vertical bar of the stair 101 for climbing and grasping of the personnel entering and exiting, and the tail ends of the small cross bars are opened to serve as air exhaust holes; a water suction pump 102 and a water suction hose 103 are embedded on one side of the top of the stair 101, the water suction hose 103 extends to a water suction hole at the bottom along the inner wall of the vertical rod of the stair 101, and when the water suction pump 102 works, accumulated water in the semi-submersible cabin 1 can be pumped out of the cabin; an exhaust fan 104 is embedded at the other side of the top of the stair 101, and when the semi-submersible vehicle runs, waste gas in the semi-submersible vehicle cabin 1 can be pumped out of the semi-submersible vehicle cabin through an exhaust hole at the tail end of a small cross bar on the stair 101.
A power propulsion system for driving the viewing platform 3 to run is installed in the propulsion cabin 2, as shown in fig. 4, the power propulsion system includes a propeller 204 installed at the tail of the propulsion cabin 2, a motor controller 202 and a power motor 203 are installed in the propulsion cabin 2, an output shaft of the power motor 203 is connected with the propeller 204, the power motor 203 receives a control signal of the motor controller 202 to rotate or stop the propeller 204, and a power battery pack 201 for supplying electric energy is also installed in the propulsion cabin 2.
Referring to fig. 6, as a preferred embodiment of the present application, a plurality of underwater searchlights 205 are installed on one side of the propulsion cabin 2 close to the semi-submersible cabin 1, so that the underwater illumination condition can be enhanced after the lights are turned on, the viewing effect is improved, and the sense of claustrophobia of people in the semi-submersible cabin 1 is reduced.
Referring to fig. 7 and 8, the viewing platform 3 includes a viewing platform base 301, two propelling compartments 2 are installed at the lower end of the viewing platform base 301, a slot is formed in the middle of the viewing platform base 301, a through hole matched with the propelling compartment 2 is formed in the viewing platform base 301, a propelling compartment base cover plate 302 capable of entering the propelling compartment 2 is arranged at the through hole on the upper end of the viewing platform base 301, so as to facilitate the maintenance operation of the equipment. The upper end of the viewing platform base 301 is connected with a viewing platform ceiling 303 through a plurality of H-shaped upright posts, and a safety fence 304 is arranged around the viewing platform base 301; the safety of personnel's activity on the sight platform is improved, and personnel can feed the fish on sight platform 3 to see the fish under water in semi-submerged cabin 1.
The upper end of the H-shaped stand column positioned in the front penetrates through the viewing platform ceiling 303 to be connected with a satellite positioning orientation module 305 for measuring the course and the position of the sightseeing boat, the middle part of the front end of the H-shaped stand column positioned in the front is connected with a forward-looking camera 306, the middle part of the rear end of the H-shaped stand column positioned in the rear is connected with a rear-looking camera 307, the surrounding environment condition of the sightseeing boat is observed in real time, and the control safety is improved.
In addition, the embodiment of the invention cancels a course rudder and a car clock of the traditional yacht, and adopts an operation mode combining automatic flight path operation and manual operation, so as to provide a navigation control system of the electrically-driven three-body semi-submersible sightseeing boat, as shown in fig. 9, the navigation control system comprises a navigation control processing device 4, a wireless operation terminal 5, a satellite positioning and orienting module 305, a forward looking camera 306 and a backward looking camera 307, and the navigation control processing device 4 is arranged in any one of the propulsion cabins 2;
the navigation control processing equipment 4 comprises a control processor module 401, a first wireless communication module 402 and a power supply module 403, wherein the first wireless communication module 402 and the power supply module 403 are connected with the control processor module 401, the control processor module 401 is connected with a satellite positioning and orienting module 305 through RS232 serial ports to acquire current position, course and time information, the control processor module 401 is connected with motor controllers 202 of two propulsion cabins 2 through CAN interfaces, the control processor module 401 controls an underwater searchlight 205, a water pump 102 and an exhaust fan 104 through a power driving circuit, the first wireless communication module 402 is connected with a forward-looking camera 306 and a backward-looking camera 307 through video ports, the first wireless communication module 402 is connected with a wireless control terminal 5 to transmit data and image information, and the power supply module 403 is connected with a power battery pack 201 to supply power for all modules and external equipment of the navigation control processing equipment 4.
The wireless control terminal 5 comprises a control terminal processing module 501, a second wireless communication module 502, a touch display screen 503, a course control rod 504, a thrust control rod 505, a control switch 506 and a portable battery module 507, wherein the control terminal processing module 501 receives input control instructions collected by the course control rod 504, the thrust control rod 505 and the control switch 506, establishes data transmission with the navigation control processing equipment 4 through the second wireless communication module 502, and displays the received data and image information on the touch display screen 503, and the wireless control terminal 5 is powered by the portable battery module 507.
A navigation control method of an electrically-driven three-body semi-submersible sightseeing boat refers to figure 10, a navigation control system is initialized after being powered on, position parameters of a preset navigation route, a scenic spot area and a forbidden area are led in, and a control cycle is entered after initialization is completed, and the method comprises the following steps:
s1, if new data of the satellite positioning and orientation module 305 are received, decoding the data, and updating the current running time and the heading and position information of the current position point;
s2, if the current position is a forbidden area, entering an avoidance mode, planning a shortest path leaving the forbidden area, and controlling the sightseeing boat to drive away from the forbidden area; otherwise, calculating the course and position information of the automatic track target point according to the current running time and a preset navigation route;
s3, if a control command of the wireless control terminal 5 is received, performing corresponding processing according to the control command, such as setting a current control mode, modifying preset route and area parameters, turning on and off the water pump 102, the exhaust fan 104 and the underwater searchlight 205; if the control command is a course thrust control command, setting a control weight value according to a current control mode, setting the control weight value to be 0 in a fully autonomous mode, setting the control weight value to be 1 in a purely manual mode, and setting the control weight value according to the position deviation between a current position point and an automatic track target point in a semi-autonomous mode;
s4, calculating the magnitude and direction of the output thrust according to the control weight value, the course thrust control quantity, the position of the automatic track target point and the current position, and redistributing the output thrust to the left and right propelling cabins 2 to realize thrust output, thereby completing the cyclic processing of the cost cycle; the full-autonomous mode control weight value is 0, which indicates that the output is set according to the automatic track target point and the current position point, and the pure-manual mode control weight value is 1, which indicates that the output is set by course reasoning control quantity.
Referring to fig. 11, the direction of the automatic thrust vector is the linear direction between the current position and the position of the target point of the automatic trajectory, and the magnitude is determined by the distance between the two position points; the direction of the manual thrust vector is determined by the amount of the course control rod 504 of the superposed wireless control terminal 5 on the basis of the current direction of the sightseeing boat, and the magnitude of the manual thrust vector is determined by the amount of the thrust control rod 505. In the semi-autonomous mode, since the current position is far from the automatic trajectory target point position, the manipulation weight value calculated according to the above step 3 is small, and thus the synthetic thrust vector is more biased to the automatic thrust vector.
The full-autonomous mode of the invention means that before navigation, information such as navigation routes, scenic spot areas, forbidden areas, navigation time, mode switching threshold values and the like is preset through a wireless control terminal and downloaded to a navigation control system in a power cabin through a wireless communication module, and after navigation is started, the navigation control system controls a sightseeing boat to run along a set navigation route.
The pure manual mode of the invention means that the tourists use the control lever of the wireless control terminal to control the course and the position of the sightseeing boat.
The semi-autonomous mode of the invention takes the set navigation route of the automatic route as a target value, calculates a correction threshold value according to the deviation of the target value and the actual position of the sightseeing boat, sets an operation weight value of manual operation and automatic route operation by the correction threshold value, and jointly acts on the course and position control of the sightseeing boat. The control method has the advantages that the completeness and the control of the navigation process can be ensured, and the navigation freedom of autonomous control of tourists can be met to a certain extent.
The above-described embodiments are merely illustrative of the principles and utilities of the present patent application and are not intended to limit the present patent application. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of this patent application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (10)
1. An electrically driven three-body semi-submersible sightseeing boat, comprising a sightseeing platform (3), characterized in that: the underwater semi-submersible vehicle is characterized in that two sides of the lower end of the viewing platform (3) are symmetrically provided with propulsion cabins (2) enabling the viewing platform (3) to run on the water surface, a slotted hole is formed in the middle of the viewing platform (3), and the lower end of the slotted hole is fixedly connected with a semi-submersible vehicle (1) which is downwards extended to be immersed into the water.
2. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 1, wherein: the semi-submersible cabin (1) is made of transparent materials, the lateral section of the semi-submersible cabin (1) is of an ellipsoid surface structure with the top and the bottom being planes, and the slotted hole is an elliptical hole matched with the semi-submersible cabin (1).
3. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 2, wherein: inner chamber bottom fixedly connected with upper end of semi-submerged cabin (1) upwards extends to stair (101) at semi-submerged cabin (1) inner chamber top to one side, suction pump (102) have been inlayed to top one side of stair (101), the access connection of suction pump (102) has lower extreme to extend into water pumping hose (103) of semi-submerged cabin (1) bottom along stair (101), the exit linkage of suction pump (102) has the other end to extend the drain pipe of semi-submerged cabin (1), exhaust fan (104) have been inlayed to the opposite side at stair (101) top.
4. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 3, wherein: and a power propulsion system for driving the viewing platform (3) to run is arranged in the propulsion cabin (2).
5. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 4, wherein: the power propulsion system comprises a propeller (204) arranged at the tail of a propulsion cabin (2), a motor controller (202) and a power motor (203) are arranged in the propulsion cabin (2), an output shaft of the power motor (203) is connected with the propeller (204), the power motor (203) receives a control signal of the motor controller (202) to enable the propeller (204) to rotate or stop, and a power battery pack (201) for providing electric energy is also arranged in the propulsion cabin (2).
6. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 5, wherein: and a plurality of underwater searchlights (205) are installed on one side of the propulsion cabin (2) close to the semi-submersible cabin (1).
7. An electrically driven three-body semi-submersible sightseeing boat as claimed in claim 6, wherein: the landscape platform (3) comprises a landscape platform base (301), two propelling cabins (2) are installed at the lower end of the landscape platform base (301), a slotted hole is formed in the middle of the landscape platform base (301), a through hole matched with the propelling cabin (2) is formed in the landscape platform base (301), a propelling cabin base cover plate (302) capable of entering the propelling cabin (2) is arranged at the through hole in a covering mode at the upper end of the landscape platform base (301), the upper end of the landscape platform base (301) is connected with a landscape platform ceiling (303) through a plurality of H-shaped stand columns, and safety fences (304) are arranged around the landscape platform base (301);
the upper end of the H-shaped upright column positioned in the front is connected with a satellite positioning and orienting module (305) by penetrating through a viewing platform ceiling (303), the middle part of the front end of the H-shaped upright column positioned in the front is connected with a front-view camera (306), and the middle part of the rear end of the H-shaped upright column positioned in the rear is connected with a rear-view camera (307).
8. A voyage control system of an electrically driven three-body semi-submersible vessel as claimed in claim 7, wherein: the navigation control system comprises navigation control processing equipment (4), a wireless control terminal (5), a satellite positioning and orientation module (305), a forward looking camera (306) and a backward looking camera (307), wherein the navigation control processing equipment (4) is arranged in any one propulsion cabin (2);
the navigation control processing equipment (4) comprises a control processor module (401), a first wireless communication module (402) and a power supply module (403) which are connected with the control processor module (401), the control processor module (401) is connected with the satellite positioning and orientation module (305) through an RS232 serial port to acquire current position, course and time information, the control processor module (401) is connected with motor controllers (202) of two propulsion cabins (2) through a CAN interface, the control processor module (401) controls an underwater searchlight (205), a water pump (102) and an exhaust fan (104) through a power driving circuit, the first wireless communication module (402) is connected with a front-view camera (306) and a rear-view camera (307) through a video port, the first wireless communication module (402) is connected with the wireless control terminal (5) to transmit data and image information, and the power supply module (403) is connected with the power battery pack (201).
9. The cruise control system of an electrically driven three-body semi-submersible sightseeing boat according to claim 8, characterized in that: the wireless control terminal (5) comprises a control terminal processing module (501), a second wireless communication module (502), a touch display screen (503), a course control rod (504), a thrust control rod (505), a control switch (506) and a portable battery module (507), wherein the control terminal processing module (501) receives input control instructions collected by the course control rod (504), the thrust control rod (505) and the control switch (506), establishes data transmission with the navigation control processing equipment (4) through the second wireless communication module (502), displays received data and image information on the touch display screen (503), and the wireless control terminal (5) is powered by the portable battery module (507).
10. The navigation control method of the electrically-driven three-body semi-submersible sightseeing boat as claimed in claim 9, wherein the navigation control system is initialized after being powered on, position parameters of preset navigation routes, scenic spot areas and forbidden areas are imported, and a control cycle is entered after the initialization is completed, comprising the following steps:
s1, if new data of the satellite positioning and orientation module (305) are received, decoding the data, and updating the current running time and the heading and position information of the current position point;
s2, if the current position is a forbidden area, entering an avoidance mode, planning a shortest path leaving the forbidden area, and controlling the sightseeing boat to drive away from the forbidden area; otherwise, calculating the course and position information of the automatic track target point according to the current running time and a preset navigation route;
s3, if a control command of the wireless control terminal (5) is received, performing corresponding processing according to the control command, such as setting a current control mode, modifying preset route and area parameters, switching on and off a water pump (102), an exhaust fan (104) and an underwater searchlight (205); if the control command is a course thrust control command, setting a control weight value according to a current control mode, setting the control weight value to be 0 in a fully autonomous mode, setting the control weight value to be 1 in a purely manual mode, and setting the control weight value according to the position deviation between a current position point and an automatic track target point in a semi-autonomous mode;
s4, calculating the magnitude and direction of output thrust according to the control weight value, the course thrust control quantity, the position of the automatic track target point and the current position, and redistributing the output thrust to the left and right propelling cabins (2) to realize thrust output so as to finish the cyclic processing of the cost period; the full-autonomous mode control weight value is 0, which indicates that the output is set according to the automatic track target point and the current position point, and the pure-manual mode control weight value is 1, which indicates that the output is set by course reasoning control quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227271.5A CN114537581A (en) | 2022-03-08 | 2022-03-08 | Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227271.5A CN114537581A (en) | 2022-03-08 | 2022-03-08 | Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof |
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| CN114537581A true CN114537581A (en) | 2022-05-27 |
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| CN202210227271.5A Withdrawn CN114537581A (en) | 2022-03-08 | 2022-03-08 | Electrically-driven three-body semi-submersible sightseeing boat, navigation control system and control method thereof |
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| CN (1) | CN114537581A (en) |
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