CN207931957U - A kind of unmanned boat automatic recycling device - Google Patents
A kind of unmanned boat automatic recycling device Download PDFInfo
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- CN207931957U CN207931957U CN201721891887.3U CN201721891887U CN207931957U CN 207931957 U CN207931957 U CN 207931957U CN 201721891887 U CN201721891887 U CN 201721891887U CN 207931957 U CN207931957 U CN 207931957U
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Abstract
The utility model is related to a kind of unmanned boat automatic recycling devices, including：Unmanned hull, communication system, central control system, warning device and gas-bag system；The central control system is electrically connected with communication system, gas-bag system, warning device；Wherein, the central controller system passes through the status signal of unmanned boat described in the communication system transmitting with Fixed Time Interval；When the unmanned boat does not emit the status signal or the unqualified transmitting status signal more than certain time, the central control system emits alarm signal by the warning device；The unmanned boat discharges gas-bag system described in gas after receiving control signal, and the unmanned boat emerges under the action of air bag.The present apparatus is by being in real time monitored underwater unmanned ship equipment, when the intentional outer generation of discovery, when unmanned ship equipment cannot achieve safety floating, controllers make the gas generating unit igniting explosion of unmanned boat, it is simple, reliable to smoothly recycle dependent failure device.
Description
Technical field
The utility model is related to a kind of unmanned boat retracting device, more particularly to a kind of unmanned boat can be realized to be recycled automatically
Device.
Background technology
Subsurface communication is present world-famous puzzle, and subsurface communication generally includes wireless communication and wire communication two ways,
It is underwater sound communication, laser communication that wireless communication, which leads to common mode, and underwater sound communication is extremely difficult, mainly more due to channel
Diameter effect, time-varying effecting, available frequency width, signal decaying are serious, and especially in long distance transmission, underwater sound communication is very tired
It is difficult.Underwater sound communication is very low compared to rate for wire communication, because subsurface communication is using sound wave rather than radio wave.Often
The underwater acoustic communication method seen is to use spread spectrum technic, such as CDMA.And laser communication is at present still in the research experiment stage,
It is mainly communicated using underwater blue light, but that there is also transmission ranges is short, the defects such as efficiency is low.Therefore, now until underwater unmanned boat
Also line traffic control mode is mostly used.
Regardless of be using wireless communication or wire communication, underwater navigation environment be all it is extremely complex, unavoidably
Can not be communicated there are some or even if may be implemented to communicate, but feelings that unmanned boat can not be operated according to control instruction
Condition, for example, during unmanned boat is paraded in water, the connecting line connected between hull and remote control is wound tension, then nobody
Ship can not float on the surface of the water, and beeper also can not recycle unmanned boat equipment by pulling connecting line.Alternatively, in wireless remote control
When, unmanned boat can not connect.Alternatively, when wireless underwater unmanned boat signal can not receive signal, wired underwater unmanned boat fare
When cable is broken, when Wireless/wired underwater unmanned boat is out of hand, for example (,) battery or mainboard failure etc., wired unmanned boat connecting line
Winding be when can not fetch unmanned boat, wired unmanned boat bilging and when connecting line can not fetch unmanned boat, wireless unmanned boat, because
Bilging complete machine density increases, when being short of power to rise to the water surface, wireless unmanned boat, because being short of power to rise to the water surface
When.It just needs to make it emerge by the way of urgent at this time, until safety withdraws unmanned machine.
Therefore, a kind of technology withdrawn safely when can not can control in all cases unmanned boat is developed
For the technical problem that this field is very urgent.
Utility model content
The utility model embodiment provides a kind of unmanned boat automatic recycling device, can solve under the prior art various
In the case of the technical issues of being withdrawn safely when can not control unmanned boat.
A kind of unmanned boat automatic recycling device that the utility model embodiment provides, including：Unmanned hull, communication system,
Central control system, warning device and gas-bag system；The central control system is filled with communication system, gas-bag system, alarm
Set electrical connection；Wherein, the central controller system passes through unmanned boat described in the communication system transmitting with Fixed Time Interval
Status signal；When the unmanned boat does not emit the status signal or the transmitting status signal is unqualified more than certain time
When, the central control system emits alarm signal by the warning device；The unmanned boat is released after receiving control signal
It deflates the bag system, the unmanned boat emerges under the action of air bag.
Further, the communication system includes wireless communication system or wired communication system.
Further, further include water gage or position sensor or electric quantity monitoring device.
Further, the gas-bag system includes：Air bag, controller, microprocessor, gas generator；The control
The control command is passed to the gas generator by device and microprocessor processed to receive the control command of console；
The gas generator generates firing action according to control command.
Further, the gas generator includes any one of following and combinations thereof：
A) igniter+sodium nitride
B) mixed gas generater
C) liquid gas type gas generator
D) compressed air accumulating type gas generator
E) nitrocellulose type gas generator
F) without sodium azide gas generator
G) acid-base reaction.
Further, the air bag is independently embedded in the unmanned boat cabin, hangs or stick in the unmanned boat cabin
Ectosome or based below connecting line.
Further, described to include " based below connecting line "：The connecting line is connected on air bag hatchcover, when the gas
When capsule is produced, connecting line explosion together with the air bag hatchcover is detached from the unmanned hull.
Further, the gas generator generates nitrogen or carbon dioxide.
The utility model has the following technical effects：
The present apparatus is occurred, unmanned ship equipment by being monitored in real time to underwater unmanned ship equipment when discovery is outer intentionally
When cannot achieve safety floating, controllers can send out control command, make the gas generating unit igniting explosion of unmanned boat, punching
The constraint of disconnected unmanned boat cable, overcomes the problems, such as that unmanned boat can not be controlled, air bag is made to pop up, and is sent out using the chemical substance in air bag
Biochemical reaction generates the gases such as nitrogen or carbon dioxide, and unmanned boat realizes floating under the drive of air bag buoyancy, to smoothly
Dependent failure device is recycled, this method is simple, reliable, it is only necessary to the airbag apparatus of installation such as safe automobile air bag, you can will
Hull is withdrawn, and avoids underwater difficult searching, the difficult puzzlement salvaged.And real-time high-efficiency, basic realize automatically control, and pass through setting
Trigger condition realizes the timely floating of unmanned boat, avoids the danger that unmanned ship equipment wrecks.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly introduced, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model
Example, for those of ordinary skill in the art for, without having to pay creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the unmanned boat automatic recovery method flow diagram described in the utility model one embodiment；
Fig. 2 is that the unmanned boat automatic recycling device described in the utility model one embodiment is wound state signal under water
Figure；
Fig. 3 is the schematic diagram after the unmanned boat automatic recycling device explosion described in the utility model one embodiment；
Fig. 4 is the unmanned boat automatic recycling device control structure schematic diagram described in the utility model one embodiment.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with attached drawing to this practicality
It is novel to be described in further detail, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work
Under the premise of all other embodiment for being obtained, shall fall within the protection scope of the present invention.
The term used in the embodiment of the present application is the purpose only merely for description specific embodiment, is not intended to be limiting
The application.In the embodiment of the present application and "an" of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings, " a variety of " generally comprise at least two.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
It will be appreciated that though may XXX be described using term first, second, third, etc. in the embodiment of the present application, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from the embodiment of the present application model
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as
Fruit detect (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that commodity or system including a series of elements include not only those elements, but also include not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that including the element commodity or system in also
There are other identical elements.
The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.
Embodiment 1
As shown in Figs. 1-3, a kind of unmanned boat automatic recovery method that the utility model embodiment provides, including walk as follows
Suddenly：
S1：The unmanned boat is with Fixed Time Interval emission state signal；
S2：Do not conform to when the unmanned boat does not emit the status signal or emit the status signal more than certain time
Lattice then judge that the unmanned boat breaks down；
S3：The unmanned boat discharges air bag, unmanned boat emersion water under the action of air bag after receiving control signal
Face.
Wherein, it is preferred that the step S1 includes：
The unmanned boat wirelessly emits signal；Alternatively, the unmanned boat emits signal in a wired manner.
When the unmanned boat wirelessly communicates, such as sonar, laser communication, at this point, unmanned boat can be with wireless
Mode at interval of 5-10 seconds uniform transmitting Sonar Signals to console, the console real-time reception feedback signal indicates institute
Unmanned ship equipment normal operation is stated, continues the tasks such as to investigate, detect, shoot on the spot；Or
The unmanned boat is in a wired manner at interval of 5-10 seconds transmitting high frequency state signals, and communication mode is wired at this time
Communication, the unmanned boat central controller emit a kind of high-frequency signal by cable, represent the state letter of unmanned boat at this time
Breath, the signal which passes to console with unmanned boat do not duplicate, and console receives the feedback signal in real time at this time,
It indicates the unmanned ship equipment normal operation, continues the tasks such as to investigate, detect, shoot on the spot, naturally it is also possible to set any one
Kind is enough with other control other electric signals of signaling zone to be status monitoring signal.
Preferably, the step S2 further comprises：
The unmanned boat is more than not emit the status signal in 10-20 minutes；Alternatively, the status signal shows the nothing
People's ship position is unchanged or the unmanned boat not enough power supply.
At this point, unmanned boat can not carry out uniform signal transmitting according to step S1 default rules, 10-20 points are had more than
The time of clock is unable to normal transmission signal, at this time, it may be possible to which when using communication, failure, nothing occurs in wireless device
Method is communicated, and also can not just pass the other information of unmanned boat back console certainly.Failure at this time may be unmanned boat ship
Body is damaged by attack or bilging, communications facility short circuit or hull battery system electricity are less than 2%, nothing
Method realizes signal transmitting, in short, not receiving unmanned boat using 10-20 minutes detects signal as basis for estimation, once in the time
Correlation detection signal can not be detected in section, then judges that unmanned boat breaks down.
In addition, console can also receive the status signal of unmanned boat, this status signal dedicated for indicate unmanned boat by
State to certain puzzlement when can not move, the depth that unmanned boat is uploaded for example, by using specific depth detection apparatus are believed
Breath can also use positioning device upload the location information of the unmanned boat, when depth information or location information are in certain time
When (such as 10 minutes) remain unchanged, for transmitting alarm signal to console, console confirms it is institute after receiving the warning message
After stating unmanned boat failure, sends control command and carry out air bag explosion.
It is of course also possible to the information about power of unmanned boat is returned in real time, when electricity suddenly from more electricity (such as
30% or more) when power-down to 2% or less, imply that possible hull is intake, at this moment, unmanned boat system can timely return to one
A high pulse signal is alarmed, and console confirms that the errorless rear control command that sends to unmanned boat, carries out air bag explosion.Certainly
Any type can be set to be enough with other control other electric signals of signaling zone as status monitoring signal.
Particularly, the step S3 further comprises：
The unmanned boat starts gas generating unit after receiving control signal；The gas generating unit ignites in air bag
Chemical substance realize air bag produce.
Preferably, the gas generating unit includes any one of following and combinations thereof：
A) igniter+sodium nitride
B) mixed gas generater
C) liquid gas type gas generator
D) compressed air accumulating type gas generator
E) nitrocellulose type gas generator
F) without sodium azide gas generator
G) acid-base reaction
But be not restricted to that above-mentioned gas generating unit, as long as can timely generate a large amount of gas can be used as air bag
Application.
Preferably, the gas generating unit generates nitrogen or carbon dioxide gas will not because of both gas harmless
Pollute environment, naturally it is also possible to be hydrogen, oxygen etc..
Preferably, the gas generating unit includes one of following chemical reaction：
a)Na3N+CuO→Na2O+N2+Cu；
Na3N+MoS2+S→Na2S+Mo+N2；
Na3N+KNO3+SiO2→Na2O·K2O·SiO2+N2；
b)NaN3→Na+N2；
Na+KNO3→K2O+Na2O+N2；
K2O+Na2O+SiO2→K2SiO3+Na2SiO3；
c)NaN→Na3N+N2；
d)CaCo3+HCl→CaCl2+H2O+CO2。
But the reaction being not limited between above-mentioned chemical substance, can timely generate nitrogen, hydrogen, oxygen, titanium dioxide
The innocuous gas such as carbon are benefit.
It is that above-mentioned chemical substance seals respectively before explosion, independent to be set in respective air bag space, when air bag is quick-fried
After broken controller receives explosion order, the two explosion immediately mixes and discharges bulk gas, quick-fried outward with enough impact forces
Go out, forms sufficiently large air bag substance, unmanned boat is taken out of the water surface under buoyancy.
Air bag 7 includes the components such as controller, microprocessor, gas generator and air bag composition.Controller and Wei Chu
Device is managed to receive the control command of console, and control command is passed into gas generator.The gas generator according to
Signal designation generates firing action, lights solid fuel and generates gas to airbag aeration, so that air bag is expanded rapidly, air bag capacity
About in (30-120) L, various sizes of air bag can be designed according to the size of unmanned boat.Air bag is equipped with safety valve simultaneously, when filling
Can release portion gas automatically when gas excess or intraluminal pressure are more than certain value, and balloon burst, certain air bag itself is avoided to use
Prepared by waterproof material, avoid influencing buoyancy after into water.
Preferably, the air bag is independently embedded in the unmanned boat cabin, hangs or stick in outside the unmanned boat cabin
Body or based below connecting line.But no matter be arranged in which position, after air bag explosion, it is necessary to quick-fried from unmanned boat hull
Go out, it is independent to be located on the outside of hull, buoyancy could be effectively provided in this way.
It is wherein preferred, it is described to include " based below connecting line "：
In horizontal plane 2 hereinafter, the connecting line is connected on the air bag hatchcover 5, when the air bag is produced, the company
Wiring 3 is detached from the unmanned hull 6 with the air bag hatchcover 5 together explosion.As Figure 2-3, when unmanned boat is wound under water
When barrier 4, water gage 9 or position sensor send out position signal by certain time, and console 1 is received by one section
The position of time, the unmanned boat do not change, and judge that the unmanned boat is in and are wound or locking position, at this time can be with
It sends explosion and starts order to unmanned boat, after unmanned boat implements air bag explosion, the air bag hatchcover 5 is ejected, and is connected to air bag
The communication line of hatchcover 5 is forced to be detached from unmanned hull, at this moment, unmanned boat air bag buoyancy drive float downward to the water surface, work
Make personnel to salvage it.
The utility model has the following technical effects：
This method is occurred, unmanned ship equipment by being monitored in real time to underwater unmanned ship equipment when discovery is outer intentionally
When cannot achieve safety floating, controllers can send out control command, make the gas generating unit igniting explosion of unmanned boat, punching
The constraint of disconnected unmanned boat cable, overcomes the problems, such as that unmanned boat can not be controlled, air bag is made to pop up, and is sent out using the chemical substance in air bag
Biochemical reaction generates the gases such as nitrogen or carbon dioxide, and unmanned boat realizes floating under the drive of air bag buoyancy, to smoothly
Dependent failure device is recycled, this method is simple, reliable, it is only necessary to the airbag apparatus of installation such as safe automobile air bag, you can will
Hull is withdrawn, and avoids the puzzlement that underwater salvage difficulty is found, hardly possible is salvaged.And real-time high-efficiency, basic realize automatically control, pass through
The timely floating that trigger condition realizes unmanned boat is set, the danger that unmanned ship equipment wrecks is avoided.
Embodiment 2
As in Figure 2-4, a kind of unmanned boat automatic recycling device that the utility model embodiment provides, including：
Unmanned hull 6, communication system 10, central controller 8, warning device and gas-bag system 7.
Wherein central controller system 8 emits the unmanned boat 6 with Fixed Time Interval by the communication system 110
Status signal is to console；Meanwhile when the unmanned boat does not emit the status signal or the transmitting shape more than certain time
When state signal is unqualified, the central controller emits alarm signal to console 1；After console 1 receives alarm signal, hair
Gas system of the control command to unmanned boat is penetrated, the unmanned boat discharges air bag 7 after receiving control signal, and the unmanned boat exists
It emerges under the action of air bag.
Wherein preferred, the communication system includes：Wireless communication system or wired communication system.
When the unmanned boat wirelessly communicates, such as sonar, laser communication, at this point, unmanned boat can be with wireless
Mode at interval of 5-10 seconds uniform transmitting Sonar Signals to console, the console real-time reception feedback signal indicates institute
Unmanned ship equipment normal operation is stated, continues the tasks such as to investigate, detect, shoot on the spot；Or
The unmanned boat is in a wired manner at interval of 5-10 seconds transmitting high frequency state signals, and communication mode is wired at this time
Communication, the unmanned boat central controller emit a kind of high-frequency signal by cable, represent the state letter of unmanned boat at this time
Breath, the signal which passes to console with unmanned boat do not duplicate, and console receives the feedback signal in real time at this time,
It indicates the unmanned ship equipment normal operation, continues the tasks such as to investigate, detect, shoot on the spot.
The unmanned boat automatic recycling device further comprises, water gage or position sensor or electricity alarm, electricity
Alarm is used to detect the battery status of the unmanned boat, when hull battery system electricity is less than 2%, cannot achieve signal transmitting
When emit alarm signal.The information about power of unmanned boat can be returned in real time, when electricity is suddenly from more electricity (30%
More than) power-down to 2% or less when, imply may hull intake, at this moment, unmanned boat system can timely return to a height
Pulse signal is alarmed, and console confirms that the errorless rear control command that sends to unmanned boat, carries out air bag explosion.
In addition, console 1 can also receive the status signal of unmanned boat, this status signal dedicated for indicate unmanned boat by
State to certain puzzlement when can not move, the depth that unmanned boat is uploaded for example, by using specific depth detection apparatus are believed
Breath can also use positioning device upload the location information of the unmanned boat, when depth information or location information are in certain time
When (such as 10 minutes) remain unchanged, for transmitting alarm signal to console, console confirms it is institute after receiving the warning message
Unmanned boat failure is stated, control command is sent and carries out air bag explosion.
Particularly, the unmanned boat automatic recycling device further comprises：Air bag include controller, microprocessor,
The components such as gas generator and air bag form.Controller and microprocessor will control to receive the control command of console
Order passes to gas generator.The gas generator generates firing action according to signal designation, lights solid fuel and produces
Angry body makes air bag expand rapidly to airbag aeration, and air bag capacity in (30-120) L, can about be set according to the size of unmanned boat
Count various sizes of air bag.Air bag is equipped with safety valve simultaneously, can automatic leakage when inflating excess or intraluminal pressure is more than certain value
Portion gas is put, balloon burst, certain air bag itself is avoided to be prepared using waterproof material, avoid influencing buoyancy after into water.
The unmanned boat starts gas generating unit after receiving control signal；The gas generating unit ignites in air bag
Chemical substance realize air bag produce.
Preferably, the gas generating unit includes any one of following and combinations thereof：
A) igniter+sodium nitride
B) mixed gas generater
C) liquid gas type gas generator
D) compressed air accumulating type gas generator
E) nitrocellulose type gas generator
F) without sodium azide gas generator
G) acid-base reaction
But be not restricted to that above-mentioned gas generating unit, as long as can timely generate a large amount of gas can be used as air bag
Application.
Preferably, the gas generating unit generates nitrogen or carbon dioxide gas will not because of both gas harmless
Pollute environment, naturally it is also possible to be hydrogen, oxygen etc..
Preferably, the gas generating unit includes one of following chemical reaction：
a)Na3N+CuO→Na2O+N2+Cu；
Na3N+MoS2+S→Na2S+Mo+N2；
Na3N+KNO3+SiO2→Na2O·K2O·SiO2+N2；
b)NaN3→Na+N2；
Na+KNO3→K2O+Na2O+N2；
K2O+Na2O+SiO2→K2SiO3+Na2SiO3；
c)NaN→Na3N+N2；
d)CaCo3+HCl→CaCl2+H2O+CO2。
But the reaction being not limited between above-mentioned chemical substance, can timely generate nitrogen, hydrogen, oxygen, titanium dioxide
The innocuous gas such as carbon are benefit.
It is that above-mentioned chemical substance seals respectively before explosion, independent to be set in respective air bag space, when air bag is quick-fried
After broken controller receives explosion order, the two explosion immediately mixes and discharges bulk gas, quick-fried outward with enough impact forces
Go out, forms sufficiently large air bag substance, unmanned boat is taken out of the water surface under buoyancy.
Preferably, the air bag is independently embedded in the unmanned boat cabin, hangs or stick in outside the unmanned boat cabin
Body or based below connecting line.But no matter be arranged in which position, after air bag explosion, it is necessary to quick-fried from unmanned boat hull
Go out, it is independent to be located on the outside of hull, buoyancy could be effectively provided in this way.
It is wherein preferred, it is described to include " based below connecting line "：
The connecting line is connected on the air bag hatchcover 5, when the air bag is produced, the connecting line and the air bag
Explosion is detached from the unmanned hull to hatchcover together.As Figure 2-3, when unmanned boat is wound in underwater obstacle 4, water gage 9
Or position sensor sends out position signal by certain time, console receives after a period of time, the unmanned boat
Position does not change, and judges that the unmanned boat is in and is wound or locking position, can send explosion at this time and start order
To unmanned boat, after unmanned boat implements air bag explosion, the air bag hatchcover 5 is ejected, and is connected to the communication line quilt of air bag hatchcover 5
Compel with unmanned hull be detached from, at this moment, unmanned boat air bag buoyancy drive float downward to the water surface, staff beats it
Fishing.
The utility model has the following technical effects：
This method is occurred, unmanned ship equipment by being monitored in real time to underwater unmanned ship equipment when discovery is outer intentionally
When cannot achieve safety floating, controllers can send out control command, make the gas generating unit igniting explosion of unmanned boat, punching
The constraint of disconnected unmanned boat cable, overcomes the problems, such as that unmanned boat can not be controlled, air bag is made to pop up, and is sent out using the chemical substance in air bag
Biochemical reaction generates the gases such as nitrogen or carbon dioxide, and unmanned boat realizes floating under the drive of air bag buoyancy, to smoothly
Dependent failure device is recycled, this method is simple, reliable, it is only necessary to the airbag apparatus of installation such as safe automobile air bag, you can will
Hull is withdrawn, and avoids the puzzlement that underwater salvage difficulty is found, hardly possible is salvaged.And real-time high-efficiency, basic realize automatically control, pass through
The timely floating that trigger condition realizes unmanned boat is set, the danger that unmanned ship equipment wrecks is avoided.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
It is physically separated with being or may not be, the component shown as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (8)
1. a kind of unmanned boat automatic recycling device, including：Unmanned hull, communication system, central control system, warning device and
Gas-bag system；The central control system is electrically connected with communication system, gas-bag system, warning device；Wherein, the center control
Device system passes through the status signal of unmanned boat described in the communication system transmitting with Fixed Time Interval；When the unmanned boat is more than
When certain time does not emit the status signal or the unqualified transmitting status signal, the central control system passes through described
Warning device emits alarm signal；The unmanned boat discharges bag system described in gas after receiving control signal, and the unmanned boat exists
It emerges under the action of air bag.
2. automatic recycling device as described in claim 1, it is characterised in that：The communication system include wireless communication system or
Wired communication system.
3. automatic recycling device as described in claim 1, it is characterised in that：Further include water gage or position sensor or electricity
Measure monitoring device.
4. automatic recycling device as described in claim 1, it is characterised in that：The gas-bag system includes：Air bag, control
Device, microprocessor, gas generator；The controller and microprocessor, and will be described to receive the control command of console
Control command passes to the gas generator；The gas generator generates firing action according to control command.
5. automatic recycling device as claimed in claim 4, it is characterised in that：The gas generator include it is any one of following and
A combination thereof：
A) mixed gas generater
B) liquid gas type gas generator
C) compressed air accumulating type gas generator
D) nitrocellulose type gas generator
E) without sodium azide gas generator.
6. automatic recycling device as claimed in claim 5, it is characterised in that：The air bag is independently embedded in the unmanned boat cabin
It is interior, hang or stick in the unmanned boat cabin ectosome or based below connecting line.
7. automatic recycling device as claimed in claim 6, it is characterised in that：It is described to include based on connecting line lower section：
The connecting line is connected on air bag hatchcover, and when the air bag is produced, the connecting line is together with the air bag hatchcover
Explosion is detached from the unmanned hull.
8. automatic recycling device as claimed in claim 6, it is characterised in that：The gas generator generates nitrogen or titanium dioxide
Carbon.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721891887.3U CN207931957U (en) | 2017-12-28 | 2017-12-28 | A kind of unmanned boat automatic recycling device |
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| CN201721891887.3U CN207931957U (en) | 2017-12-28 | 2017-12-28 | A kind of unmanned boat automatic recycling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN109552578A (en) * | 2018-12-21 | 2019-04-02 | 上海得枢智能科技有限公司 | A kind of failure self-rescue system of underwater robot |
-
2017
- 2017-12-28 CN CN201721891887.3U patent/CN207931957U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN109552578A (en) * | 2018-12-21 | 2019-04-02 | 上海得枢智能科技有限公司 | A kind of failure self-rescue system of underwater robot |
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