CN207718212U - Unmanned boat wireless remote control electric propulsion system - Google Patents
Unmanned boat wireless remote control electric propulsion system Download PDFInfo
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- CN207718212U CN207718212U CN201721680334.3U CN201721680334U CN207718212U CN 207718212 U CN207718212 U CN 207718212U CN 201721680334 U CN201721680334 U CN 201721680334U CN 207718212 U CN207718212 U CN 207718212U
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- unmanned boat
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Abstract
The utility model is related to a kind of unmanned boat wireless remote control electric propulsion system, including wireless remote control control system and electric propulsion system, wireless remote control control system includes 1 set of lash ship console, 1 set of hand-hold wireless remote controler and 2 sets of unmanned boat control cabinets；Electric propulsion system includes two sets of electric propulsion equipment, and electric propulsion system is powered by 2 sets of 540V ferric phosphate lithium cell groups；Lash ship console or hand-hold wireless remote controler or hand-hold wireless remote controler carry out communication control by lash ship console and 2 sets of unmanned boat control cabinets, and 2 sets of unmanned boat control cabinets control a set of electric propulsion equipment respectively.Transmission path with manual/auto switching wireless control data, closely ensure data transmission real-time, it is remote to ensure data transmission credibility, data radio station and WIFI spare guarantee data transmission security each other, can be in dangerous material leakage region into administrative staff's salvage operations using the electric propulsion mode of battery.
Description
Technical field
The utility model is related to a kind of marine electrical automation technology, more particularly to a kind of unmanned boat wireless remote control electric power pushes away
Into system.
Background technology
With greatly developing for ship and ocean engineering, transport of the people in ocean, production, the more next frequency of scientific investigation activity
Numerous, the generation along with maritime safety accident is also more and more.In dangerous material leakage region, the opposite shallow waters of water and high sea
Under environment, approved by everybody by way of the rescue of wireless remote control unmanned boat.
Existing unmanned boat wireless remote control electric propulsion design scheme mainly has following characteristics：
1, it under general short distance demand for control, is directly controlled using manual wireless remote-cotnrolled controller, majority uses low frequency
433MHz data radio station, command range is generally 100~200 meters.It cannot be satisfied remote transmission requirement.
2, under general far distance controlled demand, sea is using the method for the data radio station or satellite communication of 800MHz, control
System distance is 0.5~50 kilometer；Data radio station signal transmission has certain delay, satellite communication costly.
3, under general far distance controlled demand, using the method for mobile communication company 4G signals on inland river；Stability needs
Verification, and it is not suitable for offshore applications environment.
Invention content
The utility model be for present wireless remote control unmanned boat rescue there are the problem of, it is proposed that a kind of unmanned boat is wireless
Remote power propulsion system has the transmission path of manual/auto switching wireless control data, closely ensures that data transmission is real
Shi Xing, ensures data transmission credibility at a distance, data radio station and WIFI spare guarantee data transmission security each other, using electricity
The electric propulsion mode in pond can be in dangerous material leakage region into administrative staff's salvage operations.
The technical solution of the utility model is：A kind of unmanned boat wireless remote control electric propulsion system, including wireless remote control control
System processed and electric propulsion system, wireless remote control control system include 1 set of lash ship console, 1 set of hand-hold wireless remote controler and 2 sets
Unmanned boat control cabinet；Electric propulsion system includes two sets of electric propulsion equipment, includes promoting frequency converter, promoting electricity per complete equipment
Machine, come about servo controller and servo motor of coming about, electric propulsion system are powered by 2 sets of 540V ferric phosphate lithium cell groups；Lash ship
Console or hand-hold wireless remote controler or hand-hold wireless remote controler are controlled by lash ship console and 2 sets of unmanned boat control cabinets
Communication, 2 sets of unmanned boat control cabinets control a set of electric propulsion equipment respectively.
Configuration programmable logic controller (PLC), 800MHz data radio stations, industry WIFI interchangers, control in the lash ship console
Panel, 24V Switching Power Supplies and industrial personal computer processed；Programmable logic controller (PLC) passes through 800MHz data radio stations and electric propulsion system
800MHz data radio stations are communicated, and programmable logic controller (PLC) is pushed away by industrial WIFI interchangers with Digiplex, electric power
WIFI communication is carried out into system.
The hand-hold wireless remote configuration has touch screen and 2 sets of control handles, and hand-hold wireless remote controler can using 12 volts
Battery, 2.4GWIFI modules built in hand-hold wireless remote controler are replaced, hand-hold wireless remote controler is controlled by WIFI module and lash ship
Platform, electric propulsion system carry out WIFI communication.
Each unmanned boat control cabinet in the unmanned boat has programmable logic controller (PLC), 800MHz data radio stations, work
Industry WIFI interchangers and 24V Switching Power Supplies, are communicated by 800MHz data radio stations and lash ship console, pass through industrial WIFI
Interchanger carries out WIFI communication with Digiplex, lash ship console.
The beneficial effects of the utility model are：The utility model unmanned boat wireless remote control electric propulsion system, at nobody
Ship can effectively reduce control data delay characteristic close to lash ship (within about 500 meters) using WIFI communication forms, improve behaviour
The real-time of work；In remote self-service navigation search and rescue, (about more than 500~1000 meters other than) can automatically switch to 800MHz
Data radio station, it is ensured that the reliability that data are transmitted at a distance；And two kinds of communication modes are spare each other；On lash ship console
Industrial all-in-one machine can record operation and alert data in all systems；It can endangered using the electric propulsion mode of battery
Dangerous product leakage region is into administrative staff's salvage operations.
Description of the drawings
Fig. 1 is the utility model unmanned boat wireless remote control control system figure；
Fig. 2 is the utility model unmanned boat electric propulsion system figure.
Specific implementation mode
Unmanned boat wireless remote control electric propulsion system includes wireless remote control control system and electric propulsion system.
Such as Fig. 1 unmanned boat wireless remote control control system figures, wireless remote control control system includes 1 set of lash ship console, 1 set of hand
Hold Digiplex and 2 sets of unmanned boat control cabinets.
Configuration programmable logic controller (PLC), 800MHz data radio stations, industry WIFI interchangers, control plane in lash ship console
Plate, 24V Switching Power Supplies and industrial personal computer.In addition to main control module in programmable logic controller (PLC), digital quantity input module, number are also carried
Word amount output module, Analog input mModule, analog output module and communication module, wherein digital quantity input module are mainly adopted
The state of button on collection control panel tight is stopped and power failure signal, digital output module are mainly used for controlling control plane
Indicator light on plate, Analog input mModule are mainly used for receiving the input signal of control handle, and analog output module is main
Output for display instrument indicates that communication module is used for and the RS485 of data radio station is communicated.On control panel there are two settings
Stop for system startup for intermediate scheme, the indicator light of failure and state with the control handle promoted with full circle swinging function
Only, the button that pattern switching, failure reset, handle zero-bit are corrected, tight for system emergency stop stop button.It is equipped on industrial personal computer
Industrial configuration software, can record all operations and the alert data of unmanned rescue boat, and graphical interfaces allows crewman to the fortune of system
Row state is got information about, and fault history interface allows crewman to have foundation that can seek when debugging.
Hand-hold wireless remote configuration has touch screen and 2 sets of control handles.Touch screen display revolution is given, revolution is fed back,
Given, propulsion feedback, port and starboard battery electric quantity value, button indicating lamp function is promoted to pass through touch screen software realization.Hand
It holds Digiplex and uses 12 volts of replaceable batteries, use can be replaced when electricity is low.Built in hand-hold wireless remote controler
2.4GWIFI module.
Each unmanned boat control cabinet in unmanned boat has programmable logic controller (PLC), 800MHz data radio stations, industry
WIFI interchangers and 24V Switching Power Supplies.Liquid level, electricity in digital quantity input module acquisition unmanned boat in programmable logic controller (PLC)
The high PTC of machine winding temperature, servo controller operation and failure, full-rotating rudder paddle oil temperature high RST, digital output module
It is mainly used for servo motor brake release, cooling water pump and wind turbine start and stop, the start and stop of propulsion electric machine wind turbine, servo controller start and stop
Control, Analog input mModule are mainly used for the monitoring of temperature in unmanned boat, and analog output module is mainly used for SERVO CONTROL
Device rotational speed setup, communication module is used for and data radio station, promotes frequency converter, come about servo controller and battery management system
RS485 is communicated.
If Fig. 2 is unmanned boat electric propulsion system figure, electric propulsion system includes 2 sets and promotes frequency converter, 2 propulsion electricity
Machine, 2 sets of come about servo controller and 2 sets of servo motors of coming about, the system are powered by 2 sets of 540V ferric phosphate lithium cell groups.540V
Ferric phosphate lithium cell pool-size is 100Ah, can meet the needs of 4 hours under full steam.Frequency converter is by the direct current of battery
Become 3 phase alternating currents to power to propulsion electric machine, the parameter of motor is 360V, 80Hz, 10kW when under full steam.It comes about SERVO CONTROL
Device controls servo motor of coming about and drives full-rotating rudder paddle revolution, can meet the rotating speed requirement of 2RPM, the precision of revolution is 1 degree.
The realization of wireless remote-control system three-level transmission power and two kinds of transport protocols：It is industrial built in hand-hold wireless remote controler
WIFI module and all transmission powers of antenna are minimum, and module transmission power 8dBm, the gain which connects antenna is 4dBi；
Industrial WIFI interchangers and antenna transmission power are in middle gear, and WIFI interchanger transmission powers are 10dBm, lash ship console
The gain of WIFI interchangers external antenna (1 meter of height) is 10dBi, (0.2 meter of WIFI interchangers external antenna in unmanned boat control cabinet
It is high) gain be 5dBi；Data radio station and antenna transmission power highest, the number in lash ship console and unmanned boat control cabinet conduct electricity
Platform transmission power is 37dBm, and external antenna (1.8 meters of height) gain of lash ship console data radio station is 10dBi, unmanned boat control
External antenna (0.2 meter of height) gain of data radio station is 3dBi in case.WIFI transmission datas are using Ethernet ModbusTcp associations
View is delayed small (hundred Milliseconds), communication speed 11Mbps.Data radio station transmission data uses serial ports ModbusRtu agreements
Be delayed larger (second grade), communication speed 9.6Kbps.
The wireless data transmission path of the unmanned boat wireless remote control electric propulsion system can by lash ship console or
Person's hand-hold wireless remote controler manually selects；When control bit is setting in lash ship console：
1) being selected as wireless data transmission path by " data radio station " button on lash ship console is：Lash ship console
Control data -->Lash ship console programmable logic controller (PLC) -->800MHz data radio stations in lash ship console -->Unmanned boat control
800MHz data radio stations in case processed -->Programmable logic controller (PLC) in unmanned boat control cabinet；
2) being selected as wireless data transmission path by " WIFI " button on lash ship console is：Lash ship console controls
Data -->Lash ship console programmable logic controller (PLC) -->Industry WIFI interchangers in lash ship console -->Unmanned boat control cabinet
Interior industry WIFI interchangers -->Programmable logic controller (PLC) in unmanned boat control cabinet；
When control bit is setting in hand-hold wireless remote controler：
1) being selected as wireless data transmission path by " data radio station " mode button on hand-hold wireless remote controler is：Hand
Hold Digiplex control data -->Industrial WIFI module built in hand-hold wireless remote controler -->Lash ship console industry WIFI is handed over
Change planes -->Lash ship console 800MHz data radio stations -->800MHz data radio stations in unmanned boat control cabinet -->Unmanned boat control cabinet
Interior programming frequency logic controller；
2) being selected as wireless data transmission path by " WIFI is direct-connected " mode button on hand-hold wireless remote controler is：Hand
It is logical to hold Digiplex control data -->Industrial WIFI module built in hand-hold wireless remote controler -->It is industrial in unmanned boat control cabinet
WIFI interchangers -->Programmable logic controller (PLC) in unmanned boat control cabinet；
3) being selected as wireless data transmission path by " WIFI is indirect " mode button on hand-hold wireless remote controler is：Hand
It is logical to hold Digiplex control data -->Industrial WIFI module built in hand-hold wireless remote controler -->Lash ship console industry WIFI
Interchanger -->Lash ship console programmable logic controller (PLC) -->Lash ship console industry WIFI interchangers -->Unmanned boat control cabinet
Interior industry WIFI interchangers -->Programmable logic controller (PLC) in unmanned boat control cabinet.
The wireless remote control control system, hand-hold wireless remote controler, lash ship console programmable logic controller (PLC) and nobody
Programmable logic controller (PLC) has the function of time synchronization in ship control cabinet；Hand-hold wireless remote controler acquires its built-in industry WIFI mould
The transmitting of block and received signal strength, lash ship console programmable logic controller (PLC) acquire lash ship console 800MHz data radio stations
Transmitting with lash ship console industry WIFI interchangers and received signal strength, programmable logic controller (PLC) in unmanned boat control cabinet
Acquire the transmitting and reception of 800MHz data radio stations in industry WIFI interchangers and unmanned boat control cabinet in unmanned boat control cabinet
Signal strength；It is provided with GPS module on unmanned boat, GPS module is provided on lash ship rescue ship, it is programmable by lash ship console
Programmable logic controller (PLC) calculates the distance between unmanned boat and lash ship in logic controller and unmanned boat control cabinet；Control number
When according to carrying each equipment when being sent on unmanned boat from hand-hold wireless remote controler or lash ship console programmable logic controller (PLC)
Between stamp, signal strength and range information；
The path of the wireless remote control control system, wireless data transmission can pass through lash ship console or hand-hold wireless
Remote controler is automatically selected；When control authority is in lash ship console, " automatic " mode button on lash ship console is selected
It is selected as automated wireless data transmission selection mode, according to the timestamp (time-delay characteristics) of each equipment, signal strength and apart from certainly
Dynamic selection wireless data transmission path.The criterion for automatically selecting path is：
1) in 500 meters, using " WIFI " pattern dictionary；
2) 500 meters~1000 meters, " WIFI " pattern dictionary or " data radio station " pattern dictionary are preferentially chosen by signal strength；
3) other than 1000 meters, using " data radio station " pattern dictionary；
When control authority is in hand-hold wireless remote controler, " automatic " mode button selection on hand-hold wireless remote controler is selected
For automated wireless data transmission selection mode, selected according to the timestamp (time-delay characteristics) of each equipment, signal strength and apart from automatic
Select wireless data transmission path.The criterion for automatically selecting path is：
1) in 100 meters, using " WIFI is direct-connected " pattern dictionary；
2) 100 meters~200 meters, " WIFI is direct-connected " pattern dictionary or " WIFI is indirect " pattern road are preferentially chosen by signal strength
Diameter；
3) 200 meters~500 meters, using " WIFI is indirect " pattern dictionary；
4) 500 meters~1000 meters, " WIFI is indirect " pattern dictionary or " data radio station " pattern are preferentially chosen by signal strength
Path；
5) other than 1000 meters, using " data radio station " pattern dictionary；
Also above-mentioned parameter can be changed by industrial all-in-one machine according to live practical operation situation.
Claims (4)
1. a kind of unmanned boat wireless remote control electric propulsion system, which is characterized in that pushed away including wireless remote control control system and electric power
Into system, wireless remote control control system includes 1 set of lash ship console, 1 set of hand-hold wireless remote controler and 2 sets of unmanned boat control cabinets；
Electric propulsion system includes two sets of electric propulsion equipment, includes promoting frequency converter, propulsion electric machine, SERVO CONTROL of coming about per complete equipment
Device and servo motor of coming about, electric propulsion system are powered by 2 sets of 540V ferric phosphate lithium cell groups；Lash ship console or hand-hold wireless
Remote controler or hand-hold wireless remote controler carry out communication control, 2 sets of unmanned boat controls by lash ship console and 2 sets of unmanned boat control cabinets
Case processed controls a set of electric propulsion equipment respectively.
2. unmanned boat wireless remote control electric propulsion system according to claim 1, which is characterized in that in the lash ship console
Configure programmable logic controller (PLC), 800MHz data radio stations, industry WIFI interchangers, control panel, 24V Switching Power Supplies and industry control
Machine；Programmable logic controller (PLC) is communicated by 800MHz data radio stations and electric propulsion system 800MHz data radio stations, can
Programmed logic controller carries out WIFI communication by industrial WIFI interchangers and Digiplex, electric propulsion system.
3. unmanned boat wireless remote control electric propulsion system according to claim 1, which is characterized in that the hand-hold wireless remote control
Device is configured with touch screen and 2 sets control handles, and hand-hold wireless remote controler is using 12 volts of replaceable batteries, in hand-hold wireless remote controler
2.4GWIFI modules are set, hand-hold wireless remote controler is carried out WIFI and led to by WIFI module and lash ship console, electric propulsion system
News.
4. unmanned boat wireless remote control electric propulsion system according to claim 1, which is characterized in that every in the unmanned boat
A unmanned boat control cabinet has programmable logic controller (PLC), 800MHz data radio stations, industry WIFI interchangers and 24V switch electricity
Source is communicated by 800MHz data radio stations and lash ship console, passes through industrial WIFI interchangers and Digiplex, lash ship
Console carries out WIFI communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721680334.3U CN207718212U (en) | 2017-12-06 | 2017-12-06 | Unmanned boat wireless remote control electric propulsion system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721680334.3U CN207718212U (en) | 2017-12-06 | 2017-12-06 | Unmanned boat wireless remote control electric propulsion system |
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| Publication Number | Publication Date |
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| CN207718212U true CN207718212U (en) | 2018-08-10 |
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| CN201721680334.3U Active CN207718212U (en) | 2017-12-06 | 2017-12-06 | Unmanned boat wireless remote control electric propulsion system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807607A (en) * | 2017-12-06 | 2018-03-16 | 中国船舶重工集团公司第七0四研究所 | Unmanned boat wireless remote control electric propulsion system and its means of communication |
| CN109709950A (en) * | 2018-11-20 | 2019-05-03 | 广州南方卫星导航仪器有限公司 | A kind of unmanned surveying vessel remote control system and method |
-
2017
- 2017-12-06 CN CN201721680334.3U patent/CN207718212U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807607A (en) * | 2017-12-06 | 2018-03-16 | 中国船舶重工集团公司第七0四研究所 | Unmanned boat wireless remote control electric propulsion system and its means of communication |
| CN107807607B (en) * | 2017-12-06 | 2023-11-17 | 中国船舶重工集团公司第七0四研究所 | Unmanned ship wireless remote control electric propulsion system and communication method thereof |
| CN109709950A (en) * | 2018-11-20 | 2019-05-03 | 广州南方卫星导航仪器有限公司 | A kind of unmanned surveying vessel remote control system and method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190812 Address after: 200031 Xuhui District, Hengshan Road, No. 10, Co-patentee after: SHANGHAI CSIC SHIP PROPULSION EQUIPMENT CO., LTD. Patentee after: China Shipbuilding Industry Corp seventh 0 four Institute Address before: 200031 Xuhui District, Hengshan Road, No. 10, Patentee before: China Shipbuilding Industry Corp seventh 0 four Institute |