CN203345192U - Rudder-free unmanned ship automatically shipping - Google Patents
Rudder-free unmanned ship automatically shipping Download PDFInfo
- Publication number
- CN203345192U CN203345192U CN 201320301752 CN201320301752U CN203345192U CN 203345192 U CN203345192 U CN 203345192U CN 201320301752 CN201320301752 CN 201320301752 CN 201320301752 U CN201320301752 U CN 201320301752U CN 203345192 U CN203345192 U CN 203345192U
- Authority
- CN
- China
- Prior art keywords
- measuring
- motor
- unmanned ship
- unit
- ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model relates to the technical field of unmanned remote control measuring and provides a rubber-free unmanned ship automatically shipping. The rubber-free unmanned ship automatically shipping comprises a ship body, buoys on the two sides of the ship body, a communication unit, a navigation and positioning unit, a measuring unit, a power and driving unit, a ship body posture measuring unit, an industrial personal computer and a battery which supplies a working power supply for all the parts. According to the rubber-free unmanned ship automatically shipping, advancing, receding and steering of the unmanned ship are achieved by controlling steering and the speed difference of power devices installed on the two sides of the ship body, a walking route which is planed can be completed by the unmanned ship, and therefore measuring tasks such as underwater topographical mapping, flow velocity and flow measuring and close-range photography measuring are achieved. Automatic shipping of the unmanned ship is achieved in a rubber-free state, flexibility of the unmanned ship is improved, and efficiency and cost of the measuring work are greatly improved.
Description
Technical field
The utility model relates to unmanned remote controlled field of measuring technique, specifically a kind of unmanned boat of automatically walking to navigate without rudder.
Background technology
China's water resource is abundant, water system is numerous, but China is again a lack of water big country, and how effectively to utilize existing water resource, particularly all kinds of middle and small rivers, lake is China's urgent problem.And be important foundation to investigation, the measurement of a large amount of middle and small rivers and periphery thereof.It is to use manually to row the boat that method is sent out in traditional measurement, uses the modes such as sash weight, grab sampling to complete, and efficiency is low, the high needs that can't meet existing territory, planning and resources work of cost.Existing unmanned boat is all to be applied to the application such as water quality sampling, meteorology, and this class application is lower to positioning precision, the ship navigation Gesture of ship route speed, course line and plotted line deviation, Data Matching.And territory and planning department need meticulous local message, metrical information comparison chi requires usually to reach 1:500.This just requires more high-precision location and navigation, and more accurately, ship is controlled flexibly, attitude measurement compensates with the Measurement results attitude more accurately.
Summary of the invention
The purpose of this utility model is in order to overcome the weak point of above-mentioned background technology, provide a kind of and automatically walk the unmanned boat of boat without rudder, be intended to the application requirements for departments such as existing territory, planning, navigation channels, meet high-precision location and navigation, more accurately, ship is controlled flexibly, attitude measurement and the compensation of Measurement results attitude more accurately.
The purpose of this utility model is achieved through the following technical solutions.
A kind of unmanned boat of automatically walking to navigate without rudder, comprise floating drum, communication unit, navigation and positioning unit, measuring unit, power and driver element, Attitude determination unit, the industrial computer of hull, both sides, provide the battery of working power for each part mentioned above, described power and driver element comprise the motor driver be arranged on hull and are arranged at the motor on floating drum, screw propeller is connected with motor by rotating shaft, and motor driver is connected with the ARM embedded type control module; Described navigation and positioning unit comprise GNSS antenna and the GNSS receiver that is arranged at hull top, and the GNSS receiver is connected with industrial computer; Described Attitude determination unit comprises the three-dimensional electronic gyroscope, and the three-dimensional electronic gyroscope is connected with the ARM embedded type control module; Described measuring unit is connected with industrial computer; Described communication unit comprises the antenna that is arranged at hull top, and antenna is connected with wireless router, and wireless router is connected with exchange, exchange and ARM embedded type control module and industrial computer interconnection.
In technique scheme, described motor is arranged at the afterbody of two side floats, and the part of floating drum afterbody mounted motor is Demountable.
In technique scheme, described GNSS receiver is selected the receiver that can support GPS, GLONASS and Chinese dipper system.
In technique scheme, described measuring unit is the high precision pick up camera that bathymetric surveying instrument or flow rate survey meter or close-range photogrammetry are used, and when measuring unit is pick up camera, pick up camera is arranged on hull top.
The utility model compared with prior art, has following characteristics:
(1) double dynamical owing to having used, the velocity contrast control principle, avoided the use of rudder and steering wheel, makes total simpler, and energy conversion rate is higher, turns to flexibly, safeguards simple.
(2) use GNSS RTK technology to reach the positioning precision of Centimeter Level, significantly improved navigation and positioning accuracy, not only improved the accuracy of course line walking, more guaranteed the true and validity of take off data location achievement.
(3) precision is higher attitude determination and control system, can carry out in real time or correct afterwards take off data, guaranteed the validity of take off data, weakened because hull in the navigation process rocks the impact that Measurement results is brought, also actv. has corrected the deviation between GNSS antenna and measuring unit.Positioning precision is enough to mate the requirement of the department practicalities such as territory, rule, navigation channel, meet national regulation, the control of navigation track is set in strict accordance with national regulation, according to different accuracy requirements, implements different control accuracys, has guaranteed to the full extent efficiency mechanism.
(4) can realize overlength distance control.
(5) can realize without the automatic measurement under communication link and automatically make a return voyage.
The accompanying drawing explanation
Fig. 1 is that the utility model is walked the structural representation of the unmanned boat of boat automatically without rudder.
Fig. 2 is that the utility model is walked the electrical connection diagram of the unmanned boat of boat automatically without rudder.
Wherein: 1. hull, 2. floating drum, 3. motor, 4. screw propeller, 5. motor driver, 6. control convenience, 7. battery, 8.GNSS antenna.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model will be further described.
As Fig. 1, shown in 2, the present embodiment provides a kind of and automatically walks the unmanned boat of boat without rudder, comprise hull 1, the floating drum 2 of both sides, communication unit, navigation and positioning unit, measuring unit, power and driver element, the Attitude determination unit, industrial computer, for each part mentioned above provides the battery 7 of working power, described power and driver element comprise the motor driver 5 be arranged on hull and are arranged at the motor 3 on floating drum 2, screw propeller 4 is connected with motor 3 by rotating shaft, 3, screw propeller 4 and motor are provided with tight seal approach, motor driver 5 is connected with the ARM embedded type control module, described navigation and positioning unit comprise GNSS antenna 8 and the GNSS receiver that is arranged at hull top, and the GNSS receiver is connected with industrial computer, described Attitude determination unit comprises the three-dimensional electronic gyroscope, and the three-dimensional electronic gyroscope is connected with the ARM embedded type control module, described measuring unit is connected with industrial computer, described communication unit comprises the antenna that is arranged at hull 1 top, to receive and to send communication signal, antenna is connected with wireless router, and wireless router is by POE(Power Over Ethernet) with exchange, be connected, exchange and ARM embedded type control module and industrial computer interconnection.
In technique scheme, described GNSS antenna 8 is arranged on hull 1 top, to follow the tracks of, receives positioning satellite signal.
In technique scheme, described battery 7 is arranged in the battery flat of midbody.Battery provides working power by power control unit, DC-DC Switching Power Supply to the hull each several part.The battery flat side plate is provided with electric socket, for the connection of power supply, and switch, data transmission, the connection of software upgrading and newly added equipment.
In technique scheme, described motor 3 is arranged at the afterbody of two side floats 2, and the part of floating drum 2 afterbody mounted motors 3 is Demountable, so that transportation, carrying and maintenance of motor.
In technique scheme, described GNSS receiver is selected the receiver that can support GPS, GLONASS and Chinese dipper system, can support the differential data of multiple format, to realize high-precision navigator fix.
In technique scheme, described measuring unit is the high precision pick up camera that bathymetric surveying instrument or flow rate survey meter or close-range photogrammetry are used, and when measuring unit is pick up camera, pick up camera is arranged on hull top.
In technique scheme, communication unit, power and driver element, navigation are connected with the ARM embedded type control module by serial ports, RJ45 or custom protocol with positioning unit and Attitude determination unit.The ARM embedded type control module passes through to calculate current location and regular line difference, thereby adjusts the control of the speed realization of two motors to ship, and control criterion combines the requirement of country to scopes such as underwater topography mappings, guarantees the validity of take off data.The ARM embedded type control module also reads in real time, records three-dimensional electronic gyroscope real time data and controls for course, and the take off data compensation, simultaneously by the offset distance between correction for reduction GNSS antenna and measuring unit.The ARM embedded type control module can realize controlling manually, in real time plotted line object point automatically control and without the autonomous three kinds of patterns of controlling of measuring of link.Ship can carry two cover communication unit equipment, is based on respectively the short distance communication that WIFI can support the communication of two kilometers, supports abundant image, audio frequency real-time communication; And the data radio communication that can support ten kilometers.Long-range bank base can send instruction to the ARM embedded type control module by communication unit equipment, assigns the measurement task or walks line command.
Master mode sends and advances, retreats by handle or keyboard operation at the bank base for the operator manually, turn to, the instruction such as speed, velocity contrast, after sending to the ARM embedded type control module by communication unit, the ARM embedded type control module is controlled motor through motor driver and is carried out the enforcement of respective action.
In real time plotted line object point automatically control and send in real time plotted line or object point to hull ARM embedded type control module by bank base computer for the bank base, the ARM embedded type control module judges in conjunction with information such as current location, courses, and the control motor makes hull navigate by water along plotted line.After link disconnects, the ARM embedded type control module will be controlled ship and return.
Control and send one group of plotted line to the ARM embedded type control module when communication link is arranged for the bank base without the autonomous measurement of link, after the ARM embedded type control module starts to carry out this task, even link disconnects, also can independently complete this measurement task, then automatically make a return voyage.
In technique scheme, when communication unit adopt be the WIFI pattern time, the water-proof CCD camera that hull the place ahead is equipped with The Cloud Terrace can be used for image post-back.
Claims (4)
1. automatically walk the unmanned boat of boat without rudder for one kind, it is characterized in that: comprise floating drum, communication unit, navigation and positioning unit, measuring unit, power and driver element, Attitude determination unit, the industrial computer of hull, both sides, provide the battery of working power for each part mentioned above, described power and driver element comprise the motor driver be arranged on hull and are arranged at the motor on floating drum, screw propeller is connected with motor by rotating shaft, and motor driver is connected with the ARM embedded type control module; Described navigation and positioning unit comprise GNSS antenna and the GNSS receiver that is arranged at hull top, and the GNSS receiver is connected with industrial computer; Described Attitude determination unit comprises the three-dimensional electronic gyroscope, and the three-dimensional electronic gyroscope is connected with the ARM embedded type control module; Described measuring unit is connected with industrial computer; Described communication unit comprises the antenna that is arranged at hull top, and antenna is connected with wireless router, and wireless router is connected with exchange, exchange and ARM embedded type control module and industrial computer interconnection.
2. the unmanned boat of automatically walking boat without rudder according to claim 1, it is characterized in that: described motor is arranged at the afterbody of two side floats, and the part of floating drum afterbody mounted motor is Demountable.
3. the unmanned boat of automatically walking boat without rudder according to claim 1, it is characterized in that: described GNSS receiver is selected the receiver that can support GPS, GLONASS and Chinese dipper system.
4. the unmanned boat of automatically walking boat without rudder according to claim 1, it is characterized in that: described measuring unit is the high precision pick up camera that bathymetric surveying instrument or flow rate survey meter or close-range photogrammetry are used, when measuring unit is pick up camera, pick up camera is arranged on hull top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320301752 CN203345192U (en) | 2013-05-29 | 2013-05-29 | Rudder-free unmanned ship automatically shipping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320301752 CN203345192U (en) | 2013-05-29 | 2013-05-29 | Rudder-free unmanned ship automatically shipping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203345192U true CN203345192U (en) | 2013-12-18 |
Family
ID=49745118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320301752 Expired - Lifetime CN203345192U (en) | 2013-05-29 | 2013-05-29 | Rudder-free unmanned ship automatically shipping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203345192U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN106809359A (en) * | 2017-01-09 | 2017-06-09 | 东莞亿动智能科技有限公司 | Underwater propeller and its attachment means |
| CN112776949A (en) * | 2020-12-18 | 2021-05-11 | 黑龙江省水利水电勘测设计研究院 | Small unmanned ship for lake measurement |
-
2013
- 2013-05-29 CN CN 201320301752 patent/CN203345192U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN103303452B (en) * | 2013-05-29 | 2016-04-13 | 武汉楚航测控科技有限公司 | A kind of unmanned boat automatically walking boat without rudder |
| CN106809359A (en) * | 2017-01-09 | 2017-06-09 | 东莞亿动智能科技有限公司 | Underwater propeller and its attachment means |
| CN112776949A (en) * | 2020-12-18 | 2021-05-11 | 黑龙江省水利水电勘测设计研究院 | Small unmanned ship for lake measurement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103303452B (en) | A kind of unmanned boat automatically walking boat without rudder | |
| CN104142688B (en) | Underwater robot platform | |
| CN104369842B (en) | Water surface auxiliary robot based on autonomous underwater vehicle and use method | |
| CN102589531B (en) | Underwater topography measurement boat as well as manufacturing method and measurement method | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| CN103176451B (en) | Ship sailing aiding and formation commanding method | |
| CN211235830U (en) | Unmanned ship water quality monitoring system | |
| CN105270583A (en) | Measuring type unmanned ship and measuring method thereof | |
| CN201522787U (en) | Ship pilotage system | |
| CN108427416A (en) | A kind of unmanned boat differential automatic steering control system and control method | |
| CN105228893A (en) | Autonomous sea-going ship | |
| KR102390569B1 (en) | Geospatial information survey system using drone | |
| CN205581642U (en) | Unmanned ship self -adaptation steering engine control system based on STM32 | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN112960078B (en) | Unmanned sailing boat automatic driving system and method thereof | |
| CN111595348A (en) | Master-slave mode cooperative positioning method of autonomous underwater vehicle combined navigation system | |
| CN203345192U (en) | Rudder-free unmanned ship automatically shipping | |
| CN103808529A (en) | Autonomous navigation water sample collector | |
| KR102129905B1 (en) | Apparatus and Method for Maintaining Drones Landing Balance for aid to Navigation | |
| CN101854390A (en) | Movable underwater observation network analog platform | |
| CN108227754A (en) | A kind of twin shaft holder automatic tracking method and system | |
| CN107145145B (en) | A kind of autonomous unmanned boat of dual control | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| CN110471416A (en) | Unmanned boat control system based on RTK high accuracy positioning | |
| CN108321598A (en) | Autonomous aircraft under a kind of modular water |
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: 20131218 |