CN116534197B - A new type of high-performance patrol and search and rescue unmanned boat - Google Patents
A new type of high-performance patrol and search and rescue unmanned boatInfo
- Publication number
- CN116534197B CN116534197B CN202310556794.9A CN202310556794A CN116534197B CN 116534197 B CN116534197 B CN 116534197B CN 202310556794 A CN202310556794 A CN 202310556794A CN 116534197 B CN116534197 B CN 116534197B
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- unmanned boat
- rescue
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/34—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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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
- B63B3/00—Hulls characterised by their structure or component parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
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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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- 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
- B63B2035/005—Search and rescue [SAR] vessels
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明公开了一种新型高性能巡逻搜救无人艇，涉及无人艇的技术领域，包括：上艇体、下艇体和载荷设备支架；上艇体为棱台结构，上艇体后方斜面上设置两个通风孔，下艇体前端为尖形，尾端为方形，船底部设置六条减阻曲面；载荷设备支架安装在上艇体的尾部，载荷设备支架向无人艇后方倾斜；通风孔设计为可根据整艇的横倾状态进行旋转，并且通风孔设计有开关阀，通过检测的横倾角度进行开关动作，可以保证在倾覆的状态下艇体密封，通风孔内安装涡扇，在舱内部形成对流通气散热；通风孔分别连接冷却管路和进气管路为蓄电池和汽油机散热。
The present invention discloses a novel high-performance patrol and search and rescue unmanned boat, which relates to the technical field of unmanned boats and comprises an upper hull, a lower hull and a load equipment bracket; the upper hull is a prism structure, two ventilation holes are arranged on the inclined surface at the rear of the upper hull, the front end of the lower hull is pointed, the tail end is square, and six drag-reducing curved surfaces are arranged on the bottom of the boat; the load equipment bracket is installed at the tail of the upper hull, and the load equipment bracket is inclined toward the rear of the unmanned boat; the ventilation holes are designed to rotate according to the heel state of the entire boat, and the ventilation holes are designed with switch valves, which are switched by detecting the heel angle, so as to ensure that the boat body is sealed in the overturned state, and turbofans are installed in the ventilation holes to form convection ventilation and heat dissipation inside the cabin; the ventilation holes are respectively connected to the cooling pipeline and the air intake pipeline to dissipate heat for the battery and the gasoline engine.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to a novel high-performance patrol search and rescue unmanned boat.
Background
In recent years, the locking navigation field is gradually expanded, the safety of the sea area is improved, the advance response to sudden situations is necessary, the current patrol boat usually needs personnel to drive when executing the task, a certain amount of manpower and material resources are consumed, the risk that casualties can be caused when the task is executed in unsafe water areas exists, the advantages of small size, unmanned, quick action and the like of the unmanned boat are important in sea warfare, but in the patrol process of the unmanned patrol boat, the problems of poor stability, difficulty in positioning the pose, limited cruising ability and the like exist.
When the boat runs, the bow applies pressure to the water to split the water and advance, so that a group of waves advancing along with the boat are excited, and the waves are the head waves. When the stern advances, a low pressure area is left in the water and becomes a trough, and a group of waves caused by the stern are formed and are called wake waves. When the boat sails, the boat body generates the head wave and the tail wave and needs energy, so that wave-making resistance is formed and a certain resistance is caused for the patrol boat.
In the multi-agent system, the structure, function and behavior characteristics of the system are expressed by the collection of a plurality of agents through communication, cooperation, interaction, coordination, scheduling, management and control among the agents. The multi-intelligent system is adopted to solve the problem of practical application, has strong robustness and reliability, and has higher problem solving efficiency.
The existing monomer unmanned ship has the main defects of poor stability and single work adjustment capability, and can not meet the requirements of various tasks in patrol sea areas.
Disclosure of Invention
The invention aims to provide a patrol search and rescue unmanned ship with high stability and multiple working functions.
The technical scheme of the invention is that a novel high-performance patrol search and rescue unmanned ship is provided, which comprises an upper ship body, a lower ship body and a load equipment bracket;
The upper hull is of a prismatic table structure, two vent holes are formed in an inclined plane at the rear of the upper hull, the front end of the lower hull is pointed, the tail end of the lower hull is square, edges of the upper hull and the lower hull are designed as round corners, six drag reduction curved surfaces are arranged at the bottom of the lower hull;
The cabin is divided into two parts by a water-proof baffle in the lower boat body cabin, the front part is a control equipment cabin, the rear part is a power equipment cabin, and the upper part of the water-proof baffle is provided with two heat dissipation holes which are connected with the ventilation holes.
In any one of the technical schemes, further, the heat dissipation holes are formed in the unmanned ship, a turbofan is arranged in each heat dissipation hole, at the same time, the two turbofans are in different working states, the working states comprise air suction and air blowing, the turbofan forms convection ventilation and heat dissipation in the control equipment cabin, the power equipment cabin comprises a storage battery, a gasoline engine, a cooling pipeline and an air inlet pipeline, and the heat dissipation holes are respectively connected with the cooling pipeline and the air inlet pipeline to dissipate heat of the storage battery and the gasoline engine.
In any one of the technical schemes, the ventilation hole comprises a ventilation hole channel, an electric ball valve and a rotary table, the joint of the rotary table and the surface of the unmanned ship is sealed, the ventilation hole channel is connected with the heat dissipation hole, the electric ball valve is arranged on the ventilation hole channel, the ventilation hole channel is turned off when the electric ball valve works, and the ventilation hole of the rotary table rotates by taking the center of the rotary table as an axis.
In any one of the above technical solutions, further, the vent hole has a rollover resistance function, and the method for implementing the rollover resistance function includes:
When the unmanned ship detects that the transverse inclination angle is larger than a first preset value, the vent of the vent close to the transverse inclination direction faces the transverse inclination direction, the working state of the turbofan in the vent is blowing, the vent of the vent far away from the transverse inclination direction faces the opposite direction of the transverse inclination direction, the working state of the turbofan in the vent is sucking, and a force opposite to the transverse inclination direction is applied to the unmanned ship to stabilize the unmanned ship;
when the unmanned ship detects that the transverse inclination angle is larger than a second preset value, the two turbofans stop working, and the electric ball valve works to shut off the ventilation duct to prevent water inflow;
the second preset value is greater than the first preset value.
In any one of the above technical schemes, further, a microwave antenna, a G/G antenna, a laser radar, a rear camera, an electromagnetic switch, rescue equipment, a multi-degree-of-freedom rotary positioning body and an ejection cylinder are arranged on the load equipment bracket;
the electromagnetic switch is arranged above the rescue equipment to fix the rescue equipment, the rescue equipment is released after the electromagnetic switch is started, the rescue equipment is simultaneously connected with the ejection cylinder, and the ejection cylinder is fixed on the multi-degree-of-freedom rotary positioning body.
In any one of the above technical solutions, further, the unmanned aerial vehicle obtains its own position coordinates through GPS positioning, and the unmanned aerial vehicle receives signals sent by the remote control device to obtain the position coordinates of the remote control device, so as to calculate the distance between itself and the shore-based console or the handheld wireless remote controller;
The remote control equipment comprises a shore-based console and a handheld wireless remote controller;
When the distance between the remote control equipment and the unmanned ship is within ten kilometers, the unmanned ship uses the data transmission radio station mode path communication with short delay of control data through the microwave antenna; when the distance between the remote control equipment and the unmanned ship is more than ten kilometers, the unmanned ship uses 4G/5G mode path communication through the 4G/5G antenna capable of guaranteeing the reliability of data remote transmission, and the reliability of data remote transmission is guaranteed.
In any of the above technical solutions, further, the user designates a target position point of the unmanned aerial vehicle through the remote control device, and sends a target position signal to the unmanned aerial vehicle, and the unmanned aerial vehicle plans a path and navigates according to the target position signal.
In any of the above technical solutions, further, the user designates the route of the unmanned aerial vehicle through the remote control device, the route is a broken line or an arc line, and continuously transmits the control signal to the unmanned aerial vehicle, and the unmanned aerial vehicle navigates according to the control signal and continuously transmits the own position signal to the remote control device so as to correct the route.
In any one of the above technical solutions, further, when the unmanned ship is relatively close to the object to be rescued, the rear camera (14) rotationally scans the position of the object to be rescued, which sends the distress signal, to obtain an image, extracts the characteristic parameters of the image, and calculates the relative position and direction of the unmanned ship and the object to be rescued;
The rescue step comprises the steps of firstly starting the electromagnetic switch (16) to release the rescue equipment (17), then adjusting the angle of the ejection cylinder (47) by the multi-degree-of-freedom rotary positioning body (46), adjusting the force of the ejection cylinder (47), and accurately ejecting the rescue equipment (17) to the side of the object to be rescued.
In any of the above technical solutions, further, a jet pump is installed at the bottom end of the stern of the unmanned ship, and the water outlet direction of the jet pump rotates according to the target direction of the ship body.
The beneficial effects of the invention are as follows:
According to the technical scheme, the unmanned ship with small resistance is designed on the surface, the upper ship body is in a trapezoid shape, the lower ship body is in a wave breaking shape with a front pointed tail, six drag reduction curved surfaces are further designed at the bottom of the unmanned ship, the coating is a drag reduction paint surface coating formed by silica gel, silicone rubber and polyethylene film, and a load equipment bracket arranged at the tail of the unmanned ship is arranged in a backward inclined manner, so that the resistance of the unmanned ship in the sailing process is reduced as much as possible;
The rescue equipment carried on the load equipment bracket adopts the design of an ejection mechanism, so that the timely and accurate rescue can be ensured, and the personnel to be rescued can save oneself through the ejected rescue equipment;
The vent hole is arranged on the rear inclined surface of the upper boat body, the vent hole is provided with a switch valve, the switch action is carried out through the detected transverse inclination angle, the seawater can be effectively prevented from entering during normal sailing and rollover at first, and the rotatable vent hole is designed to adjust the posture of the boat body by controlling the windward side;
the unmanned ship and the shore-based console/handheld wireless remote controller select different communication modes according to the distance, the response speed is pursued in a short range, and the reliability is pursued in a long range.
Drawings
The advantages of the foregoing and additional aspects of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is an overall schematic of a novel high performance patrol search and rescue unmanned boat according to one embodiment of the invention;
FIG. 2 is a schematic side view of a novel high performance patrol search and rescue drone according to one embodiment of the present invention;
FIG. 3 is a schematic front view of a novel high performance patrol search and rescue unmanned boat according to one embodiment of the invention;
FIG. 4 is a schematic rear view of a novel high performance patrol search and rescue unmanned boat according to one embodiment of the invention;
FIG. 5 is a schematic top view of a novel high performance patrol search and rescue unmanned boat with an upper hull removed, according to one embodiment of the invention;
FIG. 6 is a front schematic view of a novel high performance patrol search and rescue unmanned boat with an upper hull removed, according to one embodiment of the invention;
FIG. 7 is a schematic diagram of a novel high performance patrol search and rescue unmanned boat rescue equipment ejection device according to one embodiment of the present invention;
fig. 8 is a vent schematic diagram of a novel high performance patrol search and rescue unmanned boat according to one embodiment of the invention.
Wherein, the 1-cross cable stake, 2-oil filler hole, 3-megaphone, 4-navigation antenna, 5-vent, 6-service watertight door, 7-gangway lamp, 8-microwave antenna, 9-load equipment rack, 10-night vision meter, 11-4G/5G antenna, 12-laser radar, 13-controller antenna, 14-rear camera, 15-warning lamp, 16-electromagnetic switch, 17-rescue equipment, 18-main switch, 19-searchlight, 20-charging hole, 21-coulometer, 22-first rack, 23-hard disk video recorder, 24-second rack, 25-intelligent master control box, 26-third rack, 27-fourth rack, 28-remote control receiving box, 29-storage battery, 30-gasoline engine 31-cooling pipelines, 32-air inlet pipelines, 33-transmission shafting, 34-pipeline components, 35-water isolation baffles, 36-exchangers, 37-tachometer modules, 38-chargers, 39-4G communication modules, 40-distribution boxes, 41-industrial personal computers, 42-combined navigation modules, 43-accelerator pump control boxes, 44-tipping bucket control boxes, 45-jet pumps, 46-multi-degree-of-freedom rotary positioning bodies, 47-ejection cylinders, 100-upper boat bodies, 101-upper boat bow parts, 102-upper boat midship parts, 103-upper boat stern parts, 200-lower boat bodies, 201-lower boat bow parts, 202-lower boat midship parts, 203-lower boat stern parts, 501-ventilation channels, 502-electric ball valves, 503-rotating table.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, embodiments of the present invention and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1 to 2, the present embodiment provides a novel high-performance patrol search and rescue unmanned ship including an upper hull 100, a lower hull 200, and a load equipment bracket 9.
Specifically, the upper hull 100 is of a prismatic table structure, the upper hull 100 is divided into an upper bow 101, an upper midship 102 and an upper stern 103 according to edges, the lower hull 200 is divided into a lower bow 201, a lower midship 202 and a lower stern 203 according to the partitions of the upper hull 100, the connection transition parts of the parts are all of round corners, the load equipment support 9 is arranged on the upper stern 103, the load equipment support 9 is inclined towards the rear of the unmanned ship, the load equipment support 9 is of a hollowed design, the weight is reduced, the air resistance is reduced, and six curved surfaces are arranged at the bottom of the lower hull 200.
The lower boat bow 201 is pointed, the lower boat stern 203 is square, the design of the boat is favorable for breaking waves, the rapidity of the boat can be greatly improved, the width of the boat from the lower boat bow 201 to the lower boat midship 202 is the largest at about 35% of the length of the boat body, and the width from the lower boat midship 202 to the lower boat stern 203 is kept unchanged.
The whole boat is externally coated with the drag reduction paint surface coating, the coating is composed of silica gel, silicone rubber and polyethylene film, drag reduction advantages are more obvious along with the improvement of the navigational speed of the boat, and the total resistance of the coating can be reduced by 3% under the optimal condition.
As shown in fig. 3 to 4, a cross bollard 1 is arranged at the right middle of the front end of the upper boat bow 101 for mooring use, an inspection watertight door 6 is arranged on the front face of the upper boat bow 101, and oil filling holes 2 and charging holes 20 are respectively arranged on two sides of the inspection watertight door 6.
The top of the midship 102 is provided with a megaphone 3, a navigation antenna 4 and a searchlight 19, and the side wall of the midship 102 is provided with a main switch 18 for controlling the starting of the unmanned boat.
The two sides of the tail end of the upper stern 103 are respectively provided with a cross bollard 1, the rear face of the upper stern 103 is also provided with an overhaul water door 6, and the inclined plane above the overhaul water door 6 is provided with two vent holes 5, and as the vent holes 5 are arranged on the rear inclined plane of the unmanned ship, the possibility that seawater enters the cabin through the vent holes 5 is greatly reduced.
The jet pump 45 is installed at the stern bottom of unmanned ship, and jet pump 45 can rotate according to the hull direction of advance, compares traditional oar rudder propulsion mode, can more freely swiftly adjust the direction of propulsion, and then improves the operability of ship to reduce the influence to the environment.
The outboard surface of the load equipment bracket 9 is provided with a gangway lamp 7 which can effectively mark the width outline of the boat body, and the outboard of the bracket is provided with a polyurethane anti-collision block which can prevent the bracket and the load equipment from being damaged by collision when mooring to the shore.
In the embodiment, a gangway lamp 7, a microwave antenna 8, a night vision device 10, a 4G/5G antenna 11, a laser radar 12, a controller antenna 13, a rear camera 14, a warning lamp 15, an electromagnetic switch 16 and rescue equipment 17 are arranged on a load equipment support 9, the electromagnetic switch 16 is arranged above the rescue equipment 17 to fix the rescue equipment 17, the electromagnetic switch 16 is started to cancel the fixation of the rescue equipment 17, the rescue equipment 17 is released into the sea to provide for a rescue target, the rescue equipment 17 is connected with an ejection cylinder 47 at the same time, the ejection cylinder 47 is fixed on a multi-degree-of-freedom rotary positioning body 46 arranged on a stern 103, when an unmanned ship is relatively close to the rescue object, the rear camera 14 is rotated to scan the position of the rescue object to send a distress signal to obtain an image, characteristic parameters of the image are extracted, the relative position and direction of the unmanned ship and the rescue object are calculated, then the rescue equipment 17 is ready to be launched, the electromagnetic switch 16 is started first to release the rescue equipment 17, then the multi-degree-of-freedom rotary positioning body 46 is used for adjusting the angle of the ejection cylinder 47, and the force of the ejection cylinder 47 is accurately adjusted, and the rescue object is required to be ejected to the side of the rescue object 17.
In this embodiment, the rear camera 14 obtains an image and extracts characteristic parameters of the image by using an existing target detection technology, and the target detection technology can be implemented by adopting computer vision technologies such as SIFT, SURF, ORB and other algorithms, or by adopting convolutional neural network processing, performing matching judgment with data in a database, judging a target and obtaining a specific position of the target, and calculating the relative position and direction of the unmanned ship and the target by combining the rotation angle of the rear camera 14.
The load equipment support 9 is connected with all the carried equipment by adopting vibration isolation damping pads, so that the vibration of the equipment can be effectively reduced, and the corresponding equipment is additionally arranged above the load equipment support 9 according to different functions required to be realized.
In this embodiment, when the unmanned ship needs to berth, tracking of berth position is realized through the laser radar 12 and the rear camera 14, the rear camera 14 rotationally scans sea-sky area images, the characteristic parameters of the sea-sky area images are extracted by the method and compared with the characteristic parameters of template images for calibration, berthing position areas are confirmed, the relative position, direction and heading of the unmanned ship and the berthing position areas are calculated, the laser radar 12 faces the scanning direction to the berthing position areas after confirming the berthing position areas, radar images are obtained, and the laser radar 12 tracks the berthing position areas in the berthing process, so that the laser radar images are located at the center at the moment.
As shown in fig. 5 to 6, the whole cabin is divided into two parts by a water-proof baffle 35 in the lower hull 200 cabin, the front part is a control equipment cabin, the rear part is a power equipment cabin, the equipment in the cabin is arranged symmetrically as far as possible according to the weight of a single control equipment, so that the roll stability of the hull is ensured, foam materials are paved on the side part and the bottom part in the cabin, and if a roll-over accident occurs, the unmanned ship can be ensured to still have certain buoyancy to float on the water surface, and the rescue ship can be ensured to find out for the first time.
In the embodiment, a first support 22, a second support 24, a third support 26 and a fourth support 27 are sequentially arranged in the control equipment cabin from front to back, a coulometer 21, an accelerator pump control box 43 and a skip bucket control box 44 are mounted on the first support 22, a hard disk video recorder 23, an industrial personal computer 41 and a combined navigation module 42 are mounted on the second support 24, the industrial personal computer 41 is responsible for receiving external command signals, an intelligent main control box 25, a 4G communication module 39 and a distribution box 40 are mounted on the third support 26, and a remote controller receiving box 28, a switch 36, a tachometer module 37 and a charger 38 are mounted on the fourth support 27.
In this embodiment, the power plant compartment is fitted with a battery 29, a gasoline engine 30, a cooling line 31, an intake line 32, a drive train 33 and a line assembly 34.
In addition, two groups of heat dissipation holes are designed on the upper part of the water isolation baffle 35, the heat dissipation holes are connected with the ventilation holes 5, a turbofan is installed in each heat dissipation hole, at the same time, the two turbofans are in different working states, the working states comprise air suction and air blowing, an air flow channel is formed in the control equipment cabin for ventilation and heat dissipation, and the cooling pipeline 31 and the air inlet pipeline 32 are connected with the heat dissipation holes for heat dissipation of the power equipment cabin.
As shown in fig. 8, the ventilation hole 5 comprises a ventilation hole 501, an electric ball valve 502 and a rotary table 503, wherein the joint of the rotary table 503 and the surface of the unmanned ship is sealed, the ventilation hole 501 is connected with a heat dissipation hole, the electric ball valve 502 is arranged on the ventilation hole 501, the electric ball valve 502 is used for closing the ventilation hole 501 when working, and a ventilation opening of the rotary table 503 rotates by taking the center of the rotary table 503 as an axis.
The vent hole 5 has a rollover resistance function, and the rollover resistance function is realized by the method comprising the following steps:
when the unmanned ship detects that the transverse inclination angle is larger than a first preset value, the vent of the vent hole 5 close to the transverse inclination direction faces the transverse inclination direction, the working state of the turbofan in the vent hole 5 is blowing, the vent of the vent hole 5 far away from the transverse inclination direction faces the opposite direction of the transverse inclination direction, the working state of the turbofan in the vent hole 5 is sucking, and the force opposite to the transverse inclination direction is applied to the unmanned ship to enable the unmanned ship to be stable.
When the unmanned ship detects that the transverse inclination angle is larger than a second preset value, the two turbofans stop working, and the electric ball valve 502 works to shut off the ventilation duct 501 to prevent water from entering, wherein the second preset value is larger than the first preset value.
The unmanned ship obtains the position coordinates of the unmanned ship through GPS positioning, the unmanned ship receives signals sent by the shore-based control console or the handheld wireless remote controller to obtain the position coordinates of the shore-based control console or the handheld wireless remote controller, so that the distance between the unmanned ship and the shore-based control console or the handheld wireless remote controller is calculated, when the distance is within ten kilometers, the unmanned ship adopts data radio station mode path communication, the delay characteristic of control data can be effectively reduced, the operation real-time performance is improved, and when the distance is greater than ten kilometers, 4G/5G mode path communication is selected, and the reliability of long-distance data transmission can be ensured.
After a user designates a target position point or a route by using remote control equipment such as a shore-based console or a handheld wireless remote controller, the unmanned aerial vehicle and the remote control equipment communicate with each other to execute corresponding mobile operation, and specifically comprises the steps that when the user designates the target position point, the remote control equipment sends a target position signal to the unmanned aerial vehicle, and after the unmanned aerial vehicle receives the signal through the industrial personal computer 41, the unmanned aerial vehicle automatically plans the route and navigates through navigation-related equipment carried by the unmanned aerial vehicle; when a user designates an unmanned ship route, the remote control equipment and the unmanned ship keep in communication to acquire the real-time position of the unmanned ship, and judges the direction in which the current moment should go forward to avoid yaw according to the position of the unmanned ship on the route designated by the user corresponding to the real-time position of the unmanned ship, and the remote control equipment sends a direction signal to the unmanned ship.
In summary, the invention provides a novel high-performance patrol search and rescue unmanned ship, which comprises an upper ship body 100, a lower ship body 200 and a load equipment bracket 9.
The upper boat body 100 is of a prismatic table structure, two vent holes 5 are formed in the rear inclined surface of the upper boat body 100, the front end of the lower boat body 200 is pointed, the tail end of the lower boat body is square, six drag reduction curved surfaces are arranged at the bottom of the boat, the load equipment support 9 is arranged at the tail of the upper boat body 100, and the load equipment support 9 is inclined to the rear of the unmanned boat.
The cabin of the lower boat body 200 is divided into two parts by a water-proof baffle 35, the front part is a control equipment cabin, the rear part is a power equipment cabin, two heat dissipation holes are formed in the upper part of the water-proof baffle 35 and are connected with the ventilation holes 5, the heat dissipation holes are arranged in the unmanned boat, a turbofan is arranged in each heat dissipation hole, the two turbofans are in different working states, the working states comprise air suction and air blowing, convection ventilation and heat dissipation are formed in the control equipment cabin, the power equipment cabin comprises a storage battery 29, a gasoline engine 30, a cooling pipeline 31 and an air inlet pipeline 32, and the heat dissipation holes are respectively connected with the cooling pipeline 31 and the air inlet pipeline 32 for heat dissipation of the storage battery 29 and the gasoline engine 30.
The ventilation hole 5 comprises a ventilation hole 501, an electric ball valve 502 and a rotary table 503, wherein the joint of the rotary table 503 and the surface of the unmanned ship is sealed, the ventilation hole 501 is connected with a heat dissipation hole, the electric ball valve 502 is arranged on the ventilation hole 501, the electric ball valve 502 is used for switching off the ventilation hole 501 when working, and a ventilation opening of the rotary table 503 rotates by taking the center of the rotary table 503 as an axis.
The vent hole 5 has a rollover resistance function, and the rollover resistance function is realized by the method comprising the following steps:
when the unmanned ship detects that the transverse inclination angle is larger than a first preset value, the vent of the vent hole 5 close to the transverse inclination direction faces the transverse inclination direction, the working state of the turbofan in the vent hole 5 is blowing, the vent of the vent hole 5 far away from the transverse inclination direction faces the opposite direction of the transverse inclination direction, the working state of the turbofan in the vent hole 5 is sucking, and a force opposite to the transverse inclination direction is applied to the unmanned ship to stabilize the unmanned ship;
When the unmanned ship detects that the transverse inclination angle is larger than a second preset value, the two turbofans stop working, the electric ball valve 502 works to shut off the ventilation duct 501 to prevent water from entering, and the second preset value is larger than the first preset value.
The load equipment support 9 is provided with a microwave antenna 8, a 4G/5G antenna 11, a laser radar 12, a rear camera 14, an electromagnetic switch 16, rescue equipment 17, a multi-degree-of-freedom rotary positioning body 46 and an ejection cylinder 47, the electromagnetic switch 16 is arranged above the rescue equipment 17 to fix the rescue equipment 17, the rescue equipment 17 is released after the electromagnetic switch 16 is started, the rescue equipment 17 is simultaneously connected with the ejection cylinder 47, the ejection cylinder 47 is fixed on the multi-degree-of-freedom rotary positioning body 46, and corresponding equipment is additionally arranged above the load equipment support 9 according to different functions which are realized as required.
When the unmanned ship is relatively close to the object to be rescued, the rear camera 14 rotationally scans the position of the object to be rescued, which sends the distress signal, to obtain an image, the characteristic parameters of the image are extracted, and the relative position, direction and heading of the unmanned ship and the object to be rescued are calculated.
The rescue step comprises the steps of firstly starting an electromagnetic switch 16 to release rescue equipment 17, then adjusting the angle of an ejection cylinder 47 by a multi-degree-of-freedom rotary positioning body 46, adjusting the force of the ejection cylinder 47, and accurately ejecting the rescue equipment 17 to the side of an object to be rescued.
In the present invention, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and the terms "connected" may be, for example, a fixed connection, a removable connection, or an integral connection, and the terms "connected" may be directly or indirectly connected through an intermediary. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The shapes of the various components in the drawings are illustrative, and do not exclude certain differences from the actual shapes thereof, and the drawings are merely illustrative of the principles of the present invention and are not intended to limit the present invention.
Although the invention has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and is not intended to limit the application of the invention. The scope of the invention is defined by the appended claims and may include various modifications, alterations and equivalents of the invention without departing from the scope and spirit of the invention.
Claims (7)
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| CN112241170A (en) * | 2020-09-28 | 2021-01-19 | 山东省科学院海洋仪器仪表研究所 | Self-stabilizing system of unmanned boat based on parallel six-degree-of-freedom platform |
| CN112278198A (en) * | 2020-10-29 | 2021-01-29 | 上海交通大学 | Unmanned boat for underwater rescue |
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| CN112241170A (en) * | 2020-09-28 | 2021-01-19 | 山东省科学院海洋仪器仪表研究所 | Self-stabilizing system of unmanned boat based on parallel six-degree-of-freedom platform |
| CN112278198A (en) * | 2020-10-29 | 2021-01-29 | 上海交通大学 | Unmanned boat for underwater rescue |
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