CN207060340U - A kind of unmanned boat executing agency and control system - Google Patents
A kind of unmanned boat executing agency and control system Download PDFInfo
- Publication number
- CN207060340U CN207060340U CN201720285937.7U CN201720285937U CN207060340U CN 207060340 U CN207060340 U CN 207060340U CN 201720285937 U CN201720285937 U CN 201720285937U CN 207060340 U CN207060340 U CN 207060340U
- Authority
- CN
- China
- Prior art keywords
- push rod
- gear
- unmanned boat
- rudder angle
- hull
- 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
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of unmanned boat executing agency and control system, it is characterized in that：Including unmanned boat main frame, actuator controller and hull, the hull is provided with engine throttle, gearbox-gear and rudder blade, the unmanned boat main frame sends instructions to actuator controller, by changing engine throttle, gearbox-gear and rudder blade to actuator controller, technique effect simple in construction, easy for installation, that remote control and precision are high is reached.
Description
Technical field
The utility model belongs to unmanned boat field, and in particular, it is related to a kind of unmanned boat executing agency and control system
System.
Background technology
Unmanned boat is unattended surface vessel, available for perform with dangerous task or measure mapping and
The tasks such as weather forecast, because its effect at dual-use aspect becomes increasingly conspicuous, the development of unmanned boat is increasingly by weight
Depending on the executing agency of unmanned boat mainly includes Throttle Opening Control unit, speed control unit and rudder angle control unit, control system bag
Include remote controllers and local controller, local controller passes through to control and calculated by receiving and parsing through the instructions of remote controllers
Method is controlled to executing agency, so as to realize that enter car, reversing, acceleration, deceleration, turning etc. of unmanned boat operate.
The Throttle Opening Control unit of existing unmanned boat executing agency, more schemes for adding displacement transducer using motor, the party
Servomotor needs to coordinate reductor to use in case, and forms closed loop by displacement transducer and carry out Throttle Opening Control, so ties
Structure and device are all more complicated, and the installation and debugging of control unit are all comparatively laborious, and the control to gear is similar with Throttle Opening Control,
And add the scheme of displacement transducer by servomotor, the program and Throttle Opening Control have the shortcomings that, structure and device ratio
More complicated, the installation and debugging of control unit are cumbersome, and the control to rudder angle typically uses motor drive cylinder, is then passed by displacement
Sensor, which determines to calculate, beats rudder angles, and such control mode rudder angle precision is relatively low, it is impossible to accurate control.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model be to provide it is a kind of it is simple in construction, easy for installation,
Remote control and the high unmanned boat of precision.
To achieve the above object, the utility model provides following technical scheme：A kind of unmanned boat executing agency and control
System, including unmanned boat main frame, actuator controller and hull, the hull are provided with engine throttle, gearbox shelves
Position and rudder blade, the unmanned boat main frame send instructions to actuator controller, are sent out by changing to actuator controller
Motivation throttle, gearbox-gear and rudder blade.
Preferably：Throttle push rod is additionally provided with the hull, first is provided between the throttle push rod and engine throttle
Flexible axle is driven, the throttle push rod pulls engine throttle by the first driving flexible axle.
Preferably：Gear push rod is additionally provided with the hull, second is provided between the gear push rod and gearbox-gear
Flexible axle is driven, the gear push rod changes gearbox-gear by the second driving flexible axle.
Preferably：Rudder angle motor is additionally provided with the hull, oil cylinder, the rudder are provided between the rudder angle motor and rudder blade
Angle motor drives the swing of rudder blade by the push-and-pull of control cylinder.
Preferably：Rudder angle encoder is additionally provided with the hull, the actuator controller reads rudder angle encoder
Data, realize the accurate control of rudder angle.
Preferably：The unmanned boat main frame, actuator controller, throttle push rod, gear push rod, rudder angle motor and rudder
Angular encoder carries out data connection by 485 serial communications.
The beneficial effects of the utility model are to realize all-digitized demodulator, and absolute position feedback is carried using digital interface
, throttle push rod pulls engine throttle by the first driving flexible axle, and gear push rod changes gearbox by the second driving flexible axle
Gear, throttle and gearshift are controlled, there is simple in construction, easy for installation, remote control, the control to rudder angle is adopted
With the actuator controller of digital interface, the operation such as the rotating forward of controlled motor, reversion, stopping, and pass through rudder angle encoder essence
Really obtain beating rudder angles, rudder angle encoder uses digital control scheme by the axis connection of shaft coupling and rudder, overall plan no matter
It is that installation, debugging, production are all fairly simple, the response of rudder angle encoder is fast, high resolution, is advantageous to the accurate control of rudder angle.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of unmanned boat executing agency of the utility model and control system.
In figure：1st, unmanned boat main frame；2nd, actuating mechanism controls；3rd, engine throttle；4th, gearbox-gear；5th, rudder blade；6、
Throttle push rod；7th, the first driving flexible axle；8th, gear push rod；9th, the second driving flexible axle；10th, rudder angle motor；11st, oil cylinder；12nd, rudder angle
Encoder.
Embodiment
Shown in reference picture 1, a kind of unmanned boat executing agency and control system that present case is implemented, including unmanned boat main frame 1,
The device of actuating mechanism controls 2 and hull, the hull are provided with engine throttle 3, gearbox-gear 4 and rudder blade 5, the nothing
People shipowner's machine 1 sends instructions to the device of actuating mechanism controls 2, by changing engine throttle 3, speed change to the device of actuating mechanism controls 2
Gear box 4 and rudder blade 5；
Throttle push rod 6 is additionally provided with the hull, the first driving is provided between the throttle push rod 6 and engine throttle 3
Flexible axle 7, the throttle push rod 6 pull engine throttle 3 by the first driving flexible axle 7, gear push rod are additionally provided with the hull
8, the second driving flexible axle 9 is provided between the gear push rod 8 and gearbox-gear 4, the gear push rod 8 is soft by the second driving
Axle 9 changes gearbox-gear 4, and rudder angle motor 10 is additionally provided with the hull, and oil is provided between the rudder angle motor 10 and rudder blade 5
Cylinder 11, the rudder angle motor 10 are driven the swing of rudder blade 5 by the push-and-pull of control cylinder 11, rudder angle volume are additionally provided with the hull
Code device 12, the device of actuating mechanism controls 2 read the data of rudder angle encoder 12, realize the accurate control of rudder angle, it is described nobody
Shipowner's machine 1, the device of actuating mechanism controls 2, throttle push rod 6, gear push rod 8, rudder angle motor 10 and rudder angle encoder 12 are by 485
Serial communication carries out data connection.
The device controller of actuating mechanism controls 2 passes through 485 serial communications and throttle push rod 6, gear push rod 8, rudder angle motor 10
And rudder angle encoder 12 is communicated, on same 485 serial communication, all devices are all operated in passively various hanging equipments
Pattern, the device of actuating mechanism controls 2 realize control to distinct device by timesharing inquiry, when unmanned boat main frame 1 have change throttle,
When change rudder angle or the demand of gearshift, instructed by giving the device of actuating mechanism controls 2 to send, change throttle, change so as to realize
Rudder angle or gearshift.
When changing engine throttle 3, unmanned boat main frame 1 sends control instruction and gives the device of actuating mechanism controls 2, executing agency's control
Make 2 devices to communicate with throttle push rod 6 by 485 serial communications, control throttle push rod 6 moves to specified location, and throttle push rod 6 passes through
First driving flexible axle 7 pulls engine throttle 3, so as to realize that engine throttle 3 changes.
When changing gearbox-gear 4, unmanned boat main frame 1 sends control instruction and gives the device of actuating mechanism controls 2, executing agency's control
Make 2 devices to communicate with gearbox push rod by 485 serial communications, control gear push rod 8 moves to specified location, and push rod passes through driving
Second flexible axle changes gearbox-gear 4, so as to realize gearbox shifting.
When changing rudder angle, unmanned boat main frame 1 sends control instruction and gives the device of actuating mechanism controls 2, and the device of actuating mechanism controls 2 leads to
Cross 485 serial communications to communicate with rudder angle motor 10, controlled motor forward or reverse, the push-and-pull of control cylinder 11, realize rudder blade 5
Swing, while the device of actuating mechanism controls 2 reads the data of rudder angle encoder 12, realizes the accurate control of rudder angle.
Embodiment described above is a kind of preferable scheme of the present utility model, not the utility model is made any
Formal limitation, there are other variants and remodeling on the premise of without departing from the technical scheme described in claim.
Claims (3)
- A kind of 1. unmanned boat executing agency, it is characterised in that：Including unmanned boat main frame, actuator controller and hull, institute State hull and be provided with engine throttle, gearbox-gear and rudder blade, the unmanned boat main frame sends instructions to executing agency's control Device processed, by changing engine throttle, gearbox-gear and rudder blade to actuator controller, oil is additionally provided with the hull Door push rod, is provided with the first driving flexible axle between the throttle push rod and engine throttle, the throttle push rod passes through the first driving Flexible axle pulls engine throttle, is additionally provided with gear push rod on the hull, is provided between the gear push rod and gearbox-gear Second driving flexible axle, the gear push rod change gearbox-gear by the second driving flexible axle, rudder angle are additionally provided with the hull Motor, is provided with oil cylinder between the rudder angle motor and rudder blade, the rudder angle motor drives rudder blade by the push-and-pull of control cylinder Swing.
- A kind of 2. unmanned boat executing agency according to claim 1, it is characterised in that：Rudder angle volume is additionally provided with the hull Code device, the actuator controller read the data of rudder angle encoder, realize the accurate control of rudder angle.
- A kind of 3. unmanned boat executing agency according to claim 2, it is characterised in that：The unmanned boat main frame, perform machine Structure controller, throttle push rod, gear push rod, rudder angle motor and rudder angle encoder carry out data connection by 485 serial communications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285937.7U CN207060340U (en) | 2017-03-22 | 2017-03-22 | A kind of unmanned boat executing agency and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285937.7U CN207060340U (en) | 2017-03-22 | 2017-03-22 | A kind of unmanned boat executing agency and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207060340U true CN207060340U (en) | 2018-03-02 |
Family
ID=61500914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720285937.7U Expired - Fee Related CN207060340U (en) | 2017-03-22 | 2017-03-22 | A kind of unmanned boat executing agency and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207060340U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639301A (en) * | 2018-04-28 | 2018-10-12 | 北京航天控制仪器研究所 | A kind of light-duty shipboard ship ship end control system, tele-control system and automatic control system |
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| CN112389592A (en) * | 2020-11-12 | 2021-02-23 | 中国人民解放军海军工程大学 | Actuating mechanism of unmanned ship and control method thereof |
| CN113232783A (en) * | 2020-12-25 | 2021-08-10 | 北京航空航天大学合肥创新研究院 | Unmanned ship speed control method and storage medium |
| CN114408105A (en) * | 2022-02-22 | 2022-04-29 | 苏州优世达智能科技有限公司 | Unmanned ship based on hydrogen fuel cell technology |
-
2017
- 2017-03-22 CN CN201720285937.7U patent/CN207060340U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639301A (en) * | 2018-04-28 | 2018-10-12 | 北京航天控制仪器研究所 | A kind of light-duty shipboard ship ship end control system, tele-control system and automatic control system |
| CN108639301B (en) * | 2018-04-28 | 2020-02-14 | 北京航天控制仪器研究所 | Light outboard motorboat end control system, remote control system and automatic control system |
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| CN112389592A (en) * | 2020-11-12 | 2021-02-23 | 中国人民解放军海军工程大学 | Actuating mechanism of unmanned ship and control method thereof |
| CN112389592B (en) * | 2020-11-12 | 2021-09-03 | 中国人民解放军海军工程大学 | Actuating mechanism of unmanned ship and control method thereof |
| CN113232783A (en) * | 2020-12-25 | 2021-08-10 | 北京航空航天大学合肥创新研究院 | Unmanned ship speed control method and storage medium |
| CN114408105A (en) * | 2022-02-22 | 2022-04-29 | 苏州优世达智能科技有限公司 | Unmanned ship based on hydrogen fuel cell technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207060340U (en) | A kind of unmanned boat executing agency and control system | |
| CN106671091B (en) | A kind of robot hydraulic-driven cradle head closed-loop control system | |
| CN201358142Y (en) | Automatic control system for telescopic crane | |
| CN206639376U (en) | A kind of unmanned boat group automatic monitoring system | |
| CN201903440U (en) | High-speed wind tunnel angle attacking control system | |
| CN106737659A (en) | A kind of hand ship control method for coordinating of underwater unmanned vehicle and arm-and-hand system | |
| CN104133432B (en) | A kind of nonopiate six bar communication in moving servosystem and control methods | |
| CN105329429B (en) | The monitor control system of cycloid thruster and unmanned boat including the system | |
| CN101422903B (en) | Direction control method of control rod of differential speed driven type mobile robot | |
| CN104267606B (en) | A kind of power-positioning control system hardware-in-the-loop test emulator and method of work thereof | |
| CN104199308B (en) | Double-propulsion foam integrated electric propulsion simulating experimental platform for ship | |
| CN201495047U (en) | Lifting device for ecological dredging suction head | |
| CN104032959B (en) | Engineering machinery and arm rest control system | |
| CN207758974U (en) | All-direction propeller full digital intelligence control system peculiar to vessel | |
| CN206255179U (en) | A kind of direction disk control system of ship | |
| CN109733585A (en) | A kind of control method of marine main engine remote operator accelerator gear | |
| CN206592380U (en) | Crank block type feedback digital hydraulic cylinder | |
| CN205691985U (en) | A kind of maritime search and rescue unmanned boat control system | |
| CN202304876U (en) | Laying and recovery testing platform | |
| CN103308285A (en) | Filter wheel and focusing control liquid crystal display system of space camera | |
| CN211969718U (en) | Ship rudder position follow-up control system | |
| CN219524220U (en) | Amphibious ship spray pump control device | |
| CN206003429U (en) | Ship course simulator | |
| CN202611885U (en) | Accelerator speed regulating brake | |
| CN203780790U (en) | Non-mechanical brake inverter-controlled ship steering gear driving device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200108 Address after: Room 1307, building 3, Haijing Times Square, Donggang street, Putuo District, Zhoushan City, Zhejiang Province Patentee after: Zhejiang azimuthal Intelligent Control Technology Co., Ltd Address before: No. 55, No. 55, semi - pagoda village, Beijing, Beijing Patentee before: Beijing azimuth Intelligent System Technology Co Ltd |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20210322 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |