CN202966599U - Small-size unmanned automatic surveying vessel - Google Patents
Small-size unmanned automatic surveying vessel Download PDFInfo
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- CN202966599U CN202966599U CN2012206302891U CN201220630289U CN202966599U CN 202966599 U CN202966599 U CN 202966599U CN 2012206302891 U CN2012206302891 U CN 2012206302891U CN 201220630289 U CN201220630289 U CN 201220630289U CN 202966599 U CN202966599 U CN 202966599U
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- hull
- central controller
- control setup
- steering wheel
- miniature self
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Abstract
The utility model relates to a small-size unmanned automatic surveying vessel which includes a vessel body, a drive device and a control device which are arranged on the vessel body, a ground control station and a wireless communication station. The small-size unmanned automatic surveying vessel is characterized in that circuits of the drive device and the control device are connected into a loop, a propeller of the drive device is connected with a steering engine of the control device, and the ground control station is connected with a central controller of the control device through the wireless communication station and a radio station communication device of the control device. The small-size unmanned automatic surveying vessel is small in volume and light in weight, uses electricity to drive, and no pollution emission appears; the measured data cannot be relevantly influenced, and compared with a large-size vessel, the small-size unmanned automatic surveying vessel is energy-saving and labor-saving, simple in operation, practical and convenient to use, economic and environmental-friendly.
Description
Technical field
The utility model relates to the automatic instrumentation ship of a kind of miniature self-service, with the small-sized instrumentation ship of automatic control device, is applied to streams, river, lake and coastal water and carries out the water flow velocity measurement.
Background technology
At present, in the traditional surveying work of China, the metering system that adopts is mainly by artificial on-line measurement.And the method for manual measurement mainly contains two kinds, the one, and the staff measures the appointed place of rowing the boat.Because the water condition in each waters is different, the data of artificial on-line measurement gained are inaccurate.As run into inclement weather, staff's life safety is also brought very large hidden danger.
Also having a kind of method of measurement is the pilot steering large vessel to specifying the waters to measure, expensive although the function of this class ship is complete, the professional that needs are a large amount of, and some specific waters large vessels can't arrive.The power system that this class ship of while carries also has a great impact current, is unfavorable for obtaining real take off data.
Summary of the invention
The purpose of this utility model is in order effectively to solve in traditional measurement method, the inaccuracy that manual operation brings and inconvenient problem, the utility model provides the automatic instrumentation ship of a kind of brand-new miniature self-service to carry out on-line measurement, the utility model is applicable to a plurality of waters, can accurately reflect the water quality condition of monitoring the waters.Need not manually in person to go image data, the utility model can independently navigate by water or remote manipulation to specifying waters work.
The technical scheme that its technical matters that solves the utility model adopts is:
The automatic instrumentation ship of miniature self-service comprises hull and the actuating device and the control setup that are arranged on hull, and surface control station and wireless communication station; The circuit of actuating device and control setup connects into the loop, and the propelling unit of actuating device is connected with the steering wheel of control setup, and realizes the autonomous navigation to hull; Surface control station carries out data transmission by the radio station communication device of wireless communication station and control setup and the central controller of control setup.
Described control setup comprises measurement mechanism, steering wheel, radio station communication device, combined navigation device, laser rangefinder and central controller; Measurement mechanism, steering wheel, combined navigation device, radio station communication device, laser rangefinder and central controller are arranged on hull respectively, and measurement mechanism, steering wheel, combined navigation device, radio station communication device, laser rangefinder are connected with central controller respectively.
Described combined navigation device comprises three axle gyros, triaxial accelerometer, three axle geomagnetic sensors and temperature sensor, gps antenna, receiver.
Described measurement mechanism includes acoustic Doppler fluid velocity profile instrument ADCP, water flow sensing unit, temperature sensor, turbidity transducer, pH value sensor, dissolved oxygen sensor, conductivity sensor, humidity sensor, wind transducer and air velocity transducer.
Described central controller is micro controller system, and corresponding application program is installed in central controller, controls etc. as servo driving program, Navigator, speed.
Described actuating device comprises power supply, two cover dc brushless motors, two propelling units, two screw propellers, two cover dc brushless motors and propelling units are arranged on respectively on the hull rear end, power supply is arranged on hull, power supply is connected with two propelling units by two cover dc brushless motors respectively, and two propelling units are connected with steering wheel respectively, and a screw propeller all is installed respectively on two propelling units.
The utility model also comprises connection box, and connection box is arranged in hull, and circuit connecting wire is placed in connection box.
The beneficial effects of the utility model are: the automatic instrumentation ship volume of the utility model miniature self-service is little, and weight is light, adopts driven by power, and is pollution-free; Whole process operation is simple, is applicable to multiple water environment, and the data obtained is accurately reliable, and the cycle is short.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is data transmission principle figure of the present utility model.
1. hulls in figure, 2. battery, 3. measurement mechanism, 4. steering wheel, 5. propelling unit, 6. radio station communication device, 7. connection box, 8. central controller, 9. surface control station, 10. wireless communication station, 11. combined navigation devices, 12. laser rangefinders.
The specific embodiment
The utility model will be further described by reference to the accompanying drawings.
As shown in Figure 1 and Figure 2, the utility model comprises hull 1 and the actuating device and the control setup that are arranged on hull, and surface control station 9, wireless communication station 10 and connection box 7, the circuit of actuating device and control setup connects into the loop, the propelling unit 5 of actuating device is connected with the steering wheel 4 of control setup, and realizes the autonomous navigation to hull; Surface control station 9 carries out data transmission by the radio station communication device 6 of wireless communication station 10 and control setup and the central controller 8 of control setup; Connection box 7 is arranged in hull 1, and circuit connecting wire is placed in connection box 7.
Described control setup comprises measurement mechanism 3, steering wheel 4, radio station communication device 6, combined navigation device 11, laser rangefinder 12 and central controller 8; Measurement mechanism 3, steering wheel 4, combined navigation device 11, radio station communication device 6, laser rangefinder 12 and central controller 8 are arranged on respectively on hull 1, and measurement mechanism 3, steering wheel 4, combined navigation device 11, radio station communication device 6, laser rangefinder 12 are connected with central controller 8 respectively.
Described actuating device comprises power supply 2, two cover dc brushless motors, two propelling units 5, two screw propellers, two cover dc brushless motors and propelling units 5 are arranged on respectively on hull 1 rear end, power supply 2 is arranged on hull 1, power supply 2 is connected with two propelling units 5 by two cover dc brushless motors respectively, and two propelling units 5 are connected with steering wheel 4 respectively, and a screw propeller all is installed respectively on two propelling units 5.
Described combined navigation device 11 comprises three axle gyros, triaxial accelerometer, three axle geomagnetic sensors and temperature sensor, gps antenna, receiver.
Described measurement mechanism 3 includes acoustic Doppler fluid velocity profile instrument ADCP, water flow sensing unit, temperature sensor, turbidity transducer, pH value sensor, dissolved oxygen sensor, conductivity sensor, humidity sensor, wind transducer and air velocity transducer.
Described central controller 8 is micro controller system, and corresponding application program is installed in central controller, controls etc. as servo driving program, Navigator, speed.
The utility model is by surface control station 9, assign the instruction sailing command or navigate by water path etc. by wireless communication station 10, give the radio station communication device 6 of hull 1, radio station communication device 6 is transferred to central controller 8 again, after central controller 8 receives instruction, then give surface control station 9 return states by radio station communication device 6, press simultaneously the instruction navigation of surface control station 9, by measurement mechanism 3, automatically measure in the time of navigation.Under unmanned the intervention, by given autonomous path navigation, automatically measure like this.Automatically avoid by adjusting course and the speed of a ship or plane when meeting obstacle, and return to contemplated route with minimal path.
The automatic instrumentation ship of miniature self-service of the present utility model comprises following several ability:
Receive the geographic coordinates and navigation path of destination by the gps satellite sensor when the utility model after, independently draw out a nearest navigation circuit, and independently navigate by water according to the ship trajectory of drawing and arrive the destination.
In autonomous navigation process, surface control station sends signal, the related sensor of measurement mechanism
Start working, this waters is measured automatically.Realize synchronous real-time autonomous navigation and the transmission of take off data by central controller and radio station's communication device simultaneously.
After measurement is completed, the nearest route that makes a return voyage of the autonomous drafting of combined navigation device 11, hull 1 is got back to origination data by the given route that makes a return voyage.
Claims (7)
1. the automatic instrumentation ship of miniature self-service, comprise hull and the actuating device and the control setup that are arranged on hull, and surface control station and wireless communication station; It is characterized in that: the circuit of actuating device and control setup connects into the loop, and the propelling unit of actuating device is connected with the steering wheel of control setup; Surface control station carries out data transmission by the radio station communication device of wireless communication station and control setup and the central controller of control setup.
2. the automatic instrumentation ship of miniature self-service according to claim 1, it is characterized in that: described control setup comprises measurement mechanism, steering wheel, radio station communication device, combined navigation device, laser rangefinder and central controller; Measurement mechanism, steering wheel, combined navigation device, radio station communication device, laser rangefinder and central controller are arranged on hull respectively, and measurement mechanism, steering wheel, combined navigation device, radio station communication device, laser rangefinder are connected with central controller respectively.
3. the automatic instrumentation ship of miniature self-service according to claim 2, it is characterized in that: described combined navigation device comprises three axle gyros, triaxial accelerometer, three axle geomagnetic sensors and temperature sensor, gps antenna, receiver.
4. the automatic instrumentation ship of miniature self-service according to claim 2, it is characterized in that: described measurement mechanism includes acoustic Doppler fluid velocity profile instrument ADCP, water flow sensing unit, temperature sensor, turbidity transducer, pH value sensor, dissolved oxygen sensor, conductivity sensor, humidity sensor, wind transducer and air velocity transducer.
5. the automatic instrumentation ship of miniature self-service according to claim 2, it is characterized in that: described central controller is micro controller system.
6. the automatic instrumentation ship of miniature self-service according to claim 1, it is characterized in that: described actuating device comprises power supply, two cover dc brushless motors, two propelling units, two screw propellers, two cover dc brushless motors and propelling units are arranged on respectively on the hull rear end, power supply is arranged on hull, power supply is connected with two propelling units by two cover dc brushless motors respectively, and two propelling units are connected with steering wheel respectively, and a screw propeller all is installed respectively on two propelling units.
7. one of according to claim 1-6 automatic instrumentation ships of described miniature self-service, it is characterized in that: comprise that also connection box, connection box are arranged in hull, circuit connecting wire is placed in connection box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012206302891U CN202966599U (en) | 2012-11-26 | 2012-11-26 | Small-size unmanned automatic surveying vessel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012206302891U CN202966599U (en) | 2012-11-26 | 2012-11-26 | Small-size unmanned automatic surveying vessel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202966599U true CN202966599U (en) | 2013-06-05 |
Family
ID=48507707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012206302891U Expired - Lifetime CN202966599U (en) | 2012-11-26 | 2012-11-26 | Small-size unmanned automatic surveying vessel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202966599U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832553A (en) * | 2012-11-26 | 2014-06-04 | 武汉劳雷绿湾船舶科技有限公司 | Small automatic unmanned surveying vessel |
| GB2512455A (en) * | 2013-02-08 | 2014-10-01 | Boeing Co | Ship course obstruction warning transport |
| CN105094016A (en) * | 2015-08-24 | 2015-11-25 | 上海瑞华(集团)有限公司 | Ship-borne controller for all-electric double-power-supply ships |
-
2012
- 2012-11-26 CN CN2012206302891U patent/CN202966599U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832553A (en) * | 2012-11-26 | 2014-06-04 | 武汉劳雷绿湾船舶科技有限公司 | Small automatic unmanned surveying vessel |
| GB2512455A (en) * | 2013-02-08 | 2014-10-01 | Boeing Co | Ship course obstruction warning transport |
| GB2512455B (en) * | 2013-02-08 | 2015-05-06 | Boeing Co | Ship course obstruction warning transport |
| US9223310B2 (en) | 2013-02-08 | 2015-12-29 | The Boeing Company | Ship course obstruction warning transport |
| CN105094016A (en) * | 2015-08-24 | 2015-11-25 | 上海瑞华(集团)有限公司 | Ship-borne controller for all-electric double-power-supply ships |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130605 |