CN206594523U - A kind of help device of the unmanned boat by narrow water - Google Patents
A kind of help device of the unmanned boat by narrow water Download PDFInfo
- Publication number
- CN206594523U CN206594523U CN201720092908.9U CN201720092908U CN206594523U CN 206594523 U CN206594523 U CN 206594523U CN 201720092908 U CN201720092908 U CN 201720092908U CN 206594523 U CN206594523 U CN 206594523U
- Authority
- CN
- China
- Prior art keywords
- hull
- unmanned boat
- power set
- narrow water
- help
- 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 - Fee Related
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses a kind of help device of the unmanned boat by narrow water, including hull, it is characterized in that, including using controller module, laser measuring device for measuring, sonar measurement apparatus, hedging power set, positioner and data transmission device, the controller module is connected with laser measuring device for measuring, sonar measurement apparatus, hedging power set, positioner and data transmission device respectively.Advantage：1）Laser aid detects water surface situation, returns to controller, cooks up traveling road；2）Sub-marine situations are detected using sonar unit, it is to avoid run into barrier under water, ship collides in narrow water；3）Hedging power set help hull promptly to change hull moving direction collision free；4）The position of upper computer software energy real-time representation hull.
Description
Technical field
The utility model is related to a kind of help device of the unmanned boat by narrow water, belongs to technical field of ships.
Background technology
The collection of hydrographic data and foul water rescue are usually in wild environment, and current China is for hydrographic data
Collection and foul water detection automaticity it is not high, the detection device used lacks intellectuality, rely on personnel and
Operating efficiency is relatively low.With the invention of unmanned boat, detection mission increasingly is given unmanned boat and completed.But unmanned boat navigates
Row relies on GPS location, and GPS accuracy is insufficient for being accurately positioned in narrow water, and in narrow water, water surface situation is answered
Miscellaneous, sub-marine situations are also extremely complex, when being navigated by water in the narrow water of Special complex, and unmanned boat easily bumps against bank or touched
Reef.Have a strong impact on unmanned boat and carry out normal hydrology detection.
The content of the invention
Technical problem to be solved in the utility model is that the defect for overcoming prior art helps unmanned boat to lead to there is provided one kind
The device of narrow water is crossed, makes unmanned boat in narrow waters, it is impossible to which precision navigation is carried out by the present apparatus by GPS device,
The narrow water by complexity of unmanned boat safety can be helped, further detection mission is carried out.
In order to solve the above technical problems, the utility model provides a kind of help device of the unmanned boat by narrow water, bag
Hull is included, it is characterized in that, including using controller module, laser measuring device for measuring, sonar measurement apparatus, hedging power set, fixed
Position device and data transmission device, the controller module are filled with laser measuring device for measuring, sonar measurement apparatus, hedging power respectively
Put, positioner is connected with data transmission device.
Further, in addition to it is located at hull interior and is used for the supply unit powered to hull and is located at stern driving ship
The hull power set of body motion.
Further, the controller module use STM32 controller modules, STM32 controllers by serial ports respectively with
Laser measuring device for measuring, sonar measurement apparatus, hedging power set, power set, GPS positioning device are connected with data transmission device
Connect.
Further, the positioner uses GPS positioning device.
Further, the data transmission device uses wireless data transmission device, for controller module and host computer
Between data transfer.
Further, laser measuring device for measuring and the sonar measurement apparatus is located at fore hull section；Laser measuring device for measuring is to ship
Body front portion sector region is detected, sonar measurement apparatus real-time detection hull under-water ambient conditions, and detection information is transmitted
To controller module.
Further, the hedging power set set alow middle part, including steering wheel, motor and propeller, use
Collided in avoiding the barrier of hull and both sides.
The beneficial effect that the utility model is reached：
1）Laser aid detects water surface situation, returns to master board, draws out water proximate situation, cooks up traveling
Road；2）Sub-marine situations are detected using sonar unit, it is to avoid run into barrier under water, ship is touched in narrow water
Hit；3）Hedging power set help hull promptly to change hull moving direction collision free；4）Upper computer software energy real-time representation
The position of hull.
Brief description of the drawings
Fig. 1 is system schematic；
Fig. 2 is Ship Structure Graphing；
Fig. 3 is lake surface information unmanned boat navigation picture；
Fig. 4 is that unmanned boat passes through narrow water flow chart.
1 in figure is hull, and 2 be sonar unit, and 3 be supply unit, and 4 be hedging power set, and 5 be hull power dress
Put, 6 be wireless data transmission device, and 7 be GPS positioning device, and 8 be STM32 controller modules, and 9 be laser measuring device for measuring.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating this
The technical scheme of utility model, and protection domain of the present utility model can not be limited with this.
According to Fig. 1, the figure is system schematic, is herein the system on unmanned boat, STM32 controller modules 8, laser
Measurement apparatus 9, sonar unit 2, hedging power set 4, hull power set 5, GPS positioning device 7 and wireless data transmission dress
6 are put to be connected.The information of hull 1 is collected and handled by STM32 controller, and operation power plant and hedging power set are according to feelings
Condition is operated, and is communicated with host computer, receives instruction and Real-time Feedback situation.
According to Fig. 2, the figure is Ship Structure Graphing.Laser measuring device for measuring 9 is located at fore top, for fore-body fan section
Detected in the range of 120 degree of domain, in the range of 120 degree, 20 meters or so of barrier occur, situation is just sent to main control
Plate is handled.Sonar unit 2 is located on the downside of fore-body, real-time detection hull under-water ambient conditions.Hedging power set 4 are wrapped
Include three parts, steering wheel, motor, and propeller.When hull will be to two side collisions, the control of STM32 controllers is kept away
Dangerous power set start, and the opposite direction hit to hull is inverted, and when hull stops, motor stops the rotation.GPS positioning device 7
Positioned at hull afterbody, wireless data transmission device 6 is located at hull afterbody.
According to Fig. 3, lake surface information unmanned boat navigation picture, staff gives unmanned boat to send and instructed by host computer, allows nothing
People's ship reaches specified location.Unmanned boat detects the situation of water proximate according to GPS information and Laser Detecting Set, cooks up one
The suitable circuit navigated by water on the water surface.
According to Fig. 4, unmanned boat is by narrow water flow chart, when unmanned boat is navigated by water, and the sonar unit moment is visited
Sub-marine situations are surveyed, the circuit gone out according to lake surface information planning, unmanned boat is moved.When finding to have barrier under water,
Avoidance, destination of arriving safe and sound are carried out according to sonar information.Situation about can not avoid is run into, unmanned boat will be parked in original place, by feelings
Condition is sent on host computer, allows staff to be handled.Generation emergency, when colliding, hedging power set will be opened
It is dynamic so that unmanned boat is promptly parked in principle, allow staff to carry out the instruction of next step.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and deformation can also be made, these change
Enter and deform and also should be regarded as protection domain of the present utility model.
Claims (7)
1. a kind of help device of the unmanned boat by narrow water, including hull, it is characterized in that, including use controller module,
Laser measuring device for measuring, sonar measurement apparatus, hedging power set, positioner and data transmission device, the controller module
It is connected respectively with laser measuring device for measuring, sonar measurement apparatus, hedging power set, positioner and data transmission device.
2. a kind of help device of the unmanned boat by narrow water according to claim 1, it is characterized in that, in addition to be located at
Hull interior is used for the supply unit powered to hull and is located at the hull power set that stern drives ship motion.
3. a kind of help device of the unmanned boat by narrow water according to claim 2, it is characterized in that, the controller
Module use STM32 controller modules, STM32 controllers by serial ports respectively with laser measuring device for measuring, sonar measurement apparatus, keep away
Dangerous power set, hull power set, GPS positioning device are connected with data transmission device.
4. a kind of help device of the unmanned boat by narrow water according to claim 1, it is characterized in that, the positioning dress
Put and use GPS positioning device.
5. a kind of help device of the unmanned boat by narrow water according to claim 1, it is characterized in that, the data are passed
Defeated device uses wireless data transmission device, for the data transfer between controller module and host computer.
6. a kind of help device of the unmanned boat by narrow water according to claim 1, it is characterized in that, the Laser Measuring
Amount device and sonar measurement apparatus are located at fore hull section.
7. a kind of help device of the unmanned boat by narrow water according to claim 1, it is characterized in that, the hedging is moved
Power apparatus sets alow middle part, including steering wheel, motor and propeller, for avoiding the barrier of hull and both sides from occurring
Collision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720092908.9U CN206594523U (en) | 2017-01-24 | 2017-01-24 | A kind of help device of the unmanned boat by narrow water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720092908.9U CN206594523U (en) | 2017-01-24 | 2017-01-24 | A kind of help device of the unmanned boat by narrow water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206594523U true CN206594523U (en) | 2017-10-27 |
Family
ID=60128135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720092908.9U Expired - Fee Related CN206594523U (en) | 2017-01-24 | 2017-01-24 | A kind of help device of the unmanned boat by narrow water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206594523U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106547273A (en) * | 2017-01-24 | 2017-03-29 | 南京信息工程大学 | It is a kind of to help device and its using method of the unmanned boat by narrow water |
-
2017
- 2017-01-24 CN CN201720092908.9U patent/CN206594523U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106547273A (en) * | 2017-01-24 | 2017-03-29 | 南京信息工程大学 | It is a kind of to help device and its using method of the unmanned boat by narrow water |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20200124 |