CN207403888U - A kind of unmanned boat automatically controlled - Google Patents
A kind of unmanned boat automatically controlled Download PDFInfo
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- CN207403888U CN207403888U CN201721384125.4U CN201721384125U CN207403888U CN 207403888 U CN207403888 U CN 207403888U CN 201721384125 U CN201721384125 U CN 201721384125U CN 207403888 U CN207403888 U CN 207403888U
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- unmanned boat
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- automatically controlled
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Abstract
The utility model discloses a kind of unmanned boat automatically controlled, including hull；Its described unmanned boat further includes：Mounted on the attitude transducer of the hull interior, the sensing hull navigation attitude information；Mounted on the hull head and the obstacle detection module of both sides detection complaint message；Propulsion device on the hull；The navigation positioning module of location information is obtained on the hull；And be connected on the hull, with the attitude transducer, obstacle detection module, propulsion device, navigation positioning module, and the control module of the propulsion device action is controlled according to the navigation attitude information, complaint message and location information.The unmanned boat of the utility model can realize automatic navigation, and navigation attitude, course and speed of a ship or plane adjustment are flexible, and course line accuracy is high, and efficiency of navigation is high.
Description
Technical field
The utility model is related to smart motion apparatus field more particularly to a kind of unmanned boats automatically controlled.
Background technology
China administers environmental issue, especially water pollution problems energetically in recent years.On the one hand, water pollution is monitored and administers,
It needs to collect various water quality of river information, if manually collecting each item data, it may appear that time-consuming, data are asked not in time etc.
Topic, meanwhile, on river operation will also result in certain influence to staff's health.On the other hand, China's flood season or
Floods occur, it is necessary to collect the information such as the flow velocity in river, there are certain danger for manual work.
At present, there are the collection that unmanned boat is applied to river information, still, the navigation and positioning accuracy of most of unmanned boat
It is low, a part of unmanned boat take oil-burning machine exist as power source not environmentally and hull fever it is serious the problems such as, one
The unmanned boat divided turns to not in time and insensitive, a part of unmanned ship and carries a kind of test equipment and multinomial data is caused to need
It to test back and forth.Therefore, it is necessary to a kind of location navigation more precisely, power source it is more environmentally friendly it is sustainable, effectively distribute hull work when
Heat, turn to actively it is timely and sensitiveer, be equipped with the automatic unmanned boats of a variety of measuring instruments.
Utility model content
The technical problems to be solved in the utility model is, provides a kind of unmanned boat automatically controlled.
Technical solution is used by the utility model solves its technical problem：A kind of unmanned boat automatically controlled, including
Hull；It is characterized in that, the unmanned boat further includes：
Mounted on the attitude transducer of the hull interior, the sensing hull navigation attitude information；
Mounted on the hull head and both sides, the obstacle detection module for detecting complaint message；
Propulsion device on the hull；
On the hull, the navigation positioning module of acquisition location information；And
On the hull, with the attitude transducer, obstacle detection module, propulsion device, navigation positioning module
Connection, and the control module acted according to the navigation attitude information, complaint message and location information the control propulsion device.
Preferably, the obstacle detection module includes the one or more for being separately mounted to the hull head and both sides
Intelligent clearance sonar sensor.
Preferably, the propulsion device includes the steering motor being connected with the control module, by the steering motor band
Dynamic transmission mechanism and the one or more gondolas driven by the transmission mechanism, the gondola is built-in to be connected with propeller
The driving motor connect.
Preferably, the unmanned boat includes the measurement module of gathered data information, including：
The water quality detection sensor of water quality information is connected, detected on the hull, with the control module；
The measuring instrument of underwater topography information is connected, measured on the hull, with the control module；
The water velocity sensor of flow rate information is connected, measured on the hull, with the control module；
The hull speed that the hull velocity information is connected, measured on the hull, with the control module passes
Sensor；
The video camera of figure or video is connected, gathered mounted on the hull top, with the control module.
Preferably, the unmanned boat includes being mounted on the hull, is connected, described in instantaneous transmission with the control module
The data message of measurement module acquisition and the remote communication module of the navigation attitude information.
Preferably, the remote communication module can be WiFi module, 3G module, 4G modules, 5G moulds it is in the block a kind of or
It is a variety of.
Preferably, the unmanned boat further includes the air bag dress being connected outside the hull, with the control module
It puts.
Preferably, the airbag apparatus include connection and by the control module control inflation source of the gas and with it is described
The air bag of source of the gas connection.
Preferably, the unmanned boat further includes water-cooling circulating system, described in being mounted on the water absorbing nozzle of afterbody, connecting
Water absorbing nozzle is simultaneously sleeved on the first cold water jacket of the driving motor and the second cold water jacket of the steering motor, mounted on the ship
The water outlet being connected at the top of body and with the cold water jacket.
Preferably, the unmanned boat further includes on the hull, provides electric energy and is equipped with the power supply of charging interface
Module, the power module can be the lithium ion polymer battery of high-energy density.
Implement the utility model to have the advantages that：The unmanned boat of the utility model can realize automatic navigation, navigation attitude,
Course and speed of a ship or plane adjustment are flexible, and course line accuracy is high, and efficiency of navigation is high.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing：
Fig. 1 is the unmanned boat structure diagram automatically controlled of the utility model embodiment；
Fig. 2 is the obstacle detection module operation principle schematic diagram of the utility model embodiment；
Fig. 3 is the propulsion device operation principle schematic diagram of the utility model embodiment；
Fig. 4 is the circulating chilled water device operation principle schematic diagram of the utility model embodiment.
Specific embodiment
For a clearer understanding of the technical features, objectives and effects of the utility model, it is detailed now to compare attached drawing
Illustrate specific embodiment of the present utility model.
As shown in Figure 1, the unmanned boat automatically controlled in some embodiments of the utility model, exists for automatically controlling navigation
Operation is collected in the measurement that resource information is carried out in waters.
The unmanned boat automatically controlled include control module 1, attitude transducer 2, obstacle detection module 3, propulsion device 4,
Navigation positioning module 5, remote communication module 6, measurement module 7, circulating chilled water device 8, airbag apparatus 9, power module 10, hull
11。
Wherein, hull 11 is used to carry each operational module.
The attitude transducer 2 is mounted on inside hull 11, for sensing the navigation attitude information of hull 11.In the present embodiment,
It can include acceleration transducer, geomagnetic sensor, gyroscope etc..
The obstacle detection module 3 is mounted on 11 head of hull and both sides, for detecting complaint message, in this implementation
Can be the intelligent clearance sonar sensor of one or more for being separately mounted to 11 head of hull and both sides in example.
The propulsion device 4 is mounted on hull 11, for unmanned boat to be driven to navigate by water and changes navigation direction, in this implementation
Example in, including with steering motor 21, the transmission mechanism driven by steering motor 21 22 and driven by transmission mechanism 22 one
A or multiple gondola 23, the built-in driving motor 24 being connected with propeller 25 of the gondola 23.
The navigation positioning module 5 is mounted on hull 11, for obtaining location information, and is received navigation signal, can be made
Unmanned ship route is more accurate, makes the data precision higher of collection.In the present embodiment, can be support GPS, GLONASS with
And the high precision GNSS receiver of Beidou satellite navigation system one or more.
The control module 1 is mounted on hull 11 and attitude transducer 2, obstacle detection module 3, propulsion device 4, navigation
Locating module 5 connects, and according to navigation attitude information, complaint message and location information control propulsion device 4 drive hull 11 navigate by water with
And it changes course and the speed of a ship or plane.
The measurement module 7 is used for gathered data information, in the present embodiment, including：On hull 11, with controlling mould
Block 1 connects, for detecting the water quality detection sensor of water quality information；
It is connected on hull 11, with control module 1, for measuring the measuring instrument of underwater topography information；
It is connected on hull 11, with control module 1, for measuring the water velocity sensor of flow rate information；
It is connected on hull 11, with control module 1, for measuring the hull velocity pick-up of 11 velocity information of hull
Device；
It is connected mounted on 11 top of hull, with control module 1, for gathering the video camera of figure or video.
The remote communication module 6 is mounted on hull 11, is connected with control module 1, is adopted for instantaneous transmission measurement module 7
The navigation attitude information that the data message and attitude transducer 4 of collection are collected, can make unmanned boat investigative range wider, while can be real-time
It solves and adjusts unmanned boat transport condition and collect data.
In the present embodiment, remote communication module can be WiFi module, 3G module, 4G modules, 5G moulds one kind in the block
It is or a variety of.
The Water-cooling circulating device 8 for reducing motor operating temperature, mitigates influence and extension of the temperature to other modules
The working life of motor, it is main to include the water absorbing nozzle 31 mounted on afterbody, connection water absorbing nozzle 31 and be sleeved on the cold of driving motor 24
It water jacket 32 and is sleeved on the cold water jacket 33 of steering motor 21, is connected mounted on the top of hull 11 and with cold water jacket 32 and cold water jacket 33
Water outlet 34.
The airbag apparatus 9 is mounted on outside hull 11, is connected with control module 1, in the present embodiment, main to include connection
And the air bag for being controlled the source of the gas of inflation by control module 1 and being connected with source of the gas.When hull 11 is damaged, control module 1 controls
Source of the gas carries out air bag fast aeration, and air bag lifting hull is suspended in the water surface, waits to be recycled.
The power module 10, on hull 11, for providing electricity when working for other modules, the power module 10
It can disassemble and be replaced, while be equipped with charging interface, can be recycled, it is more environmentally-friendly.In the present embodiment, it is electric
Source module 10 uses the lithium ion polymer battery of high-energy density.
In the present embodiment, control module 1 is believed according to the location navigation that the course line of setting and navigation positioning module 5 provide
Number control propulsion device 4 drive unmanned boat move ahead, according to the information tune collected by attitude transducer 2 and obstacle monitoring modular 3
Whole navigation attitude and direction of advance, control module 1 control one or more measuring instruments of measurement module 7 to work, and collect information
And pass through remote communication module 6 and transfer data on receiving device, circulating chilled water device 8 can reduce the motor work of unmanned boat
Temperature mitigates influence and the service life of extension motor and other modules of the temperature to other modules, and airbag apparatus 9 can be in unmanned boat
In the case of impaired, by control module 1 inflation is controlled to carry out operation, unmanned boat lifting is suspended on the water surface, power module 10
Operating power source is provided for more than modules.
As shown in Fig. 2, it is the operation principle of obstacle detection module 3 in the utility model, in the present embodiment, mounted on ship
The intelligent clearance sonar sensor 101 on 11 head of body is detected scanning to the direction of advance of navigation, mounted on hull 11 or so
The intelligent clearance sonar sensor 102 of both sides and 103 pairs of both sides are detected scanning, and complaint message is passed to control module 1, by
Control module 1 combines navigation attitude information, ship's speed information and location information and route is planned again, and then propulsion device 4 is controlled to change
Change direction and adjust the speed of a ship or plane.In Fig. 2, intelligent clearance sonar sensor 101 detects that there are obstacle A and obstacle B in front, intelligence
Clearance sonar sensor 102 and 103 detects the situation of 11 left and right sides of hull, and obstruction data is transferred to control module 1, controls
Module 1 selects route 112 by the processing of integrated information, avoids selection route 111 and route 113 and need to plan course line again,
The efficiency of navigation higher of unmanned boat.Understandably, multiple intelligent clearance sonar sensors can be installed on unmanned boat.
As shown in figure 3, it is the operation principle of propulsion device 4 in the utility model, steering motor 21, driving motor 24 are with controlling
Molding block 1 connects, and steering motor 24 is connected by transmission mechanism 22 with gondola 23, and in the present embodiment, transmission mechanism 22 is rotation
Axis, driving motor 24 are mounted on inside gondola 23, and the propeller 25 outside gondola 23 is connected by the main shaft of propeller 25.
During unmanned boat navigation, control module 1 controls the work of steering motor 21 that rotation axis is driven to rotate, and then drives
Gondola 23 turns to, and highest realizes 360 ° of steering.Meanwhile control module 1 is by controlling to adjust the operating power of driving motor 24
And 25 rotating speed of propeller is adjusted, so as to adjust the speed of a ship or plane.Understandably, unmanned boat can equip one or more gondolas 23 and spiral
The combination of paddle 25 takes the combination that can optimize unmanned boat mechanical mechanism, and one mitigates the total quality of unmanned boat, and two carry out gondola
Streamlined can reduce advance resistance.
As shown in figure 4, being the operation principle of circulating chilled water device 8 in the utility model, during unmanned boat traveling, inhale
The compression of water nozzle 31 absorbs water into oral siphon, and water flows through the cold water jacket 32 for being sleeved on driving motor 24 and the cold water for being sleeved on steering motor 21
Set 33, last water is flowed out from 11 top delivery port 34 of hull, take away driving motor 24 and steering motor 21 work generate it is big
Partial heat.The circulating chilled water device 8 is not required power source to provide energy.
The unmanned boat of the utility model can realize automatic navigation, and a variety of measuring instruments can gather multinomial data and the essence of measurement
Accuracy is high, and course and speed of a ship or plane adjustment are flexible, efficient, the power source environmental protection peculiar to vessel of navigation.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.
Claims (10)
1. a kind of unmanned boat automatically controlled, including hull；It is characterized in that, the unmanned boat further includes：
Mounted on the attitude transducer of the hull interior, the sensing hull navigation attitude information；
Mounted on the hull head and both sides, the obstacle detection module for detecting complaint message；
Propulsion device on the hull；
On the hull, the navigation positioning module of acquisition location information；And
It is connected on the hull, with the attitude transducer, obstacle detection module, propulsion device, navigation positioning module,
And the control module of the propulsion device action is controlled according to the navigation attitude information, complaint message and location information.
2. the unmanned boat according to claim 1 automatically controlled, which is characterized in that the obstacle detection module includes difference
The intelligent clearance sonar sensor of one or more mounted on the hull head and both sides.
3. the unmanned boat according to claim 1 automatically controlled, which is characterized in that the propulsion device includes and the control
The steering motor of molding block connection, the transmission mechanism driven by the steering motor and driven by the transmission mechanism one
A or multiple gondola, the built-in driving motor being connected with propeller of the gondola.
4. the unmanned boat according to claim 1 automatically controlled, which is characterized in that the unmanned boat is believed including gathered data
The measurement module of breath, including：
The water quality detection sensor of water quality information is connected, detected on the hull, with the control module；
The measuring instrument of underwater topography information is connected, measured on the hull, with the control module；
The water velocity sensor of flow rate information is connected, measured on the hull, with the control module；
The hull velocity sensor of the hull velocity information is connected, measured on the hull, with the control module；
The video camera of figure or video is connected, gathered mounted on the hull top, with the control module.
5. the unmanned boat according to claim 4 automatically controlled, which is characterized in that the unmanned boat includes being mounted on described
It is connected on hull, with the control module, the data message that measurement module described in instantaneous transmission gathers and the navigation attitude information
Remote communication module.
6. the unmanned boat according to claim 5 automatically controlled, which is characterized in that the remote communication module can be
WiFi module, 3G module, 4G modules, 5G moulds one or more in the block.
7. the unmanned boat according to claim 1 automatically controlled, which is characterized in that the unmanned boat is further included mounted on institute
State the airbag apparatus being connected outside hull, with the control module.
8. the unmanned boat according to claim 7 automatically controlled, which is characterized in that the airbag apparatus include connection and by
The source of the gas of the control module control inflation and the air bag being connected with the source of the gas.
9. the unmanned boat according to claim 3 automatically controlled, which is characterized in that the unmanned boat further includes Water-cooling circulating
System, including mounted on afterbody water absorbing nozzle, the connection water absorbing nozzle and be sleeved on the first cold water jacket of the driving motor with
And the steering motor the second cold water jacket, mounted on the hull top and the water outlet that is connected with the cold water jacket.
10. the unmanned boat according to claim 1 automatically controlled, which is characterized in that the unmanned boat, which further includes, to be mounted on
On the hull, electric energy is provided and is equipped with the power module of charging interface, the power module can be the lithium of high-energy density
Ion polymer cell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721384125.4U CN207403888U (en) | 2017-10-24 | 2017-10-24 | A kind of unmanned boat automatically controlled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721384125.4U CN207403888U (en) | 2017-10-24 | 2017-10-24 | A kind of unmanned boat automatically controlled |
Publications (1)
| Publication Number | Publication Date |
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| CN207403888U true CN207403888U (en) | 2018-05-25 |
Family
ID=62407421
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| CN201721384125.4U Active CN207403888U (en) | 2017-10-24 | 2017-10-24 | A kind of unmanned boat automatically controlled |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539852A (en) * | 2019-08-29 | 2019-12-06 | 皖西学院 | Unmanned ship for river water quality detection with autonomous obstacle avoidance and cruise functions |
| CN112455606A (en) * | 2020-12-03 | 2021-03-09 | 天津小鲨鱼智能科技有限公司 | Vehicle steering control system and method |
| CN112478074A (en) * | 2020-11-26 | 2021-03-12 | 江苏科技大学 | External hanging type self-rescue device for damage of multi-link unmanned ship |
-
2017
- 2017-10-24 CN CN201721384125.4U patent/CN207403888U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539852A (en) * | 2019-08-29 | 2019-12-06 | 皖西学院 | Unmanned ship for river water quality detection with autonomous obstacle avoidance and cruise functions |
| CN112478074A (en) * | 2020-11-26 | 2021-03-12 | 江苏科技大学 | External hanging type self-rescue device for damage of multi-link unmanned ship |
| CN112455606A (en) * | 2020-12-03 | 2021-03-09 | 天津小鲨鱼智能科技有限公司 | Vehicle steering control system and method |
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